JP6091369B2 - Electric mobile vehicle - Google Patents

Description

  The present invention relates to an electric mobile vehicle capable of changing a moving direction by individually controlling rotation of a pair of drive wheels disposed in a main body and spaced apart in a width direction.

  A pair of left and right drive wheels, spaced apart in the width direction, are provided at the bottom of the main body, and each drive wheel can move straight forward and backward straight by rotating at the same speed in the same direction. Various types of electric mobile vehicles are known that are capable of forward / leftward turning and backward / leftward / leftward turning by individually controlling the rotation of the vehicle to cause a speed difference (Patent Document 1). For example, there is a distribution car that carries a large number of meals in a facility such as a hospital or a nursing home as an electric mobile vehicle. This distribution vehicle has a main body capable of accommodating a large number of tableware trays on which tableware is placed, and a driving device having a driving means such as a motor and a pair of left and right driving wheels rotated by the driving means at the bottom of the main body. doing. Then, the arrangement vehicle individually controls the rotation of each drive wheel by operating the operating means (bar handle or the like) disposed on the front portion of the main body.

  FIG. 9 is a schematic explanatory diagram of a control mode in a conventional trolley. Here, the longitudinal direction of the layout vehicle 10 is defined as the front-rear direction, and the direction orthogonal to the front-rear direction in the state in which the layout vehicle 10 faces the forward direction is defined as the left-right direction. Further, the forward speed is “+”, the reverse speed is “−”, the counterclockwise (counterclockwise) rotational speed is “−” when viewed from the upper side of the trolley 10, and the clockwise direction (clockwise). ) Is defined as “+”, the driving wheel located on the left side when viewed from above is defined as the left driving wheel 44, and the driving wheel located on the right side is defined as the right driving wheel 46. When the operation signal from the bar handle 36 is input to the drive control device 22, the drive control device 22 calculates a “required travel speed V 5” that is a required speed in the front-rear direction based on the operation signal. Then, “revolution required speed V6” is calculated as the speed in the left-right direction.

  The drive control device 22 acquires the rotation speed (rotation speed) of each corresponding left drive wheel 44 and right drive wheel 46 based on the rotation speed (rotation speed) of the left drive motor 48 and the rotation speed of the right drive motor 50. By calculating this, an actual speed corresponding to straight forward or backward straight (hereinafter referred to as “travel actual speed V1”) or an actual speed corresponding to forward left / right turn or backward left / right turn (hereinafter referred to as “turn actual speed V2”). ) Can be obtained. Here, the actual traveling speed V1 and the actual turning speed V2 are calculated by the following formulas 1 and 2.

ここで、Ｖ７は、左駆動輪実速度、Ｖ８は、右駆動輪実速度である。

Here, V7 is the left driving wheel actual speed, and V8 is the right driving wheel actual speed.

  Based on the actual traveling speed V1 and the actual turning actual speed V2, the left driving wheel required speed V3A required for the left driving wheel 44 and the right driving wheel required speed V4A required for the right driving wheel 46 are expressed by the following equations: 3 and Formula 4 are calculated.

ここで、Ｖ５は、進行要求速度、Ｖ６は旋回要求速度である。

Here, V5 is the required travel speed, and V6 is the required turn speed.

JP 2002-137754 A

  In the conventional wheeled vehicle 10 including a pair of drive wheels 44 and 46 separated from each other on the left and right, the left drive wheel required speed V3A and the right drive wheel required speed V4A are calculated based on the formulas 1 to 4, and the vehicle goes straight ahead. It is possible to perform straight backward, forward left / right turn and backward left / right turn. Then, in the conventional drive control of the trolley 10, if the operation of twisting the all-bar handle 36 leftward or rightward is performed when the vehicle is stopped and when moving straight forward or backward at low speed, The driving motor 48 and the right driving motor 50 rotate in opposite directions, and the left driving wheel 44 and the right driving wheel 46 are reversely rotated. Here, “super-revolution turning” refers to a mode in which a traveling vehicle having left and right crawlers (tracks) such as a tank changes its traveling direction to an arbitrary direction on the spot. Specifically, when the vehicle is stopped, the left and right crawlers are simultaneously rotated in the reverse direction to turn the vehicle in the left-right direction or the reverse direction at the stop position. Of course, the wheelchair does not wear a crawler and is a plurality of independent wheels (for example, four wheels). However, by rotating the left and right drive wheels 44 and 46 in reverse, the operation mode of the above-mentioned “super turning” Is the same. Here, as an example, by twisting the bar handle 36 in a stopped state, the left drive wheel can be calculated according to Equation 3 when the required travel speed V5 is 0.0 km / h and the required turn speed V6 is 1.0 km / h. Since 0.5 km / h is calculated as the required speed V3A and -0.5 km / h is calculated as the required right drive wheel speed V4A according to the equation 4, the left drive wheel 44 rotates forward and the right drive wheel 46 Will rotate backwards, which is the so-called “super-swivel turning” operation mode.

  As described above, the superstrate turning that reversely rotates the left driving wheel 44 and the right driving wheel 46 is an operation mode that is generally executed in a construction machine or a tank equipped with a crawler, and reduces the turning radius. And has the advantage of enabling a small turn. However, in the arrangement vehicle 10 used in the passage in the facility, the following problems are likely to occur when the operation mode of super-revolution is executed. For example, in the case of using the layout vehicle 10 in a carpet floor, friction occurs between the left driving wheel 44 and the right driving wheel 46 and the carpet at the time of a super turn, so that the carpet is twisted, peeled and slipped. There are problems that occur. Moreover, when using the distribution vehicle 10 in a passage such as concrete or flooring, there is a problem that a running mark is easily attached to the surface of the passage. Further, when the friction between the left and right drive wheels 44 and 46 and the passage surface is large, the left and right drive motors 48 and 50, the amplifiers for controlling the drive motors 48 and 50, and the drive motors 48 and 50 are electrically connected. It is possible that the load of the battery supplying the battery becomes large, and the life of each of the drive motors 48 and 50 and the battery may be shortened. In addition, large and high-power drive motors 48 and 50 and a high-capacity battery are required, which increases the manufacturing cost of the layout vehicle 10 and increases the weight of the layout vehicle 10.

  Therefore, in the present invention, an electric mobile vehicle capable of avoiding a super turning mode in which the driving wheel on the inner side of the turning reversely rotates with respect to the driving wheel on the outer side of the turning at the time of forward left and right turning and backward left and right turning. The purpose is to provide.

