JP2011131660A - Parallel two-wheeled vehicle, stable attitude holding mechanism for the same, traveling control method, and load carrying platform part attitude control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parallel two-wheeled vehicle capable of stabilizing the attitude of the whole vehicle in even a state of supplying no driving force and traveling based on an operation part, an stable attitude holding mechanism for the vehicle, a traveling control method and a load carrying platform part attitude control method. <P>SOLUTION: In the parallel two-wheeled vehicle including two wheels 1L and 1R arranged in parallel, a load carrying platform part 5 is provided at a lower position than rotation centers 9L and 9R of the wheels 1L and 1R, and a diameter of each of the wheels 1L and 1R is sufficiently increased. In the load carrying platform part 5, a center 7 of gravity of the whole vehicle including an occupant boarding the load carrying platform part 5 becomes a position lower than the rotation centers 9L and 9R of the wheels 1L and 1R. The load carrying platform part 5 includes a weight capable of advancing and retreating in advancing directions of the wheels 1L and 1R and a driving device for driving the wheels 1L and 1R thereon. The state of the load carrying platform part 5 is controlled so that the center 7 of gravity of the whole vehicle may be located in a vertical direction from the rotation centers 9L and 9R of the wheels 1L and lR. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a parallel two-wheeled vehicle, a stable posture maintaining mechanism thereof, and a method of controlling the running and loading platform posture, and more specifically, a parallel two-wheeled vehicle having a center of gravity at a position lower than a rotation center of a sufficiently large-diameter wheel, The present invention relates to a stable posture maintaining mechanism when a parallel two-wheel vehicle is stationary, a traveling control method and a loading platform posture control method during traveling.

  A conventional parallel two-wheel vehicle uses a relatively small-diameter wheel and is used by a passenger in a standing state on a step supported by the wheel. In a two-wheeled vehicle that uses small-diameter wheels, it was not easy to get over the level difference, and so the conventional two-wheeled vehicle has been focused on how to eliminate the level difference. In other words, an apparatus equipped with an auxiliary mechanism for overcoming a step (see Patent Document 1), or a structure that displays a warning to a passenger in front of a step having a height exceeding the allowable level (Patent Document 1). 2) has been developed. In addition, the vehicle is provided with a mechanism that can stabilize the vehicle posture even when the road surface is tilted to the left or right or when the vehicle is tilted to the left or right during turning (see Patent Document 3). Was also being developed.

JP 2008-56037 A JP 2007-124866 A JP 2006-1385 A

  Each of the prior arts described above is such that the center of gravity of the entire vehicle is located above the center of rotation of the wheel, and the wheel rolls in the direction in which the vehicle is tilted like an inverted pendulum. It is. Then, by using the inverted stabilization control for stabilizing the vehicle, the stable posture of the entire vehicle including the occupant is maintained.

  By the way, in the configuration in which the stable posture of the entire vehicle is maintained by the inverted stabilization control as described above, when the necessary driving force cannot be supplied to the wheels due to insufficient power supply of the driving battery or failure of the driving mechanism. Could not stabilize the attitude of the entire vehicle.

  In addition, the inverted stabilization control method is a method in which the wheel moves in a direction to stabilize the center of gravity balance by intentionally showing an unstable state of the center of gravity balance. For this reason, when traveling according to an operation unit such as a joystick, the balance of the center of gravity due to traveling becomes unstable, which is not compatible with the inverted stabilization control.

  The present invention has been made in view of the above-described points, and the object of the present invention is to stabilize the posture of the entire vehicle and enable traveling based on the operation unit even in a situation where driving force cannot be supplied. To provide a parallel two-wheeled vehicle, a stable posture maintaining mechanism thereof, and a method of running control and loading platform posture control.

  Accordingly, the present invention relating to a parallel two-wheel vehicle is a parallel two-wheel vehicle having two wheels arranged in parallel, and is provided with a loading platform at a position lower than the center of rotation of the wheel, and the diameter of the wheel is sufficiently increased. In addition, the gist of the loading platform is a parallel two-wheeled vehicle characterized in that the center of gravity of the entire vehicle including the passenger who rides on the loading platform is provided at a position lower than the center of rotation of the wheels.

