JP2018047821A - Traveling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem that personal mobility is effective for a device which moves in a narrow and small space, and it is expected to be used in a shopping mall or the like, however, when assuming that the mobility is frequently parked in a place where people gather, measures against theft not only to singly lock should be taken.SOLUTION: A traveling device which travels by being mounted with a user thereon comprises: a front wheel support member for rotatably supporting a front wheel; a rear wheel supporting member for rotatably supporting rear wheels; a drive part for driving at least either of the front wheel and the rear wheels; an adjustment mechanism for adjusting a wheel base length between the front wheel and the rear wheels by a change of relative positions of the front wheel support member and the rear wheel support member by the user; a control part for controlling the drive part on the basis of a target speed which is associated with the wheel base length; and a fixing mechanism for fixing the relative positions of the front wheel support member and the rear wheel support member so as to maintain the wheel base length within a preset range.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a traveling device on which a user travels.

  In recent years, personal mobility has been in the spotlight. Personal mobility is often manufactured in a small size by giving priority to a small turn, and therefore there is a problem that stability at high speed is lacking. In addition to personal mobility, vehicles that can adjust the wheelbase length have been proposed from the viewpoint of enhancing stability during high-speed travel (see, for example, Patent Documents 1 and 2).

JP-A-1-106717 JP 2005-231415 A

  Personal mobility is also effective as a device that moves in a small space, and is expected to be used in shopping malls and the like. Given the frequent parking at places where many people gather, anti-theft measures have become more desirable than simply locking.

  The present invention has been made to solve such a problem, and provides a traveling device that is less susceptible to theft damage while exhibiting functionality as personal mobility.

  A traveling device according to an aspect of the present invention is a traveling device that has at least front wheels and rear wheels with respect to the traveling direction and travels by a user, and a front wheel support member that rotatably supports the front wheels, A rear wheel support member that rotatably supports the wheel, a drive unit that drives at least one of the front wheel and the rear wheel, and a user changing the relative position of the front wheel support member and the rear wheel support member, thereby changing the front wheel and the rear wheel. An adjustment mechanism that adjusts the wheel base length of the wheel, a control unit that controls the drive unit based on a target speed associated with the wheel base length, and a front wheel that maintains the wheel base length within a predetermined range. A fixing mechanism for fixing a relative position between the support member and the rear wheel support member;

  Thus, if it is mechanically locked so that the wheelbase length can only be moved within a predetermined range, it is difficult for the thief to move the traveling device even if the power can be turned on. Since it can be expected to be reminiscent, the possibility of being stolen is reduced.

  According to the present invention, it is possible to provide a traveling device that exhibits functionality as personal mobility and is less susceptible to theft damage.

It is a side view at the time of a stop of the traveling device concerning this embodiment. FIG. 2 is a schematic top view of the traveling device of FIG. 1. It is a side view outline at the time of driving | running | working of the traveling apparatus of FIG. It is explanatory drawing explaining the effect | action of a fixing mechanism. It is a control block diagram of a traveling apparatus. It is a graph which shows the relationship between a rotation angle and target speed. It is a table which shows the relationship between the rotation angle of another example, and target speed. It is a flowchart which shows the process in driving | running | working. It is explanatory drawing explaining the case where another fixing mechanism is employ | adopted as another traveling apparatus.

  Hereinafter, the present invention will be described through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. In addition, all of the configurations described in the embodiments are not necessarily essential as means for solving the problem.

  FIG. 1 is a schematic side view of the traveling device 100 according to the present embodiment when the traveling device 100 is stopped. FIG. 2 is a top schematic view of the traveling device 100 in the state of FIG. In FIG. 2, the user 900 indicated by a dotted line in FIG. 1 is omitted.