In order to solve the problem and achieve the intended purpose, the invention according to claim 1
A drive unit driven by a drive control unit based on an operation signal from the operation unit, a pair of first drive wheels which are disposed apart from each other in the left-right direction of the main body and individually controlled to rotate by driving of the drive unit; In an electric mobile vehicle comprising a second drive wheel and capable of straight forward, backward straight, forward left / right turn and backward left / right turn by rotation of the first drive wheel and the second drive wheel,
The drive control means calculates a required travel speed in the front-rear direction and a required turn speed in the left-right direction based on the input operation signal, and determines the first requested speed based on the required travel speed and the required turn speed. A first driving wheel required speed required for the driving wheel and a second driving wheel required speed required for the second driving wheel are calculated at controlled intervals;
The drive control means is configured such that one of the first driving wheel or the second driving wheel that is on the inner side of the turning is opposite to the other second driving wheel or the first driving wheel that is on the outer side of turning when the left or right turn is made forward or backward. In order not to rotate in the direction, the required drive speed of one of the drive wheels on the inside of the turn is set to 0 and stopped .
The drive control means calculates the first drive wheel required speed by the following formula 5 based on the calculated required travel speed and turn required speed, and calculates the second drive wheel required speed by formula 6. The summary is as follows.

ここで、前記数式５中および数式６中のＰは、分割比であって、−５００〜＋５００の実数である。
請求項１に係る発明によれば、電動式移動車の前方左右旋回時または後方左右旋回時に、第１駆動輪および第２駆動輪のうちの旋回内側となる駆動輪が、第１駆動輪および第２駆動輪のうちの旋回外側となる駆動輪に対して逆回転することなく停止するので、旋回外側となる駆動輪により旋回を行なうことができる。従って、電動式移動車をカーペット敷の通路等で使用する場合に、各駆動輪とカーペットとの間の摩擦による該カーペットの捩れ、剥がれおよびずれ等が発生することを防止し得る。また、電動式移動車をコンクリートやフローリング等の通路で使用する場合に、該通路の表面に走行痕を付き難くすることもできる。更に、駆動装置に対する負荷を軽減して電気制御系に過大な負荷がかかるのを防止し得るので、駆動モータや該駆動モータ用のバッテリーの小型化が図られると共に、電動式移動車の小型化および軽量化を図り得る。また、第１駆動輪に対する第１駆動輪要求速度および第２駆動輪要求速度を適切に算出することができる。

Here, P in Formula 5 and Formula 6 is a division ratio, and is a real number of −500 to +500.
According to the first aspect of the present invention, when the electric mobile vehicle is turning left and right forward or turning left and right, the driving wheel which is the inside of the turning of the first driving wheel and the second driving wheel is the first driving wheel and Since the second driving wheel stops without rotating in reverse with respect to the driving wheel on the outside of the turning, the turning can be performed by the driving wheel on the outside of the turning. Accordingly, when the electric mobile vehicle is used in a carpet floor passage or the like, it is possible to prevent the carpet from being twisted, peeled off and displaced due to friction between the driving wheels and the carpet. Further, when the electric mobile vehicle is used in a passage such as concrete or flooring, it is possible to make it difficult for a running mark to be made on the surface of the passage. Furthermore, since it is possible to reduce the load on the drive device and prevent an excessive load on the electric control system, the drive motor and the battery for the drive motor can be reduced in size, and the electric mobile vehicle can be reduced in size. In addition, the weight can be reduced. Further, the first drive wheel required speed and the second drive wheel required speed for the first drive wheel can be appropriately calculated.

According to a second aspect of the present invention, the drive control means is configured such that when the actual turning speed that is the actual speed in the left-right direction is equal to or greater than the actual traveling speed that is the actual speed in the front-rear direction, The division ratio in Formula 5 is set to -500 when turning, and the division ratio in Formula 6 is set to +500 when turning when the second drive wheel is on the inside. And
According to the second aspect of the present invention, when the first drive wheel is turned inside the turn, the first drive wheel required speed is 0, so that the electric vehicle is in a state where the first drive wheel is stopped. Thus, the vehicle is turned by the rotation of the second drive wheel. Further, when the second drive wheel is turned inside the turn, the second drive wheel required speed becomes 0. Therefore, the electric vehicle is rotated by the rotation of the first drive wheel while the second drive wheel is stopped. It turns.

  According to the electric vehicle according to the present invention, it is possible to avoid a super turning when the vehicle is turning left and right forward and when turning left and right. Therefore, the floor surface, carpet, etc. on which the electric vehicle is traveling are damaged. Or an inconvenience that an excessive load is applied to the electric control system of the electric vehicle.

FIG. 5 is a right side view showing the arrangement vehicle according to the embodiment of the present invention with a part thereof omitted. It is a front view of the allocation vehicle of an Example. It is a bottom view which shows roughly the bottom part of the allocation vehicle of an Example. It is explanatory drawing which shows the relationship between operation of a bar handle, and the operation | movement of a layout vehicle, Comprising: (a) shows the state made to advance straight forward and back straight, (b) is the front left turn, back right turn, front A state of turning right and backward left is shown. It is a block diagram which shows the structure of a layout vehicle roughly. It is explanatory drawing which shows the relationship between the target division ratio by control of a bar handle, and control division ratio. It is a flowchart which shows a motor drive process. It is a flowchart which shows the drive wheel request | requirement speed calculation process performed in a motor drive process. It is explanatory drawing which shows the advancing direction and turning direction of a layout vehicle.

  Next, an electric mobile vehicle according to the present invention will be described below with reference to the accompanying drawings by way of preferred embodiments. In the embodiment, a layout vehicle is illustrated as an electric mobile vehicle. In the following description, the left, right, front, back, and up and down directions are referred to when the layout vehicle is viewed from the rear upper side of the layout vehicle.

(Overall structure of the distribution vehicle)
As shown in FIG. 1, the distribution vehicle 10 of the embodiment includes a main body 12 that can store a plurality of tableware trays 31 on which food is placed, and an air conditioner unit (not shown) that is defined on the upper portion of the main body 12. A machine room 14 accommodated, a drive device 18 disposed on a body base 16 disposed on the bottom of the body 12, and an operation unit 20 disposed on the front of the body 12 are provided. In addition, the layout vehicle 10 is provided below the operation unit 20 with a left drive motor 48 that is a drive unit constituting the drive unit 18 and a drive control unit 22 that is a drive control unit that controls rotation of the right drive motor 50. In addition, a battery 24 that supplies electric power to the left and right drive motors 48 and 50 is housed below the drive control device 22. The drive control device 22 and the battery 24 may be arranged at different positions on the main body 12.