  According to the above configuration, since the center of gravity of the entire vehicle including the occupant is lower than the center of rotation of the wheels, it is possible to avoid tilting when the vehicle is stopped. Note that “the center of gravity of the entire vehicle” is an expression for explaining the weight balance with the rotation center of the wheel, and includes the passenger when the passenger is on board, but does not include the wheel. Therefore, it means the center of gravity of all the elements other than the wheels.

  In the above invention, the loading platform may include a weight capable of moving back and forth in the traveling direction of the wheel, and the loading platform may be provided with a drive device for driving the wheel.

  According to the above configuration, the position of the center of gravity of the entire vehicle including the occupant can be positioned in the vertical direction from the center of rotation of the wheel by adjusting the position by moving the weight back and forth. Thereby, a passenger | crew's attitude | position in the stop state of a vehicle can be stabilized.

  In each of the above inventions, the loading platform can be formed into a seatable seat.

  With the above configuration, the center of gravity of the occupant seated on the seat-like loading platform can be set to a relatively low position, and the occupant's posture during vehicle travel can be stabilized.

  Furthermore, in each of the above inventions, the loading platform can be adjusted so that the center of gravity of the entire vehicle is positioned in the vertical direction from the center of rotation of the wheels.

  With the above configuration, the center of gravity balance does not become unstable when the vehicle is stopped and when traveling, and when the vehicle is stopped, the boarding state of the passenger can be stabilized and the tilt of the loading platform during traveling can be eliminated. Become.

  The present invention relating to a stable posture maintaining mechanism in a parallel two-wheel vehicle includes two wheels having a sufficiently large diameter arranged in parallel, and a seat-like seat bed provided at a position lower than the center of rotation of the wheels. Part, a weight provided in the loading platform, and a weight provided in the loading platform so as to be able to advance and retreat in the traveling direction of the wheel, and a driving device that drives the wheel while being supported by the loading platform, In a parallel two-wheeled vehicle provided at a position where the center of gravity of the entire vehicle including the passenger on the loading platform is lower than the center of rotation of the wheel, the position of the center of gravity of the entire vehicle in the longitudinal direction of the vehicle is determined. The gist of the present invention is a stable posture maintaining mechanism in a parallel two-wheel vehicle, comprising: a center-of-gravity determining means; and a moving means for moving the loading platform in the longitudinal direction of the vehicle.

  According to the above configuration, for example, by using a sensing device such as a load cell or an inclination sensor, the center-of-gravity position determination unit can be configured based on the position of the center of gravity of the occupant and the weight balance of the entire vehicle including the loading platform. However, the weight balance of the entire vehicle is stabilized by moving the carrier so that the center of gravity determined by the center-of-gravity position determining means is positioned in the vertical direction of the center of rotation of the wheel. Can be stabilized.

  In addition to the above-described invention, there can be provided braking means for maintaining the moving means in a braking state when the position of the center of gravity coincides with the vertical direction of the center of rotation of the wheel.

  With the above configuration, the center-of-gravity position as an initial value can be determined in advance when the vehicle is stopped, and the posture of the entire vehicle when the vehicle is stopped can be stabilized.

  The present invention relating to a traveling control method in a parallel two-wheel vehicle includes two wheels having a sufficiently large diameter arranged in parallel, and a seat-like loading platform provided at a position lower than the center of rotation of the wheels. And a driving device that is provided in the loading platform and drives the wheel while being supported by the loading platform, and an operation unit that operates the driving device, and the loading platform includes a passenger who rides on the loading platform The parallel two-wheel vehicle provided at a position where the center of gravity of the entire vehicle is lower than the center of rotation of the wheel is provided with a drive control unit that controls the driving force applied to the wheel. When the driving force is changed according to the command, a torque opposite to the driving force is given to the wheel before the driving force change, and the center of gravity position of the entire vehicle is displaced to the positive acceleration side of the driving by the command. It is summarized as travel control method in a parallel two-wheeled vehicle, characterized in that Gosuru.