  The traveling device 100 is a kind of personal mobility, and is an electric moving vehicle that assumes that the user stands and gets on. The traveling device 100 includes one front wheel 101 and two rear wheels 102 (a right rear wheel 102a and a left rear wheel 102b) in the traveling direction. The direction of the front wheel 101 changes when the user 900 who is a passenger operates the handle 115 and functions as a steered wheel. The right rear wheel 102a and the left rear wheel 102b are connected by an axle 103, and are driven by a motor and a speed reduction mechanism (not shown) to function as drive wheels. The traveling device 100 is a static stable vehicle that is grounded at three points by three wheels and that stands by itself even in a parking state where the user 900 is not on board.

  The front wheel 101 is rotatably supported by a front wheel support member 110. The front wheel support member 110 includes a front column 111 and a fork 112. The fork 112 is fixed to one end side of the front column 111 and rotatably supports the front wheel 101 with the front wheel 101 sandwiched from both sides. A handle 115 is fixed to the other end of the front column 111 so as to extend in the direction of the rotation axis of the front wheel 101. When the user 900 turns the handle 115, the front column 111 transmits the operation force to change the direction of the front wheel 101.

  The rear wheel 102 is rotatably supported by a rear wheel support member 120. The rear wheel support member 120 includes a rear column 121 and a main body 122. The main body 122 fixedly supports one end of the rear column 121, and rotatably supports the right rear wheel 102a and the left rear wheel 102b via the axle 103. The main body 122 also functions as a housing that houses the motor, the speed reduction mechanism, a battery that supplies power to the motor, and the like. On the upper surface of the main body 122, a step 141 for the user 900 to place his / her foot is provided.

The front wheel support member 110 and the rear wheel support member 120 are connected to each other through a turning joint 131 and a hinge joint 132. The swivel joint 131 is fixed at a position near the other end of the front column 111 constituting the front wheel support member 110 to which the handle 115 is fixed. Furthermore, pivot joint 131 is pivoted to the hinge joint 132, the extending direction parallel to the pivot axis _{T A} around the front pillar 111, to rotate relative to the hinge joint 132. The hinge joint 132 is pivotally connected to the other end of the rear column 121 constituting the rear wheel support member 120 on the side opposite to the one end supported by the main body 122, and is parallel to the extending direction of the axle 103. It rotates relative to the rear column 121 around the hinge axis _HA .

This structure, the user 900, when turning the handle 115, a front wheel supporting member 110 is changed the direction of the front wheel 101 to pivot the pivot axis T _A around against the rear wheel support member 120. Further, when the user 900 tilts the handle 115 forward with respect to the traveling direction, the operation is transmitted, whereby the front wheel support member 110 and the rear wheel support member 120 rotate relatively around the hinge axis _HA. Thus, the angle formed by the front column 111 and the rear column 121 can be reduced. When the angle formed by the front column 111 and the rear column 121 decreases, the WB length, which is the distance between the wheel bases (WB) of the front wheel 101 and the rear wheel 102, decreases. Conversely, when the user 900 tilts the handle 115 rearward with respect to the traveling direction, the front wheel support member 110 and the rear wheel support member 120 rotate relatively around the hinge axis _HA , and the front column 111 and the rear The angle formed by the side columns 121 can be increased. As the angle formed by the front column 111 and the rear column 121 increases, the WB length increases. That is, the user 900 can shorten or lengthen the WB length by causing his / her operation as a rotational force.

An urging spring 133 is attached in the vicinity of the hinge joint 132. The biasing spring 133 exerts a biasing force around the hinge axis _{HA in} a rotational direction that reduces the angle formed by the front column 111 and the rear column 121. The biasing spring 133 is, for example, a torsion spring. When the user 900 does not touch the handle 115, the biasing force of the biasing spring 133 is changed so that the angle formed by the front column 111 and the rear column 121 is the minimum angle in the structure shown in FIG. The user 900 is set to such an extent that the handle 115 can be easily tilted backward with respect to the traveling direction. Therefore, the user 900 can adjust the angle formed by the front strut 111 and the rear strut 121 by changing at least one of the weight on the handle 115 and the weight on the step 141, and thus can adjust the WB length. That is, the mechanism for connecting the front column 111 and the rear column 121 via the hinge joint 132 functions as an adjustment mechanism for the user 900 to adjust the WB length.

