Patent ID: 8335612

Claim:
A falling prevention controlling device comprising: a wheel arranged to rotate and move in a front-back direction, and a main body connected to a rotation axis of the wheel and arranged to swing in a pitch direction and a roll direction above the wheel; the main body comprising: a pitch angular velocity sensor arranged to detect a pitch angular velocity which is an angular velocity of an inclined angle in the pitch direction; a pitch motor arranged to rotate the wheel in conjunction with a rotation of the wheel; and a pitch rotation sensor arranged to detect a rotation position or a rotation velocity of the pitch motor; the falling prevention controlling device being arranged to correct an inclination of the main body in the pitch direction by utilizing a reaction torque resulting from rotation of the wheel, the falling prevention controlling device further comprising: an advance/retreat command receiving unit arranged to receive an advance or a retreat command of the wheel; a target pitch angle calculating unit arranged to calculate a target pitch angle which is a target inclined angle in the pitch direction, based on a rotation velocity deviation in the pitch direction calculated from the received advance or retreat command and the rotation angle detected in the pitch rotation sensor; a pitch inclined angle estimating unit arranged to estimate a pitch inclined angle which is an angle at which the main body is inclined in the pitch direction with respect to a balanced state, from the pitch angular velocity detected in the pitch angular velocity sensor and a pitch torque command generated based on the target pitch angle and given to the pitch motor; and a pitch torque command generating unit arranged to generate the pitch torque command based on the target pitch angle and the pitch inclined angle.