(Body)
As shown in FIGS. 1 and 2, the main body 12 is disposed on an upper portion of a main body base 16 on which a driving device 18 is disposed. A heat insulating material is disposed on the left side surface and the right side surface is opened as a whole to form a heat insulating structure having a rectangular box shape. The main body 12 has three partition walls 26 (a front partition wall 26A, a central partition wall 26B, and a rear partition wall 26C) that are spaced apart at a required interval in the front-rear direction. It is divided into chambers 28. The front wall surfaces of the front partition wall 26A and the rear partition wall 26C are provided with a plurality of mounting members 30 (5 in the embodiment) vertically extending at the required intervals in the vertical direction. On the rear wall surface of the partition wall 26A and the rear partition wall 26C, a plurality of mounting members 30 (5 in the embodiment) that are horizontally extended rearward are arranged at required intervals in the vertical direction. A tableware tray 31 is placed on the top 30 (in FIG. 1, each placement member provided on the front partition wall 26A is not shown). A plurality (four in the embodiment) of doors 32 hinged to the upper and lower portions of the main body 12 are arranged on the left and right sides of the main body 12 so that the corresponding storage chambers 28 can be opened and closed. (FIG. 1 omits the two doors 32 arranged on the rear side among the four doors 32 arranged on the right side of the main body 12).

  Each storage chamber 28 of the main body 12 can be individually heated or cooled by the operation of an air conditioner unit disposed in the machine room 14, and food stored in a warmed state and stored in a cooled state. Both the foods to be processed can be stored separately for each storage chamber 28. As shown in FIG. 1, an air conditioner operation panel 34 that controls the operation of the air conditioner unit is disposed on the wall portion that defines the machine room 14.

(Operation section)
As shown in FIGS. 2 and 3, the operation unit 20 is an operation means for causing the ration wheel 10 to move forward straight, backward straight, forward left turn, forward right turn, backward left turn, and backward right turn. And a driving operation panel 38 for controlling the driving device 18. The drive operation panel 38 includes various operation means such as buttons and switches for performing ON / OFF operations of the left drive motor 48 and the right drive motor 50 of the drive device 18, a battery remaining amount meter indicating the remaining amount of the battery 24, and the like. It is arranged.

(Bar handle)
As shown in FIGS. 2 and 3, the bar handle 36 is a bar-shaped member formed in an inverted U shape, and extends in the left-right direction to be gripped by an operator, and the gripping portion 36A. The left vertical bar portion 36B extending downward from the left end of the right and the right vertical bar portion 36C extending downward from the right end of the gripping portion 36A. And the lower end part of the left vertical bar part 36B in the bar handle 36 is rotatably supported on the left side part of the operation part 20, and the lower end part of the right vertical bar part 36C in the bar handle 36 is It is rotatably supported on the right side. The operation unit 20 is provided with a left operation signal output device 40 at a portion of the bar handle 36 that supports the lower end portion of the left vertical bar portion 36B, and supports the lower end portion of the right vertical bar portion 36C of the bar handle 36. A right operation signal output device 42 is disposed in the portion. Here, the left operation signal output device 40 and the right operation signal output device are so-called variable resistors (volumes) of the number of rotations, and the left vertical bar portion 36B rotates when the bar handle 36 is operated. The right operation signal output unit 42 rotates following the operation signal output unit 40 and the right vertical bar portion 36C rotates. The left operation signal output device 40 and the right operation signal output device 42 are configured to output an operation signal corresponding to the amount of rotation based on the operation of the bar handle 36 to the drive control device 22.

  The bar handle 36 is in a neutral state in which the left and right vertical bar portions 36B and 36C stand up substantially vertically by a biasing means such as a spring (not shown) when the operator does not grip the grip portion 36A (see FIG. 1). ). As shown in FIG. 4, the bar handle 36 is in the first operation state in which the gripping portion 36 </ b> A is translated forward relative to the neutral state, and the left vertical axis portion 36 </ b> B and the right vertical axis portion 36 </ b> C are tilted forward. (Indicated by a two-dot chain line in FIG. 4A) or the second operation in which the gripping portion 36A is translated backward relative to the neutral state, and the left vertical axis portion 36B and the right vertical axis portion 36C are tilted backward. The posture can be changed to a state (indicated by a one-dot chain line in FIG. 4A). Further, as shown in FIG. 4B, the bar handle 36 is disposed so as to be capable of rotational displacement about an axis C extending in the front-rear direction, and leftward about the axis C. The third operation state (indicated by a two-dot chain line in FIG. 4B) rotated to the right and the fourth operation state tilted by rotating to the right about the axis C (FIG. 4B) The position can be displaced as indicated by a one-dot chain line.

  Here, the first operation state of the bar handle 36 is a mode in which the allocation vehicle 10 moves straight forward, and the rotation amount of the left operation signal output device 40 and the right operation signal output device 42 as the operation amount from the neutral state increases. Increases, and the set value of the required travel speed V5, which is the required forward straight speed, is increased. The second operation state of the bar handle 36 is a mode in which the trolley 10 moves straight backward, and the rotation amount of the left operation signal output device 40 and the right operation signal output device 42 increases as the operation amount from the neutral state increases. Thus, the required travel speed V5, which is the required speed for going straight backward, is increased. The third operation state of the bar handle 36 is a mode in which the wheeled vehicle 10 is turned to the front left or the right to the rear, and is a required speed in the front left turn and the rear right turn as the operation amount from the neutral state increases. The set value of the required turning speed V6 is increased. The fourth operation state of the bar handle 36 is a mode in which the wheeled vehicle 10 is turned right forward or left backward, and the rotation amount of the left operation signal output device 40 increases as the operation amount from the neutral state increases. The set value of the required turn speed V6 in the forward right turn or the backward left turn is increased.

  In other words, the bar handle 36 can be turned leftward (turning left by untrusted turning) while advancing the allocation vehicle 10 by operating the bar handle 36 simultaneously in the first operation state and the third operation state. By simultaneously operating in the fourth operation state, it is possible to make a right turn (right turn by untrusted turn) while moving the layout vehicle 10 forward. Further, by operating the bar handle 36 simultaneously in the second operation state and the third operation state, the bar handle 36 can be turned right (turning right by untrusted turning) while moving the layout vehicle 10 backward. By simultaneously operating the operation state and the fourth operation state, it is possible to turn left (turn left by untrusted turn) while moving the arrangement vehicle 10 backward.