A rotation angle sensor 134 is attached in the vicinity of the hinge joint 132. The rotation angle sensor 134 outputs an angle formed by the front column 111 and the rear column 121 around the hinge axis _HA . That is, the rotation angle sensor 134 functions as a measurement unit that measures the relative position of the front wheel support member 110 and the rear wheel support member 120. The rotation angle sensor 134 is, for example, a rotary encoder. The output of the rotation angle sensor 134 is transmitted to a control unit described later.

  The fixing mechanism 170 is attached to the rear column 121 and is configured such that a horseshoe lock provided at the tip surrounds the front column 111 when the WB length shown in FIG. Details will be described later.

  The traveling device 100 stops when the WB length is the shortest, travels at a low speed when the WB length is short, and travels at a high speed when the WB length is long. FIG. 3 is a side view of the same traveling device 100 as in FIG. 1, but shows a state during high speed traveling with a long WB length.

As shown in the figure, the angle formed by the front column 111 and the rear column 121 is defined as a rotation angle θ, with the relative opening direction being positive. The minimum value (minimum angle) that the rotation angle θ can take is θ _MIN , and the maximum value (maximum angle) is θ _MAX . For example, θ _MIN = 10 degrees and θ _MAX = 80 degrees. In other words, the structural restriction member is provided so that the rotation angle θ falls within the range of θ _MIN and θ _MAX .

The WB length (WB _x ) has a one-to-one correspondence with the rotation angle θ and can be converted by a function of WB _x = f (θ). Therefore, the WB length can be adjusted by changing the rotation angle θ. The traveling device 100 accelerates when the user 900 increases the rotation angle θ, and decelerates when the user 900 decreases the rotation angle θ. That is, the target speed is associated with the rotation angle θ, and when the rotation angle θ changes, acceleration / deceleration is performed so that the target speed corresponding to the target speed is reached.

  As the rotation angle θ is reduced, the WB length is shortened, so that a small turn is advantageous. That is, it can move around in a narrow place. On the contrary, when the rotation angle θ is increased, the WB length is increased, so that the running stability, particularly the straight traveling performance is improved. That is, even if the vehicle travels at a high speed, it is difficult to receive a swing due to a step on the road surface. Further, since the speed and the WB length change in conjunction with each other, the WB length does not become long although the speed is low, and the movement can be performed with the minimum necessary projection area at the speed. That is, the area on the road surface required for the traveling device 100 to move is small, and no extra space is required. This is particularly effective when parked. Further, if the user 900 tilts the handle 115 back and forth, both the speed and the WB length can be changed in conjunction with each other, so that it is simple and easy as a driving operation.

When the rotation angle θ is opened, the fixing mechanism 170 is separated from the front column 111 and does not hinder the user 900 from operating the handle. Here, the fixing mechanism 170 will be described. The fixing mechanism 170 is a theft prevention mechanism used when the user 900 gets off the traveling device 100 and parks. When the user 900 locks the fixing mechanism 170 when getting off the vehicle, the front column 111 and the rear column 121 are fixed at the rotation angle θ _MIN .

  FIG. 4 is an explanatory view for explaining the operation of the fixing mechanism 170. Specifically, a state in which these are observed from above the traveling device 100 so that the positional relationship among the front column 111, the rear column 121, and the fixing mechanism 170 can be understood is schematically shown. The front column 111 and the rear column 121 are shown in cross section.

