Patent ID: 8843271

Claim:
An inverted pendulum type vehicle comprising: a travel operation unit which has a wheel and which is capable of traveling on a floor surface by the wheel; an actuator which drives the wheel; a base body attached to the travel operation unit such that the base body is tiltable with respect to a vertical direction; an outer circumferential velocity detecting unit which detects an outer circumferential velocity of the wheel; a ground contact point velocity detecting unit which detects a ground contact point velocity, which is a displacement velocity in a horizontal direction of the ground contact point of the wheel; a control processing unit which carries out self-stabilization control for controlling the operation of the actuator so as to accomplish the self-stabilization of the base body; and a determining unit which determines whether the wheel is idling based on a difference between the outer circumferential velocity detected by the outer circumferential velocity detecting unit and the ground contact point velocity detected by the ground contact point velocity detecting unit or a value obtained by passing the difference through a frequency filter, wherein the control processing unit carries out anti-idle processing for setting a rotational speed of the wheel to a predetermined limit speed or less in the case where the determining unit determines that the wheel is idling.