(Driver)
As shown in FIGS. 1 to 3, the driving device 18 includes a pair of left and right drive wheels 44, 46 (separated in the left-right direction (width direction) on the rear side of the front-rear center of the main body base 16. (Hereinafter referred to as “left drive wheel 44” and “right drive wheel 46”), a left drive motor 48 fixed to the main body base 16 and linked to the left drive wheel 44, and fixed to the main body base 16 and to the right drive. A right drive motor 50 linked to the wheel 46. The left drive motor 48 includes a gear box 46A, and is fixed to the main body base 16 with a drive shaft 48B of the gear box 48A extending in the left-right direction and extending leftward. The left drive wheel 44 is provided with a hard rubber or the like on the outer peripheral portion, and is fixed to a drive shaft 48B extending in the left-right direction, and rotates in a state of being fixed in the front-rear direction. The right drive motor 50 includes a gear box 50A, and the drive shaft 50B of the gear box 50A extends in the left-right direction and is fixed to the main body base 16 in a state of extending rightward. The right drive wheel 46 is provided with a hard rubber or the like on the outer peripheral portion, and is fixed to a drive shaft 50B extending in the left-right direction, and rotates in a state of being fixed in the front-rear direction. The drive shaft 48B of the left drive motor 48 and the drive shaft 50B of the right drive motor 50 are located on the same axis extending in the left-right direction, and the left drive wheel 44 and the right drive wheel 46 are always held in parallel. Rotates in the state.

(Left drive motor and right drive motor)
The left drive motor 48 is a servo motor that is driven and controlled by a left drive motor control board (see FIG. 5) 52 connected to the drive control device 22, and the right drive motor 50 is connected to the drive control device 22. The servo motor is driven and controlled by a right drive motor control board (see FIG. 5) 54, and is driven to rotate by electricity supplied from the battery 24. The left drive motor control board 52 is provided with an encoder 53 that can identify the rotation direction, rotation speed, and rotation angle of the left drive motor 48. Thus, the left drive motor control board 52 controls the rotation direction, rotation speed, and rotation angle of the left drive motor 48 based on the control signal from the drive control device 22 and the information obtained by the encoder 53. The right drive motor control board 54 is provided with an encoder 55 that can identify the rotation direction, rotation speed, and rotation angle of the right drive motor 50. Thereby, the right drive motor control board 54 controls the rotation direction, the rotation speed, and the rotation angle of the right drive motor 50 based on the control signal from the drive control device 22 and the information obtained by the encoder 55. The left drive motor 48 and the right drive motor 50 are not limited to servo motors, and may be stepping motors or the like.

(Driven wheel)
As shown in FIGS. 1 to 3, a plurality of (two in the embodiment) driven wheels 56, 56 are disposed on the front left side and the front right side of the main body base 16. The left and right driven wheels 56, 56 are disposed on a support member 58 disposed so as to be rotatable about a vertical axis with respect to the main body base 16 so as to be rotatable about a horizontal axis. Each of the driven wheels 56 and 56 is configured such that the support shaft 58 appropriately rotates around the vertical axis in accordance with the displacement of the layout vehicle 10, so that the rotation shaft moves in the left-right direction when the layout vehicle 10 travels straight forward or rearward. When turning forward left, turning backward left, turning right forward, and turning right backward, it turns diagonally with respect to the left-right direction.

(About drive control device)
As shown in FIG. 5, the drive control device 22 in the allocation vehicle 10 according to the embodiment includes a drive control CPU 60, a drive control ROM 62, and a drive control RAM 64. In the drive control ROM 62, a motor drive processing program (described later) for calculating the left drive wheel required speed V3 and the right drive wheel required speed V4 related to the traveling speed control of the layout vehicle 10, and left and right drive motors 48, 50 are calculated. Various data related to the drive control are stored. The drive control CPU 60 executes the motor drive processing program stored in the drive control ROM 62 to calculate the left drive wheel request speed V3 and the right drive wheel request speed V4, and calculates the calculated left drive wheel request speed V3 and the right drive wheel request speed V3. Based on the drive wheel required speed V4, a control signal is transmitted to the left drive motor control board 52 and the right drive motor control board 54. Here, the drive control CPU 60 is configured to execute the motor drive processing shown in FIG. 7 at every controlled interval (2 ms (0.002 seconds in the embodiment)). Further, when executing the motor drive processing program, the drive control CPU 60 uses the rotational speed of the left drive motor 48 transmitted from the left drive motor control board 52 to determine the left drive wheel actual speed V7 that is the actual speed of the left drive wheel 44. And the right driving wheel actual speed V8, which is the actual speed of the right driving wheel 46, is calculated from the rotation speed of the right driving motor 50 transmitted from the right driving motor control board 54, and the calculated left driving wheel actual speed is calculated. Data of the speed V7 and the actual right driving wheel speed V8 is stored in the drive control RAM 64.

  The drive control RAM 64 is a requested speed in the front-rear direction calculated by the drive control CPU 60 based on the operation signal from the left operation signal output device 40 and the operation signal from the right operation signal output device 42 by the operation of the bar handle 36 of the operation unit 20. The required travel speed storage unit that stores the required travel speed V5 and the required turn speed storage unit that stores the required turn speed V6 that is the required speed in the left-right direction. The drive control RAM 64 temporarily stores data of the left drive wheel request speed V3 and the right drive wheel request speed V4 obtained by executing the motor drive processing program in the drive control CPU 60 and can update the drive wheel request that can be updated. A speed storage unit and an actual speed storage unit that temporarily stores and updates data of the actual left drive wheel speed V7 and the actual right drive wheel speed V8 calculated by the drive control CPU 60 are provided. Further, the drive control RAM 64 updates an operation signal from the left operation signal output device 40 and an operation signal from the right operation signal output device 42, stores an operation signal storage unit, and a later-described division ratio P (target division ratio P1). And a division ratio storage unit for storing the control division ratio P2) calculated by executing the motor drive processing program.

  Next, motor drive processing executed by the drive control CPU 60 in the drive control device 22 of the embodiment will be described with reference to FIGS. In the drive control device 22 of the embodiment, the drive control CPU 60 executes a motor drive processing program every control interval (2 ms). Then, by executing the motor drive process, one drive of the left drive wheel 44 and the right drive wheel 46 that are outside the turn during forward left turn, forward right turn, rear left turn, and rear right turn. The left drive wheel required speed V3 and the right drive wheel required speed V4 are set so that the rotation direction of the other drive wheel of the left drive wheel 44 and the right drive wheel 46 on the inner side of the turning is not opposite to the rotation direction of the wheel. It is configured to calculate.

