Patent ID: 7643933

Claim:
An overturn prevention control device comprising: a body capable of freely laterally inclining; an angular velocity sensor mounted on the body such that a detection axis thereof extends in a substantially longitudinal direction of the body; a motor mounted on the body and including a rotating shaft extending in a substantially longitudinal direction of the body; a rotation sensor that detects at least one of a rotational position and a rotational speed of the motor; an inertial rotor coupled to the rotating shaft of the motor; and an inclination angle estimating portion arranged to estimate an inclination angle of the body relative to a balanced state from an angular velocity output ω 1 from the angular velocity sensor and a torque command τ 0 to be supplied to the motor; wherein the overturn prevention control device corrects an inclination of the body by rotating the inertial rotor using the motor and by utilizing a reaction torque occurring when the inertial rotor is rotated; and the overturn prevention control device corrects the inclination of the body using an estimate of the inclination angle estimated by the inclination angle estimating portion.