  FIG. 4A illustrates a state where the traveling device 100 shifts from a state where the traveling device 100 is traveling at a low speed to a stopped state. The fixing mechanism 170 is mainly configured by a horseshoe lock provided at the tip and a column 175 that supports the horseshoe lock. The horseshoe lock includes a main body 171, a bag 172, an operation lever 173, and a key 174. The strut 175 supports the horseshoe lock at the front end portion on the front strut 111 side, and is fixed to the rear strut 121 by a fixing portion 176 provided at the base end portion on the opposite side. In the horseshoe lock, when the key 174 is inserted, the bag 172 is accommodated in the main body 171, and as shown in the drawing, the distal end side is opened over about 120 degrees. When the rotation angle θ decreases and the speed of the traveling device 100 gradually decreases, the opened horseshoe lock gradually approaches the front column 111.

FIG. 4B shows a state in which the traveling device 100 is stopped with the rotation angle θ at the minimum value _θMIN . The front column 111 is located inside a virtual circle c formed by the main body 171. The user 900 operates the operation lever 173 in the direction of the arrow to feed the heel 172.

FIG. 4C illustrates a state in which the front column 111 is surrounded by an annulus formed with the main body 171 by the ridge 172 that is fed along the virtual circle c. The user 900 can pull out the key 174 in this state. When the key 174 is pulled out, the hook 172 is fixed in the extended state. Then, the front column 111 penetrating this ring is blocked by the flange 172 and cannot be opened relative to the rear column 121. That is, the adjustment mechanism is fixed in a state where the rotation angle θ is the minimum value θ _MIN . In other words, the fixing mechanism 170 fixes the relative positions of the front column 111 and the rear column 121 so as to maintain the WB _MIN state in which the WB length is the shortest.

Note that the front column 111 is slightly displaced in the turning direction depending on the turning angle even in the same θ _MIN state. Therefore, the diameter of the virtual circle c and the opening angle of the tip when the collar 172 is accommodated in the main body 171 (120 in the example shown in the figure) so that it is located inside the virtual circle c at any turning angle. It is desirable that the degree is suitably selected.

As will be described later, when the rotation angle θ is the minimum value θ _MIN , 0 is associated with the target speed of the traveling device 100. In other words, traveling device 100 does not drive the drive wheels in the WB _MIN state with the shortest WB length. Therefore, if the user 900 locks the fixing mechanism 170 when getting off, the WB length is maintained at the shortest WB _MIN. Therefore, even if the third party can turn on the power, It cannot be moved. That is, it can be said that the traveling device 100 equipped with the fixing mechanism 170 is rarely taken away by theft. Moreover, since it can be seen from the appearance that the WB length is locked, an effect of reducing the will of the theft can be expected.

In addition, since the fixing mechanism 170 in the present embodiment is a locking mechanism based on a mechanical structure, it is desirable that the front column 111 and the rear column 121 are allowed to be slightly displaced relatively. That is, the WB length associated with the target speed of 0 is not limited to the shortest WB _MIN, but may be a predetermined range including WB _MIN . In addition, if the target speed includes WB _MIN , which is the WB length associated with 0, it may be allowed to displace within a certain range of WB length. In this case, for example, the structure of the fixing mechanism 170 is determined so that the front column 111 and the rear column 121 can be relatively displaced with respect to the range of the WB length associated with less than 1.0 km / h. Thus, if the structural constraints are relaxed, the degree of freedom in design can be increased.

  Next, the system configuration of the traveling device 100 will be described. FIG. 5 is a control block diagram of traveling device 100. The control unit 200 is a CPU, for example, and is accommodated in the main body unit 122. The drive wheel unit 210 includes a drive circuit and a motor for driving the rear wheel 102 that is a drive wheel, and is accommodated in the main body 122. The control unit 200 controls the rotation of the rear wheel 102 by sending a drive signal to the drive wheel unit 210.

  The vehicle speed sensor 220 monitors the amount of rotation of the rear wheel 102 or the axle 103 and detects the speed of the traveling device 100. The vehicle speed sensor 220 transmits the detection result as a speed signal to the control unit 200 in response to a request from the control unit 200. The rotation angle sensor 134 detects the rotation angle θ as described above. The rotation angle sensor 134 transmits the detection result to the control unit 200 as a rotation angle signal in response to a request from the control unit 200.