  According to the above configuration, the drive control unit controls the driving force of the wheel based on the command from the operation unit. However, when accelerating or decelerating, the center of gravity is biased by the reaction torque and inertial force of the driving torque. By predicting and generating a torque in the reverse direction in advance, it is possible to cancel the reaction torque or inertial force due to acceleration or deceleration. That is, when a change in driving force based on the command is given, the center of gravity of the entire vehicle is displaced by applying the driving force thereafter by displacing the position of the center of gravity of the entire vehicle from the center of rotation of the wheel to the positive acceleration side. The center of gravity of the entire vehicle after changing the driving force can be made to coincide with the vertical direction of the center of rotation of the wheels. The positive acceleration side means the larger side when the magnitude of the speed after changing the driving force is compared, and is the front side in the traveling direction at the time of acceleration and the rear side in the traveling direction at the time of deceleration.

  Further, the present invention related to the traveling control method in the parallel two-wheel vehicle includes two wheels having a sufficiently large diameter arranged in parallel and a seatable seat-like shape provided at a position lower than the rotation center of the wheels. A loading platform, a weight provided on the loading platform, a weight provided on the loading platform so as to be able to advance and retreat in the traveling direction of the wheel, a driving device that drives the wheel while being supported by the loading platform, and operates the driving device A parallel two-wheeled vehicle provided at a position where the center of gravity of the entire vehicle including a passenger who rides on the loading platform is lower than the center of rotation of the wheels. When the driving force is transmitted, the center of gravity position determining means for determining the position of the center of gravity of the entire vehicle moving by the reaction torque of the driving torque by the driving force is determined by the center of gravity position determining means. Weight moving means for moving the weight in order to move the position of the center of gravity in the vertical direction of the rotation axis of the wheel, and when the vehicle accelerates or decelerates, the weight is moved to stabilize the running state. The traveling control method in the parallel two-wheel vehicle is also summarized.

  During traveling, especially during acceleration, the reaction torque or inertial force of the drive torque acts on the platform, and the platform tilts toward the rear. At this time, the center of gravity of the entire vehicle also moves. Therefore, the weight balance is impaired. So, according to the said structure, it becomes possible to make the said carrier part stable by changing the gravity center position by moving the weight provided in the carrier part ahead. In addition, torque or inertial force in the opposite direction that accompanies a decrease in driving force also acts during deceleration, but can be offset with the torque by moving the weight backward.

  The present invention relating to the platform position control method for a parallel two-wheel vehicle includes two wheels having a sufficiently large diameter arranged in parallel, and a seatable seat-like shape provided at a position lower than the center of rotation of the wheels. A loading platform, a weight provided on the loading platform, a weight provided on the loading platform so as to be able to advance and retreat in the traveling direction of the wheel, a driving device that drives the wheel while being supported by the loading platform, and operates the driving device A parallel two-wheeled vehicle provided at a position where the center of gravity of the entire vehicle including a passenger who rides on the loading platform is lower than the center of rotation of the wheels. When the driving force is transmitted, angle measuring means for measuring the angle at which the loading platform tilts due to the reaction torque of the driving torque by the driving force, and the loading platform angle measured by the angle measuring means is the desired angle. The bed portion posture control method in the parallel two-wheeled vehicle, characterized in that a weight moving means for moving the weight to tilt the gist.

  According to the above configuration, the tilting angle of the loading platform portion that is tilted by the reaction torque acting on the loading platform portion is measured, and this is compared with a desired angle to operate the weight movement state. Therefore, the posture of the passenger sitting on the seat-like cargo bed can be stabilized.

  According to the parallel two-wheel vehicle of the present invention, the posture of the entire vehicle is stabilized even in a situation where the driving force cannot be supplied, and the driving force necessary for the wheels is reduced due to insufficient power supply of the driving battery or failure of the driving mechanism. Even when the supply cannot be performed, the vehicle does not tilt and the posture of the passenger can be stabilized.

  Further, according to the stable posture maintaining mechanism in the parallel two-wheel vehicle of the present invention, the position of the center of gravity can be adjusted by grasping the state of the passenger in the stopped state, so that the entire vehicle including the passenger in the state where the vehicle is stopped Can also stabilize the posture.

  Furthermore, according to the traveling control method and the loading platform posture control method of the parallel two-wheel vehicle of the present invention, the loading platform that can become unstable can be stabilized by the reaction torque generated when the driving force is transmitted to the wheels. .