  In the following description, as shown in FIG. 9, the longitudinal direction of the ration wheel 10 is the front-rear direction, the lateral direction that intersects the front-rear direction horizontally is the left-right direction, and the speed when traveling straight forward is “+”, The speed when traveling straight backward is “−”, the turning speed in the counterclockwise direction (counterclockwise direction) is “−”, and the turning speed in the clockwise direction (clockwise direction) is viewed from the rear upper side of the allocation vehicle 10. It is defined as “+”.

(Advance actual speed and actual rotation speed)
The drive control device 22 of the embodiment calculates the right driving wheel actual speed V7 of the left driving wheel 44 based on the relationship between the rotational speed (number of rotations) of the left driving motor 48 and the gear ratio of the gear box 48A of the left driving motor 48. In addition, the right driving wheel actual speed V8 of the right driving wheel 46 is calculated based on the relationship between the rotation speed (the number of rotations) of the right driving motor 50 and the gear box 50A gear ratio of the right driving motor 50, and the front in the front-rear direction is calculated. It is possible to obtain the actual traveling speed V1 corresponding to straight or backward straight traveling and the actual turning speed V2 corresponding to forward left turn, backward left turn, forward right turn and backward right turn in the left-right direction. Here, the actual traveling speed V1 and the actual turning speed V2 are calculated by Expressions 1 and 2 shown in the paragraphs [0005] and [0006].

(Left drive wheel required speed and right drive wheel required speed)
In the embodiment, the left driving wheel required speed V3, which is the speed required for the left driving wheel 44, is calculated by the following formula 5, and the right driving wheel request, which is the speed required for the right driving wheel 46, is calculated. The speed V4 is calculated by the following formula 6.

ここで、前記Ｐは、分割比である。

Here, the P is a division ratio.

(Split ratio)
In the embodiment, the “division ratio” is introduced when calculating the required left driving wheel speed V3 and the required right driving wheel speed V4. The division ratio P in Equations 5 and 6 is a real number in the range of +500 to −500 in the embodiment. This division ratio P is used to determine the contribution of the left drive wheel 44 and the right drive wheel 46 during the forward left turn, forward right turn, rear left turn, and rear right turn of the allocation vehicle 10. It is. That is, when the wheelbarrow 10 that moves while individually rotating and controlling the pair of left drive wheel 44 and right drive wheel 46 separated in the left-right direction operates the bar handle 36 in the third to fourth operation states when stopped. Further, when the left driving wheel required speed V3 and the right driving wheel required speed V4 are calculated based on the conventional equations 3 and 4 shown in the paragraphs [0008] and [0009], as described above, the left driving wheel 44 and It becomes an operation mode of super-revolution where the right drive wheel 46 rotates in the opposite direction. Therefore, in the embodiment, by adopting the division ratio P, it is possible to stop the driving wheel on the inner side of the turning and prevent the reverse rotation with respect to the driving wheel on the outer side of the turning.

(Target split ratio and control split ratio)
Further, the drive control CPU 60 in the drive control device 22 of the embodiment is based on the operation signal input to the drive control device 22 from the left operation signal output device 40 and the right operation signal output device 42 based on the operation of the bar handle 36. A division ratio (hereinafter referred to as “target division ratio P1”) for setting the speed of the driving wheel on the inside of the turn at the time of forward left / right turn and backward left / right turn to be “0” is set. Furthermore, the drive control CPU 60 of the embodiment updates the division ratio P at each control interval (2 ms) when executing the drive wheel required speed calculation process (described later) shown in FIG. It is configured to set a division ratio (hereinafter referred to as “control division ratio P2”) for changing the speed of the drive wheel that is on the outside of the turn when turning backward and leftward and rightward. That is, as shown in FIG. 6, the control division ratio P2 is updated at every control interval and gradually changes from 0 to the target division ratio P1. Then, when the front left / right turn and the rear left / right turn, the target division ratio P1 that is always a constant value and the control division ratio P2 that is updated each time the motor driving process is executed are adopted in the above-described Expression 5 and Expression 6, The left driving wheel required speed V3 and the right driving wheel required speed V4 are calculated, the driving wheel required speed of the driving wheels 44, 46 on the inside of the turn is set to “0”, and the driving wheels 44, 46 on the outside of the turning are calculated. It is comprised so that the required driving wheel speed can be changed gradually. The manner of calculating the left driving wheel required speed V3 and the right driving wheel required speed V4 will be described later. In the allocation vehicle 10 of the embodiment, the operator employs the division ratio P (target division ratio P1 and control division ratio P2) when calculating the left driving wheel required speed V3 and the right driving wheel required speed V4, so that the operator can handle the bar handle. When 36 is operated at a stroke from the neutral state to any one of the third to fourth operation states, the left drive motor 48 and the right drive motor 50 that are on the outside of the turn correspond to the target turning actual speed V2. By controlling to gradually accelerate to the rotational speed, it is possible to prevent the allocation vehicle 10 from suddenly accelerating from a stopped state or a low speed state to perform a turning operation.

(Motor drive processing)
Next, the motor drive process executed by the drive control CPU 60 will be specifically described with reference to FIGS. The drive control CPU 60 of the embodiment executes the motor drive process shown in FIG. 7 at every control interval (2 ms). In this motor driving process, first, based on the operation of the bar handle 36, it is determined whether an operation signal is input from the left operation signal output device 40 and the right operation signal output device 42 (step S11). If the determination result in step S11 is negative (when no operation signal is input from both the left operation signal output device 40 and the right operation signal output device 42), the motor driving process is terminated.

  The drive control CPU 60 stores the drive control RAM 64 in the drive control RAM 64 when the determination result in step S11 is affirmative (when an operation signal from at least one of the left operation signal output device 40 and the right operation signal output device 42 is input). The obtained left driving wheel actual speed V7 and right driving wheel actual speed V8 are acquired, and the actual traveling speed V1 and the actual turning actual speed V2 are calculated (step S12). Further, the drive control CPU 60 reads out the control division ratio P2 stored in the drive control RAM 64 (step S13). Then, the drive control CPU 60 performs a drive wheel required speed calculation process shown in FIG. 8 based on the actual traveling speed V1 and the actual turning speed V2 calculated in step S12 and the control division ratio P2 read in step S13. The left driving wheel required speed V3 and the right driving wheel required speed V4 are calculated (step S14). In the drive wheel required speed calculation process in step S14, when the left drive wheel required speed V3 and the right drive wheel required speed V4 are calculated, the drive control CPU 60 stores information on the left drive wheel required speed V3 in the left drive motor control board 52. And a control signal including information on the right drive wheel required speed V4 is transmitted to the right drive motor control board 54 (step S15), and the motor drive process ends.