  The load sensor 240 is, for example, a piezoelectric film that detects a load applied to the step 141, and is embedded in the step 141. The load sensor 240 transmits the detection result as a load signal to the control unit 200 in response to a request from the control unit 200.

  The memory 250 is a non-volatile storage medium, and for example, a solid state drive is used. The memory 250 stores various parameter values, functions, lookup tables, and the like used for control, in addition to the control program for controlling the traveling device 100. The memory 250 stores a conversion table 251 that converts the rotation angle θ into a target speed.

FIG. 6 is a graph showing the relationship between the rotation angle θ and the target speed as an example of the conversion table 251 for converting the rotation angle θ into the target speed. As shown in the figure, the target speed is expressed as a linear function of the rotation angle θ, and is set so that the target speed increases as the rotation angle θ increases. The target speed is 0 at the minimum angle θ _MIN (degrees), and the target speed is the maximum speed V _m (km / h) at the maximum angle θ _MAX (degrees). Thus, the conversion table 251 may be in a function format.

  FIG. 7 is a table showing the relationship between the rotation angle θ and the target speed as another example of the conversion table 251 for converting the rotation angle θ into the target speed. In the example of FIG. 6, the continuously changing target speed is associated with the continuously changing rotation angle θ. In the example of FIG. 7, the continuously changing rotation angle θ is divided into a plurality of groups, and one target speed is associated with each group.

As illustrated, the rotation angle theta is, theta when it is more than theta less than _{1 MIN} associated target speed 0 (km / h), the target speed 5.0 is less than theta ₁ or θ ₂ (km / h) in correspondence, and when θ ₂ or more and less than θ ₃ , target speed 10.0 (km / h) is associated, and when θ ₃ or more and θ _MAX or less, target speed 15.0 (km / h) Associate. The conversion table 251 in such a case can adopt a lookup table format. In this way, when the target speed is associated with the range of the rotation angle θ that has a certain width, the target speed does not change little by little due to the shaking of the body of the user 900, for example. I can expect. Of course, hysteresis may be given to the boundary of the range, and if the boundary of the range is made different between acceleration and deceleration, a smoother speed change can be expected.

  Even if the fixing of the front column 111 and the rear column 121 by the fixing mechanism 170 is somewhat loose and swings, the traveling device 100 can be operated when the fixing mechanism 170 is operated by providing a width to the rotation angle θ that associates the target speed 0. Can be prevented from moving. Conversely, the range of the rotation angle θ that swings when the fixing mechanism 170 is activated may be associated with the target speed 0.

  The association between the rotation angle θ and the target speed is not limited to the examples in FIGS. 6 and 7, and various associations are possible. For example, it is possible to arrange such that the change amount of the target speed with respect to the change amount of the rotation angle θ is set small in the low speed region and large in the high speed region. In this embodiment, since the rotation angle θ has a one-to-one correspondence with the WB length, the conversion table 251 that associates the rotation angle θ, which is a mediator parameter, with the target speed is employed, but as originally intended, You may employ | adopt the conversion table which matches WB length with target speed. In this case, the conversion angle may be referred to after converting the rotation angle θ acquired from the rotation angle sensor 134 into the WB length using the above function.

  Next, the traveling process in the present embodiment will be described. FIG. 8 is a flowchart showing processing during traveling. The flow starts when the user 900 unlocks the fixing mechanism 170 and turns on the power switch to board the vehicle. The control unit 200 detects boarding of the user 900 by receiving a load signal from the load sensor 240.

  In step S101, the control unit 200 acquires a rotation angle signal from the rotation angle sensor 134 and calculates the current rotation angle θ. In step S102, the calculated rotation angle θ is applied to the conversion table 251 read from the memory 250, and the target speed is set.