It is an external view which shows embodiment of a parallel two-wheel vehicle. It is explanatory drawing which shows the state in the stop state of a parallel two-wheel vehicle. It is explanatory drawing which shows the state at the time of the wheel drive of a parallel two-wheel vehicle. It is explanatory drawing which shows the state of the weight movement of a parallel two-wheel vehicle. It is a block diagram which shows the control structure of a parallel two-wheel vehicle. It is explanatory drawing which shows the dynamic relationship between a weight and a parallel two-wheel vehicle. It is a block diagram of attitude | position 2 freedom degree control of a sheet-like cargo bed part.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the embodiment of the parallel two-wheel vehicle, as shown in FIG. 1, a control box 2 is supported in the middle between the two parallel wheels 1L and 1R. 5) is supported. The parallel wheels 1L and 1R have a sufficiently large diameter, and the control box 2 is connected at a position lower than the axles (rotation centers) 9L and 9R of the wheels 1L and 1R. The position of the center of gravity 7 by the seat 5 and the whole passenger is provided so as to be lower than the axles 9L, 9R of the wheels 1L, 1R. The control box 2 incorporates a motor (not shown) as a driving device, and the driving force of the motor is transmitted from the control box 2 to the axles 9L, 9R by transmission members 3L, 3R such as pulleys. It is the composition transmitted by.

  In this way, by configuring the wheels 1L and 1R to have a sufficiently large diameter, it is possible to travel sufficiently even on rough roads with steps or the like, and it is possible to make a small turn compared to a four-wheel vehicle. Therefore, the vehicle can run even in a narrow space. Further, since the center of gravity 7 of the portion including the passenger except for the wheels 1L and 1R is provided at a position lower than the axles 9L and 9R of the wheels 1L and 1R, in a stopped state where the driving force is not transmitted. Also, the posture of the entire vehicle including the passenger can be stabilized.

  Note that the parallel two-wheel vehicle of the present embodiment is provided with a footrest 6 supported by the control box 2, the entire weight of the occupant acts on the seat 5 and the footrest 6, and the center of gravity is determined including its weight. . Further, an operation unit (input interface) 4 standing from the control box 2 is provided, and for example, the driving force of the wheels 1L and 1R can be operated by a joystick type input interface.

  A seat rail 8 is interposed between the control box 2 and the seat portion of the seat 5 so that the seat 5 can be moved in the front-rear direction. The seat 5 placed on the upper portion of the seat rail 8 can be moved by a moving motor (not shown) built in the control box 2, and the motor is provided with a braking mechanism, so that the optimum position can be obtained. The position of the sheet 5 is fixed. A weight sensor (load cell) and an inclination angle sensor are provided between the seat rail 8 and the seat 5 so that the weight balance of the passengers riding on the seat 5 can be measured. In accordance with the weight balance, the entire center of gravity 7 in a state in which the occupant has boarded is made to coincide with the vertical direction of the axles 9L and 9R.

  That is, as shown in FIG. 2, when the occupant is seated on the seat 5, the center of gravity 7 causes a deviation E from the vertical direction of the axles 9L and 9R (displaces) (FIG. 2A). ), The side where the deviation E is generated becomes heavy, and the control box 2 and the seat 5 including the passenger are tilted (FIG. 2 (b)). Therefore, by moving the seat 5 so as to eliminate the deviation E, the center of gravity 7 in a state where the occupant is seated can be made coincident with the vertical lines of the axles 9L and 9R. The posture can be maintained.

  Next, the state of the vehicle during traveling will be described. As shown in FIG. 3, by applying a driving force to the wheels 1L and 1R, a reaction torque against the driving torque of the wheels 1L and 1R acts on the seat 5, and the seat 5 tilts.