  The left drive motor control board 52 drives and controls the left drive motor 48 based on a control signal from the drive control CPU 60 to rotate the left drive wheel 44 at a predetermined rotational speed. The right drive motor 50 is drive-controlled based on a control signal from the drive control CPU 60 to rotate the right drive wheel 46 at a predetermined rotation speed. Therefore, the layout vehicle 10 turns forward straight, backward straight, forward left / right, or backward left / right as the left drive wheel 44 and the right drive wheel 46 rotate at a predetermined rotational speed.

(Drive wheel required speed calculation process)
The drive wheel required speed calculation process executed in step S14 of the motor drive process shown in FIG. 7 will be described with reference to FIG. Whether or not the absolute value of the actual traveling speed V1 is less than or equal to twice the absolute value of the actual traveling speed V2 based on the actual traveling speed V1 and the actual turning speed V2 calculated in step S12 of the motor driving process by the drive control CPU 60. Is determined (step S21). If the determination result in step S21 is negative (when the absolute value of the actual traveling speed V1 is not less than twice the absolute value of the actual turning speed V2), the distribution vehicle 10 receives a signal at the start of execution of the motor driving process. It is determined that there is no pivot shaft on the inner side of the turn because the movement is not performed by the front left turn, the rear left turn, the front right turn, and the rear right turn which are the operation modes of the ground turn (step S22). Accordingly, the target division ratio P1 is set to “0” (step S23), and after step S34 and later described are executed, the left drive wheel required speed V3 is calculated by the equation 5 and the right drive is calculated by the equation 6. The required wheel speed V4 is calculated (step S24). The control contents after step S34 will be described later.

  On the other hand, if the determination result in step S21 is affirmative (if the absolute value of the actual traveling speed V1 is less than or equal to twice the absolute value of the actual turning speed V2), is the requested traveling speed V5 equal to or greater than “0” km / h? It is determined whether or not (step S25). Here, when the determination in step S25 is affirmative (when the required travel speed V5 is “0” km / h), the allocation vehicle 10 is in a stopped state, and the required travel speed V5 is “0” km / h or more. If the sign ("+") is in the state of moving the laying wheel 10 forward, and if the required traveling speed V5 is less than "0" km / h (the sign is "-"), the laying car 10 is determined to be in a state of moving backward.

  If the determination result in step S25 is affirmative (when the sign of the required travel speed V5 is determined to be “+”), it is determined whether or not the required turn speed V6 is smaller than “0” km / h (step S26). ). If the determination result in step S26 is affirmative, the sign of the required travel speed V5 is determined to be “+” in step S25, and the sign of the required turn speed V6 is determined to be “−” in step S26. Therefore, as shown in FIG. 9, it is determined that the turning center (pivot shaft) is the left drive wheel 44 (step S27). That is, as shown in FIG. 9, it is determined that the layout vehicle 10 is in a state of turning leftward about the left drive wheel 44 as a center. Accordingly, the target division ratio P1 is set to “−500” (step S28), and the processes after step S34 are executed. The processing after step S34 will be described later.

  If the determination result in step S26 is negative (when the sign of the turn request speed V6 is determined to be “+”), it is determined in step S29 whether the turn request speed V6 is greater than “0” km / h. . If the determination result in step S29 is affirmative (when it is determined that the sign of the turn request speed V6 is “+”), the sign of the required travel speed V5 is determined as “+” in step S25, and in step S29. Since the sign of the required turning speed V6 is determined as “+”, it is determined that the turning center (pivot axis) is the right drive wheel 46 as shown in FIG. 9 (step S30). That is, the layout vehicle 10 is in a state of turning right forward about the right drive wheel 46 as shown in FIG. Accordingly, the target division ratio P1 is set to “+500” (step S31), and the processes after step S34 are executed. The processing after step S34 will be described later.

  On the other hand, if the determination result in step S29 is negative, the sign of the required travel speed V5 is determined to be “+” in step S25, and both the step S26 and step S30 are negative, and the required turn speed V6 is “ Therefore, it is determined that there is no pivot axis (step S22). If the determination in step S29 is negative, the determination result in step S25 is affirmative (the sign of the actual traveling speed V1 is “+”). Therefore, as shown in FIG. 9, the wheeled vehicle 10 is controlled to move straight ahead. Means that

  If the determination result in step S25 is negative (if the sign of the required travel speed V5 is determined to be “−”), it is determined whether or not the required turn speed V6 is smaller than “0” km / h (step S32). ). If the determination result in step S32 is affirmative (if the sign of the turn request speed V6 is determined to be “−”), the sign of the required travel speed V5 is determined to be “−” in step S25, and the step S32 Since the sign of the required turning speed V6 is determined as “−”, it is determined that the turning center (pivot axis) is the left drive wheel 44 as shown in FIG. 9 (step S30). That is, as shown in FIG. 9, it is determined that the layout vehicle 10 is in a state of turning right rearward about the right drive wheel 46. Accordingly, the target division ratio P1 is set to “+500” (step S31), and the processes after step S34 are executed. The processing after step S34 will be described later.

  If the determination result in step S32 is negative (when the sign of the turn request speed V6 is determined to be “+”), it is determined in step S33 whether the turn request speed V6 is greater than “0” km / h. To do. If the determination result in step S33 is affirmative, the sign of the required travel speed V5 is determined as "-" in step S25, and the sign of the required turn speed V6 is determined as "+" in step S33. From FIG. 9, it is determined that the turning center (pivot shaft) is the left drive wheel 44 (step S27). In other words, as shown in FIG. 9, it is determined that the layout vehicle 10 is in a state of turning leftward about the left drive wheel 44. Accordingly, the target division ratio P1 is set to “−500” (step S28), and the processes after step S34 are executed. The processing after step S34 will be described later.