  After setting the target speed, the control unit 200 proceeds to step S103 and transmits an acceleration / deceleration drive signal to the drive unit 210. Specifically, first, a speed signal is received from the vehicle speed sensor 220 and the current speed is confirmed. If the target speed is larger than the current speed, a driving signal for accelerating is transmitted to the driving unit 210, and if the target speed is smaller than the current speed, a driving signal for decelerating is transmitted to the driving unit 210.

  The control unit 200 monitors whether the rotation angle θ has changed during acceleration / deceleration, that is, whether the user 900 has tilted the handle 115 back and forth (step S104). If it is determined that the rotation angle θ has changed, the process starts again from step S101. If it is determined that there is no change, the process proceeds to step S105. When the conversion table as shown in FIG. 6 is employed, it is determined that the rotation angle θ has not changed while remaining in one range.

  In step S105, the control unit 200 receives a speed signal from the vehicle speed sensor 220, and determines whether or not the target speed has been reached. If it is determined that the target speed has not been reached, the process returns to step S103 to continue acceleration / deceleration. If it is determined that the target speed has been reached, the process proceeds to step S106. In step S106, it is confirmed whether or not the target speed is zero. If the target speed is 0, the traveling device 100 is stopped at the time of step S106. Otherwise, since the vehicle is traveling at the target speed, the control unit 200 transmits a drive signal to the drive wheel unit 210 so as to maintain the travel at the speed (step S107).

  The control unit 200 also monitors whether the rotation angle θ has changed, that is, whether the user 900 has tilted the handle 115 back and forth while traveling at a constant speed in step S107 (step S108). If it is determined that the rotation angle θ has changed, the process returns to step S101. If it is determined that there is no change, the process returns to step S107 to continue constant speed running.

  If it is confirmed in step S106 that the target speed is 0, the process proceeds to step S109, and it is determined from the load signal received from the load sensor 240 whether the user 900 has moved down. If it is determined that the user 900 is not getting off, that is, there is a load, the process returns to step S101 to continue the traveling control. If it is determined that the aircraft has been removed, the series of processes is terminated. It should be noted that the user 900 can lock the fixing mechanism 170 by operating the horseshoe lock operating lever 173 after getting off or after boarding YES after step S106.

  Next, another example of the fixing mechanism will be described. Various mechanisms can be employed as the fixing mechanism in accordance with the specifications of the traveling device. FIG. 9 is an explanatory diagram for explaining a case where another fixing mechanism 670 is employed in another traveling device 600. In the figure, the same reference numerals are assigned to the same elements as those of the traveling device 100.

The traveling device 600 includes an adjustment mechanism similar to that of the traveling device 100, and the WB length is adjusted in a range from the shortest WB _MIN to the longest WB _MAX , and the target speed 0 is associated with the shortest WB _MIN. The target speed 0 is associated with WB _RP , which is the middle value of the adjustment range. If the user 900 _tilts the steering wheel forward from the state where the WB length is WB _RP , the traveling device 600 can be moved backward. That is, when the WB length is between WB _RP and WB _MIN , the target speed is associated with the reverse. On the other hand, when the WB length is between WB _RP and WB _MAX , the target speed is associated with the forward movement.

  The fixing mechanism 670 employed in such a traveling apparatus 600 is mainly configured by a front fixing device 671 fixed to the front column 111 and a rear fixing device 672 fixed to the rear column 121. The front fixture 671 includes a front ring 671 a formed in an annular shape on the distal end side, and the base end side is fixed to the front column 111. The rear fixture 672 includes a rear ring 672a similar to the front ring 671a on the distal end side, and the proximal end side is fixed to the rear column 121.

The front fixture 671 and the rear fixture 672 are tilted together with the front column 111 and the rear column 121, respectively, but when the WB length becomes WB _RP , the front ring 671a and the rear ring 672a overlap each other, and a common penetration Create a space. The fixing positions of the front fixing tool 671 and the rear fixing tool 672 are adjusted so that they do not interfere with each other when the WB length is other than WB _RP .