  Therefore, before the tilt as described above occurs, the posture can be stabilized by tilting in advance in the direction opposite to the tilt. In other words, when the driving force is transmitted to the wheel, the driving control is performed by a command from the operation unit. In this driving control unit, the torque in the opposite direction is applied before transmitting the driving force as instructed to the wheel. Give. This means that the balance of the center of gravity is artificially broken in a sense. Specifically, at the time of acceleration (particularly at the time of starting), when the driving force is applied, the center of gravity moves backward as described above (FIG. 3). Then, the driving force is applied. Thus, after the driving force is applied, the weight balance is balanced and the traveling posture is stabilized. When decelerating (especially when stopping), it is the opposite of the above, and before changing the driving force, move the center of gravity to the rear side and then apply the driving force to stabilize the vehicle posture It becomes.

  Further, as a method of stabilizing the posture different from the above, there is a method of restoring this tilt by moving a weight m provided inside the control box 2. That is, as shown in the figure, the weight m is provided so as to be able to advance and retract along the sliding guide 10 parallel to the traveling direction of the wheels 1L and 1R, and this advance / retreat is performed by forward / reverse rotation of a motor (not shown). Done. The motor is provided at the same position as the weight m, that is, the motor is included in the weight m to compensate for the weight m.

  In addition, the moving method of the weight m by the rotational force of a motor arrange | positions the rack-shaped screw along the sliding guide 10, for example, and meshes the pinion provided in the drive shaft of the motor with the said rack-shaped screw. Accordingly, the weight m including the motor can be advanced and retracted by the rotation of the motor in the forward and reverse directions.

  The above is an effect that occurs during acceleration, but the reverse phenomenon occurs during deceleration. That is, this is a reduction in which the seat 5 tilts forward. In such a case, by retracting the weight m described above, the center of gravity 7 of the seat 5 including the occupant can be moved backward, so that the forward tilt can be restored.

  Thus, since the inclination of the seat 5 is controlled by the advancement and retreat of the weight m, the position of the weight m is located in the middle in the front-rear direction when adjusting the position of the seat 5 in the stopped state. The position of the intermediate weight m is set as an initial value.

  The parallel two-wheel vehicle having such a configuration can be stabilized even when stopped and traveling, and by controlling each of these driving units, traveling according to the operation by the operation unit (joystick) is realized. .

  Next, a control method for the parallel two-wheeled vehicle having the above configuration will be described. FIG. 5 is a block diagram showing the control configuration. As shown in this figure, the passenger gives a command voltage to the wheel drive motor using an input interface (operation unit) such as a joystick, and gives a driving force to the wheel according to the command voltage. Since the seat is tilted by the reaction torque generated by the wheel drive, the tilt angle of the seat is measured by the tilt angle sensor.

  Then, using the seat inclination angle, the command voltage to the wheel drive motor and the weight position data, the command voltage to be output to the weight moving motor is calculated, and the weight is given by giving this command voltage to the weight moving motor. The position of the seat is controlled by moving it.

  Next, calculation means for controlling the posture of the sheet by moving the weight m will be described. FIG. 6 shows the dynamic relationship during running of a parallel two-wheel vehicle with weight m. In this figure, the following equation is obtained from the balance of moments.

However, M [kg] is the mass of the seat part including the passenger except for the weight mass, and L [m] is the vertical distance from the center of rotation of the wheel to the center of gravity of the weight. b [m] indicates the distance from the line passing through the center of rotation of the wheel and perpendicular to the sliding guide of the weight to the center of gravity of the weight. θ [rad] represents the seat inclination angle. g [m / s ² ] is a gravitational acceleration, and c [kg / s] is a damping coefficient such as rotational friction of the seat portion. T [Nm] is a reaction torque with respect to wheel driving, and f [N] is a driving force for moving the weight.

  The relationship between the weight driving force f [N] and the weight distance b [m] on the sliding guide can be expressed by the following equation.

Here, _cm [kg / s] represents a damping coefficient such as friction when the weight moves.

  Here, in the equation (1), if the seat inclination angle is very small, linear approximation as shown in the following equation is performed.

  In the above formula (3), by setting the sum of the right side to 0, it is possible to suppress the inclination of the seat when driving the vehicle.

  In addition, the fourth term of the right side of the above equation (3) is the moment of inertia with respect to the vehicle running, and is assumed to be small compared with the other right side terms.

It becomes. Substituting the above equation (2) into this equation (4),

When this is expressed as a transfer function,

It becomes.

  Moreover, when the transfer function is expressed for the above equation (2),

The inverse function is

If the above equation (6) is substituted for this, the following equation is obtained.