  On the other hand, if the determination result in step S33 is negative, the sign of the required travel speed V5 is determined as “-” in step S25, and both the step S32 and step S33 are negative, and the required turn speed V6 is “ Therefore, it is determined that there is no pivot axis (step S22). When step S33 is negative, the determination result of step S25 is negative (the sign of the required travel speed V5 is “−”), so that the allocation vehicle 10 is controlled to move straight backward as shown in FIG. Means that

(About Step S34 and after)
In the drive wheel required speed calculation process, after executing the process of setting the target split ratio P1 to “0” in step S22, after executing the process of setting the target split ratio P1 to “−500” in step S28, After executing the process of setting the target split ratio P1 to “+500” in step S31, the control split ratio P2 read from the drive control RAM 64 in step S13 of the motor drive process is the target set in the drive wheel required speed calculation process. It is determined whether or not it is smaller than the division ratio P1 (step S34). If the determination result in step S34 is affirmative (if the control division ratio P2 is smaller than the target division ratio P1), 1 is added to the control division ratio P2 (step S35), and the updated control division ratio P2 is driven and controlled. Write to RAM 64. In step S35, the left drive wheel required speed V3 and the right drive wheel required speed V4 are respectively calculated using the target split ratio P1 and the updated control split ratio P2 (step S24).

  On the other hand, when the determination result of step S34 is negative (when the control division ratio P2 is greater than or equal to the target division ratio P1), it is determined whether the control division ratio P2 is greater than the target division ratio P1 (step S36). When the determination result of step S36 is affirmative (when the control division ratio P2 is larger than the target division ratio P1), 1 is subtracted from the control division ratio P2 (step S37), and the updated control division ratio P2 is driven and controlled. Write to RAM 64. Then, using the updated control division ratio P2 in step S37, the left driving wheel required speed V3 and the right driving wheel required speed V4 are respectively calculated (step S24).

  Further, when the determination result of step S36 is negative (since step S34 is also negative, control division ratio P2 = target division ratio P1), the control division ratio P2 is read from the drive control RAM 64 without updating. The left drive wheel required speed V3 and the right drive wheel required speed V4 are calculated using the control division ratio P2 (step S24).

  When the left drive wheel required speed V3 and the right drive wheel required speed V4 are calculated in step S24, the drive wheel required speed calculation process in step S13 in the motor drive process is completed.

Here, the calculation of the left driving wheel required speed V3 and the right driving wheel required speed V4 in the step S24 is based on the control division ratio P1 and the forward right turn and the backward left turn, the forward left turn and the backward right turn. The manner of adopting the target division ratio P2 is different. That is, in the left front turn and the right rear turn, the inside of the turn (pivot shaft) is the left drive wheel 44. Therefore, when calculating the left drive wheel required speed V3 according to Equation 5, the target division ratio P1 is used as the division ratio P. Is adopted. Further, since the right side of the turning is the right drive wheel 46, the control division ratio P2 is adopted as the division ratio P when the right drive wheel required speed V4 is calculated by the equation (6). That is, in the motor drive control in the front right turning and rear left turn, is always intended decomposition ratio P 2 is adopted in the left drive wheel requested speed V3, the left driving wheel 44 is held in a stopped state. On the other hand, at the right drive wheel required speed V4, the control division ratio P2 that is updated and changed at each control interval is adopted, so the right drive wheel 46 rotates until the control division ratio P2 matches the target division ratio P1. Will gradually change. As a result, when the allocation vehicle 10 according to the embodiment starts the forward right turn and the backward left turn, the right drive wheel 46 is gradually accelerated, and the turn operation is started smoothly. Yes.

  On the other hand, in the forward right turn and the backward left turn, the inside of the turn (pivot shaft) is the right drive wheel 46. Therefore, when calculating the right drive wheel required speed V4 according to Equation 6, the target division ratio P1 is used as the division ratio P. Is adopted. In addition, since the left driving wheel 44 is on the outside of the turn, the control division ratio P2 is adopted as the division ratio P when calculating the left driving wheel required speed V3 according to Equation 5. That is, in the motor drive control in the front left turn and the rear right turn, the target split ratio P1 is always adopted at the right drive wheel required speed V4, so the right drive wheel 46 is held in a stopped state. On the other hand, at the left driving wheel required speed V4, the control division ratio P2 that is updated and changed at each control interval is adopted. Therefore, the left drive wheel 44 rotates until the control division ratio P2 matches the target division ratio P1. It will gradually change. As a result, the layout vehicle 10 according to the embodiment is configured to perform a turning operation in which the left driving wheel 44 is gradually accelerated and starts moving smoothly when starting the forward left turn and the backward right turn operation. Yes.

  That is, in the allocation vehicle 10 of the embodiment, in the drive wheel required speed calculation process of the motor drive process performed at each control interval, first, in step S21, it is determined whether the vehicle is turning left and right or turning left and right. If the determination result is affirmative, it is determined in step S25 whether the vehicle is turning left and right or turning left and right. In the case of forward left / right turn, in step S29 and step S29, it is determined whether left turn or forward right turn, and in the case of forward right turn, the right drive wheel 46 becomes the pivot shaft. When the target split ratio is set to “+500” and calculation is performed by substituting “+500” into the split ratio P2 of the equation 6 in step S24, the right drive wheel required speed V4 = 0 km / h and the right drive wheel 46 is calculated. Is in a stopped state. Further, if the calculation is performed by substituting “+500” for the division ratio P2 in the equation 5 in step S24, the left driving wheel 44 is controlled to rotate because the required left driving wheel speed V3 = 0 km / h. Accordingly, as shown in FIG. 9, the layout vehicle 10 turns right forward by the rotation of the left driving wheel 44 with the right driving wheel 46 stopped.

  On the other hand, in the case of forward left turn, the left drive wheel 44 serves as the pivot shaft, so the target split ratio is set to “−500” and “−500” is set to the split ratio P2 of Equation 5 in step S24. When calculated by substituting, the left drive wheel required speed V3 = 0 km / h and the left drive wheel 44 is stopped. Further, if the calculation is performed by substituting “−500” into the division ratio P2 of the equation 6 in step S24, the right driving wheel 46 is controlled to rotate because the required right driving wheel speed V4 = 0 km / h is not obtained. Accordingly, as shown in FIG. 9, the layout vehicle 10 turns to the left by the rotation of the right drive wheel 46 with the left drive wheel 44 stopped.

  If it is determined in step S25 that the vehicle is turning left and right, it is determined in step S32 and step S33 whether the vehicle is turning backward left or turning right. In the case of a rightward turn, the left drive wheel 44 serves as a pivot shaft. Therefore, the target division ratio is set to “−500”, and “−500” is substituted into the division ratio P2 of Equation 5 in step S24. As a result, the left drive wheel required speed V3 = 0 km / h and the left drive wheel 44 is stopped. Further, if the calculation is performed by substituting “−500” into the division ratio P2 of the equation 6 in step S24, the right driving wheel 46 is controlled to rotate because the required right driving wheel speed V4 = 0 km / h is not obtained. Accordingly, as shown in FIG. 9, the layout vehicle 10 turns to the rear right by the rotation of the right drive wheel 46 with the left drive wheel 44 stopped.