Since the traveling device 600 stops at the time of WB _RP , the user 900 can park with peace of mind by locking the penetrating space formed by overlapping the front ring 671a and the rear ring 672a through a padlock or chain key. be able to. That is, even with such a fixing mechanism 670, the WB length associated with the target speed 0 is maintained, so that a third party can move the traveling device 600 even if the power can be turned on. I can't. That is, it can be said that the traveling device 600 equipped with the fixing mechanism 670 is rarely taken away by theft. Further, as with the fixing mechanism 170, it can be seen from the appearance that the WB length is locked, and therefore, an effect of reducing the will of the theft can be expected.

Although the fixing mechanism of each traveling apparatus of the present embodiment described above has a configuration in which the WB length can be fixed in a range including the WB length associated with the target speed of 0, the target speed is fixed at a WB length other than 0. Even a fixing mechanism that can be used has a certain effect in preventing theft. That is, if it can be observed that the WB length is mechanically locked so that the WB length can only be moved within a predetermined range, it is difficult for the thief to move the traveling device even if the power can be turned on. You can expect to think, and you can stop theft. Also, the running device target speed 0 is not associated with the WB _MIN, taking into account the handling of the stop, may be employed fixing mechanism for fixing the WB length in WB _MIN. Even in this case, a margin may be provided in the structure of the fixing mechanism so as to allow the WB length to change within a certain range including WB _MIN .

Although the present embodiment has been described above, the adjustment mechanism is not limited to a mechanism in which the front column 111 and the rear column 121 rotate relatively around the hinge axis _HA . Any mechanism may be used as long as the WB length is adjusted by changing the relative positions of the front wheel support member that supports the front wheel and the rear wheel support member that supports the rear wheel. For example, a mechanism in which the front wheel support member and the rear wheel support member relatively expand and contract along a linear direction may be used. Further, the adjustment mechanism may be a mechanism that adjusts the relative position by the driving force of the actuator.

  Further, the front wheel and the rear wheel may not be wheels, and may be grounding elements such as a spherical wheel and a crawler. The traveling device may not be configured to be steered by turning the steering wheel, and may be configured to be turned by, for example, moving the weight of the user 900. The power source for driving the drive wheels is not limited to a motor, and may be a gasoline engine or the like.

100, 600 traveling device, 101 front wheel, 102 rear wheel, 103 axle, 110 front wheel support member, 111 front column, 112 fork, 115 handle, 120 rear wheel support member, 121 rear column, 122 main body, 131 swivel joint, 132 hinge joint, 133 urging spring, 134 rotation angle sensor, 141 step, 170, 670 fixing mechanism, 171 main body, 172 rod, 173 operation lever, 174 key, 175 strut, 176 fixing unit, 200 control unit, 210 drive wheel Unit, 220 vehicle speed sensor, 230 WB adjustment mechanism, 240 load sensor, 250 memory, 251 conversion table, 671 front side fixture, 672 rear side fixture, 900 user

Claims (3)

A traveling device that has at least a front wheel and a rear wheel with respect to the traveling direction and that the user rides and travels,
A front wheel support member for rotatably supporting the front wheel;
A rear wheel support member for rotatably supporting the rear wheel;
A drive unit for driving at least one of the front wheel and the rear wheel;
An adjustment mechanism for adjusting a wheel base length of the front wheel and the rear wheel by the user changing a relative position of the front wheel support member and the rear wheel support member;
A control unit that controls the drive unit based on a target speed associated with the wheelbase length;
A traveling device comprising: a fixing mechanism for fixing a relative position of the front wheel support member and the rear wheel support member so as to maintain the wheel base length within a predetermined range.   2. The traveling device according to claim 1, wherein the range of the wheel base length maintained by the fixing mechanism includes a wheel base length associated with 0 as the target speed.   3. The traveling device according to claim 1, wherein the range of the wheel base length maintained by the fixing mechanism includes a shortest wheel base length in a range that the wheel base length can take.

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