  As described above, by giving the input of the above equation (9) corresponding to the wheel driving torque T [Nm] to the driving force f [N] for moving the weight in the weight movement, the seat of the seat when the vehicle is driven is given. Tilt can be suppressed.

The relationship between the wheel driving torque and the command voltage u _t [V] to the motor can be expressed as the following equation.

However, K _t [Nm / V] is a gain constant of the drive motor for the axle.

Similarly, the relationship between the driving force f [N] for moving the weight and the command voltage u _b [V] to the moving motor can be expressed by the following equation.

However, K _b [Nm / V] is a gain constant of the motor for moving the weight.

  Then, when the above equations (10) and (11) are substituted into the above equation (9), the following equation can be obtained.

  As described above, the tilt of the seat due to the driving of the vehicle can be suppressed by giving the input of the above equation (12) depending on the command voltage to the axle drive motor to the motor used for moving the weight.

  By the way, an error is generated due to the assumption in obtaining the formula (4) from the formula (3), and the stable posture of the seat may not be maintained. Therefore, a feedback control system for the seat inclination angle is constructed. Here, a feedback control system for the seat inclination angle by PD control is constructed. A block diagram of this control method is shown in FIG. The conditions for stabilizing the seat inclination are shown below.

In the above equations (2) and (3), it is assumed that the dynamic characteristic when moving the weight is faster than the dynamic characteristic in the tilting of the seat, the dynamic characteristic is not considered, and the above equation (12) ), Since the tilt of the seat due to the driving of the vehicle is eliminated, the transfer function from the command voltage u _b [V] to the motor for moving the weight to the seat tilt angle θ [rad] is The following formula.

It is.

  The PD feedback control of the following equation is constructed for the control object of this equation.

Note that e [rad] is a deviation between the target seat inclination angle θ _ref [rad] and the seat inclination angle θ [rad] measured by the inclination angle sensor. _Kp and _Kd are a proportional gain and a differential gain of PD control.

  Therefore, the closed loop transfer function of the feedback control system of the seat inclination angle by PD control is

Thus, a stabilization control system based on the pole placement problem is constructed for this equation (15). Further, since this equation (15) is a third-order lag system, it is equivalent to a third-order lag system having poles shown in the following equation.

However, -λ ₁ , -λ ₂ , and -λ ₃ are characteristic roots (poles) of the above equation (16).
Here, when expression (16) is expanded,

By comparing the coefficients of this equation (17) and the above equation (15),

Is obtained. Then, by substituting Equation (18) into Equations (19) and (20), the proportional gain _Kp and the differential gain _Kd can be obtained as follows.

  Here, by satisfying the following relationship, the feedback control of the seat inclination angle by the PD control can be stabilized.

  In the control method as described above, a seat posture two-degree-of-freedom control system includes a drive control for moving the weight and a feedback control of the seat tilt angle by the PD control in order to suppress the tilt of the seat when driving the vehicle. Is built.

Note that the specific control method described above uses the command voltage control to the motor used for weight movement and the PD control for the purpose of suppressing the tilting of the seat with respect to the driving of the vehicle. The method is not limited to this. For example, a robust control system such as H _∞ control can be applied to the FB control in order to realize the seat robust posture control in order to cope with a change in the posture of the passenger.

  Since the parallel two-wheel vehicle of the present invention can stabilize the posture of the passenger, it can be used not only for moving elderly people and persons with disabilities but also for leisure.

1L, 1R Wheel 2 Control box 3L, 3R Transmission device 4 Joystick (operation unit)
5 sheets (loading section)
6 Footrest 7 Center of gravity 8 Seat rail 9L, 9R Axle (wheel rotation center)

Claims (9)