  On the other hand, when the vehicle is turning leftward, the right drive wheel 46 serves as a pivot shaft. Therefore, the target division ratio is set to “+500”, and “+500” is substituted into the division ratio P2 of Equation 6 in step S24. The right drive wheel required speed V4 = 0 km / h and the right drive wheel 46 is stopped. Further, if the calculation is performed by substituting “+500” into the division ratio P2 in the equation 5 in step S24, the left drive wheel required speed V3 = 0 km / h, and therefore, the left drive wheel 44 is controlled to rotate. Accordingly, as shown in FIG. 9, the allocation vehicle 10 turns rearward leftward by the rotation of the left driving wheel 44 with the right driving wheel 46 stopped.

  Therefore, in the allocation vehicle 10 of the embodiment, the left driving wheel required speed V3 and the right driving wheel required speed V4 are calculated by employing the division ratio P (the target division ratio P and the control division ratio P2) in the expressions 5 and 6. As a result, the left drive wheel required speed V3 is set to “0” when the left drive wheel 44 is on the inside of the turn and the left drive wheel is on the inside of the turn, and the left drive wheel required speed V3 is set to “0”. The right drive wheel required speed V4 is set to “0” during turning and backward right turn. Therefore, the driving wheel that is on the outer side of the left driving wheel 44 and the right driving wheel 46 does not reversely rotate with respect to the driving wheel that is on the outer side of the turning, and only the driving wheel that is on the outer side of the turning is turned. become. As a result, when the distribution vehicle 10 according to the embodiment is used in a carpet floor passage or the like, the carpet is twisted, peeled off, or displaced due to friction between the left driving wheel 44 and the right driving wheel 46 and the carpet. Can be prevented. Moreover, when using the allocation vehicle 10 of an Example by a path | route, such as concrete and a flooring, it can also make it difficult to attach a run mark to the surface of this path | route.

  In addition, since the allocation vehicle 10 of the embodiment does not enter the super turning operation mode in which a load is easily applied to the left drive wheel 44 and the right drive wheel 46, the load on the left drive motor 48 and the right drive motor 50 can be reduced. It is possible to prevent an excessive load from being applied to the left and right drive motors 48, 50 and the battery 24 that supplies electricity to the drive motors 48, 50, and to reduce the size of the drive motors 48, 50 and the battery 24. Can be realized. Thereby, the layout vehicle 10 can be reduced in size and weight.

  Further, in the allocation vehicle 10 of the embodiment, when calculating the drive wheel required speeds V3 and V4 of the drive wheels that are outside the turning in the left drive wheel 44 and the right drive wheel 46, a motor that is executed at every 2 ms control interval. Since the control division ratio P2 updated so as to approach the target division ratio P1 in the drive process is adopted as the division ratio P, the required drive wheel speeds V3 and V4 of the drive wheels 44 and 46 on the outer side of the turn are gradually increased. Can be changed. Accordingly, when the bar handle 36 is suddenly operated, the drive motors 48 and 50 for the drive wheels 44 and 46 on the outside of the turn do not suddenly accelerate or decelerate, and gradually when the turning motion starts. The movement starts so as to increase the turning speed, and stops at the end of the turning so that the turning speed gradually decreases. Thereby, the layout vehicle 10 of the embodiment can perform a smooth turning operation, and can suppress occurrence of an impact at the start of turning and at the end of turning, and is placed in the storage chamber 28 of the main body 10. It is possible to prevent inconveniences such as the tableware tray 31 being displaced and the food on the tableware tray 31 being spilled.

(Example of change)
The electric mobile vehicle according to the present invention is not limited to the embodiment, and various modifications can be made.
(1) The electric mobile vehicle is not limited to the layout vehicle illustrated in the embodiment, but is intended to include a pair of drive wheels that are controlled independently.
(2) The target division ratio in the division ratio is not limited to “+500” or “−500” in the embodiment, and may be appropriately changed based on a control interval or the like.
(3) The left drive motor and the right drive motor are not limited to servo motors, and may be stepping motors or the like that can control the rotation speed and the rotation angle in the rotation direction.

12 body, 22 drive control device (drive control means), 36 bar handle (operation means)
48 Left drive motor (drive means), 44 Left drive wheel (first drive wheel)
46 Right drive wheel (second drive wheel), 50 Right drive motor (drive means), P Division ratio V1 Actual travel speed, V2 Actual swing speed, V3 First drive wheel required speed V4 Second drive wheel required speed, V5 Progress Required speed, V6 Turn required speed

Claims (2)

The drive means (48, 50) driven by the drive control means (22) based on the operation signal from the operation means (36) and the body (12) are disposed apart from each other in the left-right direction, and the drive means (48 , 50) and a pair of first drive wheels (44) and second drive wheels (46) that are individually controlled for rotation by driving the first drive wheels (44) and the second drive wheels (46). In an electric mobile vehicle capable of straight forward, backward straight, forward left / right turn and backward left / right turn by rotation,
The drive control means (22) calculates a required travel speed (V5) in the front-rear direction and a required turn speed (V6) in the left-right direction of the main body (12) based on the input operation signal, and Based on the speed (V5) and the required turning speed (V6), the first required driving wheel speed (V3) required for the first driving wheel (44) and the second required driving wheel (46). Calculate the two-wheel drive speed (V4) at a controlled interval,
The drive control means (22) is configured so that when the vehicle is turned left or right forward or rearward, the first drive wheel (44) or the second drive wheel (46) on the inside of the turn is the other second drive on the outside of the turn. The drive wheel required speed (V3, V4) of one drive wheel (44, 46) on the inside of the turn is set to 0 so that it does not rotate in the reverse direction with respect to the wheel (46) or the first drive wheel (44). Stop ,
The drive control means (22) calculates the first drive wheel required speed (V3) by the following formula 5 based on the calculated required travel speed (V5) and the required turn speed (V6), An electric mobile vehicle configured to calculate the second drive wheel required speed (V4) according to 6 .

Here, P in Formula 5 and Formula 6 is a division ratio, and is a real number of −500 to +500. When the actual turning speed (V2) that is the actual speed in the left-right direction is equal to or greater than the actual traveling speed (V1) that is the actual speed in the front-rear direction, the drive control means (22) Is set to -500 when turning is inside the turn, and when the second drive wheel (46) is turning inside the turn, the division ratio (P ) Is set to +500. The electric vehicle according to claim 1, wherein

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