In a parallel two-wheeled vehicle having two wheels arranged in parallel, a loading platform is provided at a position lower than the rotation center of the wheel, the diameter of the wheel is sufficiently large, and the loading platform is disposed on the loading platform. A parallel two-wheeled vehicle, characterized in that the center of gravity of the entire vehicle including a passenger on board is provided at a position lower than the center of rotation of the wheel. The parallel two-wheeled vehicle according to claim 1, wherein the cargo bed portion includes a weight capable of moving forward and backward in a traveling direction of the wheel, and a drive device for driving the wheel is provided on the cargo bed portion. The parallel two-wheel vehicle according to claim 1 or 2, wherein the loading platform is a seat-shaped loading platform that can be seated. 4. The parallel two-wheeled vehicle according to claim 1, wherein the loading platform is a loading platform that can be adjusted so that a center of gravity of the entire vehicle is positioned in a vertical direction from a rotation center of the wheel. Two wheels having a sufficiently large diameter arranged in parallel, a seat-like loading platform provided at a position lower than the rotation center of the wheels, a traveling direction of the wheels provided in the loading platform And a drive device that drives the wheel while being supported by the cargo bed portion, and the cargo bed portion includes a weight of the entire vehicle including a passenger who rides on the cargo bed portion. In the parallel two-wheel vehicle provided at a position where the center of gravity is lower than the rotation center of the wheel,
A stable posture maintaining mechanism in a parallel two-wheel vehicle, comprising: a center of gravity determining means for determining a center of gravity position of the entire vehicle in the longitudinal direction of the vehicle; and a moving means for moving the loading platform in the longitudinal direction of the vehicle. . 6. A stable posture maintaining mechanism in a parallel two-wheel vehicle, comprising: braking means for maintaining the moving means in a braking state when the position of the center of gravity coincides with the vertical direction of the center of rotation of the wheel. . Two wheels having a sufficiently large diameter arranged in parallel, a seat-like loading platform provided at a position lower than the center of rotation of the wheels, a loading platform that is provided on the loading platform, and supported by the loading platform A driving device that drives the wheel while being operated, and an operation unit that operates the driving device, and the cargo bed portion has a center of gravity of the entire vehicle including a passenger on the cargo bed portion that is greater than the center of rotation of the wheel. In the parallel two-wheeled vehicle provided at the lower position,
A driving control unit that controls the driving force applied to the wheel, and when the driving control unit changes the driving force according to a command from the operation unit, the driving control unit reverses the driving force before the driving force change. A traveling control method for a parallel two-wheeled vehicle, characterized in that torque is applied and control is performed so that the center of gravity of the entire vehicle is displaced toward the positive acceleration side of driving by command. Two wheels having a sufficiently large diameter arranged in parallel, a seat-like loading platform provided at a position lower than the rotation center of the wheels, a traveling direction of the wheels provided in the loading platform A weight that is provided in the cargo bed portion so as to be capable of moving forward and backward, a drive device that drives a wheel while being supported by the cargo bed portion, and an operation portion that operates the drive device, and the cargo bed portion is attached to the cargo bed portion. In the parallel two-wheeled vehicle provided at a position where the center of gravity of the entire vehicle including the passenger to board is lower than the rotation center of the wheel,
When the driving force is transmitted to the wheels, the center-of-gravity position determining unit that determines the position of the center of gravity of the entire vehicle that moves by the reaction torque of the driving torque by the driving force, and the center-of-gravity position determined by the center-of-gravity position determining unit Weight moving means for moving the weight to move the wheel in the vertical direction of the rotation axis of the wheel, and when the vehicle accelerates or decelerates, the weight is moved to stabilize the running state. A traveling control method in a parallel two-wheeled vehicle. Two wheels having a sufficiently large diameter arranged in parallel, a seat-like loading platform provided at a position lower than the rotation center of the wheels, a traveling direction of the wheels provided in the loading platform A weight that is provided in the cargo bed portion so as to be capable of moving forward and backward, a drive device that drives a wheel while being supported by the cargo bed portion, and an operation portion that operates the drive device, and the cargo bed portion is attached to the cargo bed portion. In the parallel two-wheeled vehicle provided at a position where the center of gravity of the entire vehicle including the passenger to board is lower than the rotation center of the wheel,
When driving force is transmitted to the wheels, angle measuring means for measuring an angle at which the cargo bed part tilts due to reaction torque of the driving torque by the driving force, and the carrier bed angle measured by the angle measuring means is inclined to a desired angle. A load platform posture control method for a parallel two-wheel vehicle, comprising weight moving means for moving the weight to be moved.

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