JP6432060B2 - Two-wheeled vehicle, its control method and operation control method - Google Patents

Description

  The present invention relates to a two-wheeled vehicle, a control method thereof, and an operation control method, and in particular, is configured to correct a posture of a cargo bed portion with respect to a tilt in a traveling direction and to correct a posture of the cargo bed portion with respect to a tilt in a left-right direction. The present invention relates to a two-wheeled vehicle, its control method and operation control method.

  In order to maintain a stable posture with respect to a moving carriage having two wheels for moving a transported object or a passenger (this is referred to as a two-wheeled vehicle), the inventors of the present application have proposed a two-wheeled vehicle having a low center of gravity. (Refer to Patent Document 1 and Non-Patent Document 1) Controlling so that the posture tilted in the traveling direction by the acceleration applied during traveling is stabilized by weight movement, and also maintains the stable posture even when the control is stopped We have developed a mechanism that can be used.

  However, the above-described technology is a mechanism for stabilizing the posture of the loading platform that tilts in the front-rear direction with respect to the traveling direction of the two-wheeled vehicle, and includes a stabilization mechanism in the case where the road surface is greatly undulated and tilted left and right. There wasn't. Therefore, for example, when traveling on rough terrain, such as farmland, construction sites, disaster areas, etc., the entire two-wheeled vehicle tends to tilt to the left and right, and the loading platform also inevitably tilts to the left and right. Objects and passengers sometimes moved from side to side. Therefore, a stabilization mechanism that corrects the right and left inclination with respect to the loading platform is required. Further, since the above-described technique is exclusively operated with a joystick, there is a concern that the operation cannot be performed smoothly unless the user is used to operating the joystick. Therefore, it has also been required that the two-wheeled vehicle can be moved by a sensory operation by the power assist function.

JP 2011-131660 A JP 2003-136930 A JP 2004-306955 A JP 2006-1385 A JP 2004-344435 A JP 2011-148330 A

Parallel two-wheel vehicle with underslung vehicle, Mechanical Engineering Journal, Vol.1, No.4, pp.1-12, DOI: 10.1299 / mej.2014dr-0036, 2014 Journal of the Japan Society for Precision Engineering, Vol.70, No.7, pp.983-988,2004, Study on travel control of omnidirectional mobile robot with body tilt mechanism

  In the above-mentioned Patent Document 1, as a device for correcting left and right inclination, a height adjustment device such as a cylinder or an actuator is installed between the vehicle body base and the loading platform, and the height of the vehicle is inclined. Mechanisms have been proposed in which the adjustment device is operated to raise the lower side (see Patent Documents 2 to 4 and Non-Patent Document 2).

  However, since the above configuration requires a height adjusting device to correct left and right tilt (including tilting back and forth in some cases), the mechanism becomes larger, and in particular, a cylinder device is used. In some cases, a compressor must be installed, leading to an increase in size and weight of the entire two-wheeled vehicle. Furthermore, the technique described in Patent Document 4 is such that the center of gravity including a person who rides in a two-wheeled vehicle is located above the center of rotation of the wheel (so-called inverted type), and the motor is also resistant to tilting in the traveling direction. Since the attitude is controlled only by driving, the responsiveness to the left and right inclinations also depends on the motor characteristics, and when the right and left inclinations change abruptly, there is a concern that the stability of the attitude of the loading platform will be delayed.

  On the other hand, regarding a power assist mechanism, a mechanism that enables power assist driving for a four-wheeled mobile carriage has been proposed (see Patent Documents 5 and 6). However, since these technologies are related to a four-wheeled mobile carriage, it is not necessary to consider tilting in the traveling direction, and it is not considered that the cargo bed part tilts left and right. Further, in the technique disclosed in Patent Document 5, the thrust load and moment due to the weight of the outer frame which is the loading platform operating portion are detected by the force sensor on the inclined surface due to the influence of gravity. It was also a concern that the moving carriage would run with different external forces.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide a two-wheeled vehicle that can stabilize the attitude of the loading platform by a relatively small mechanism. It is to provide a control method and an operation control method.

  The present invention relating to a two-wheeled vehicle is a two-wheeled vehicle that enables traveling in the advancing and retreating direction and steering and turning by rolling of two wheels installed on the left and right sides. A supporting frame, a base portion supported by the frame between the two wheels, a loading platform portion supported by the base portion, and a weight provided below the loading platform portion while allowing movement in the advancing and retreating direction. First driving means for supplying a driving force for moving the weight, attitude detecting means for detecting the attitude of the loading platform, and driving of the driving means based on information obtained by the attitude detecting means. In the two-wheeled vehicle including the control means for controlling, the loading platform portion swings so that both the left and right sides move up and down in the forward / backward direction, and the swing mechanism Second driving means for driving swinging of the loading platform, and the second driving means is controlled by the control means based on information obtained by the attitude detection means. It is characterized by.

  According to the above configuration, the attitude (tilt state) of the loading platform detected by the attitude detection means is divided into the forward / backward inclination of the two-wheeled vehicle and the inclination in the left / right direction. On the other hand, it is corrected by moving the weight by operating the first driving means. On the other hand, for the inclination in the left-right direction, the loading platform is swung by operating the second driving means. Thus, the inclination angle can be corrected and the horizontal posture can be maintained. In addition, since the tilt in the advancing / retreating direction and the tilting in the left / right direction are separated and can be corrected at the same time, even when the vehicle body (loading platform) tilts while tilting, the loading platform is leveled. It can be maintained.

  In the above configuration, the swing mechanism is divided into the left and right sides in the forward / backward direction, and is provided so as to roll along the track restricting portion and at least one set of the track restricting portion provided in the base portion. It is composed of at least one set of rolling members provided separately on both sides of the loading platform, and the second driving means is provided for at least one of the set of rolling members. It is configured to supply a driving force for rolling, and is configured so that the trajectory restricting portion is provided in a long length so as to guide in a direction of a trajectory in which the left and right ends move due to the swinging of the loading platform portion. Also good.

  According to the configuration as described above, the swinging of the loading platform is restricted by the track regulating unit, and only the swinging in the direction necessary for correcting the left and right inclination of the loading platform is allowed. It becomes. Therefore, the driving force is not transmitted to all the rolling members, for example, the driving force is transmitted to one rolling member, so that the loading platform is swung in a predetermined direction, thereby allowing the loading platform to swing. It is possible to correct the inclination of the part to the left and right.

  Further, in the above-described configuration, the set of track regulating portions is arranged so that the individual surfaces that are separately provided face each other, while the set of rolling members is the loading platform portion. The left and right sides can be arranged so as to be sandwiched between the set of track regulating portions.

  In the case of such a configuration, since the set of rolling members arranged on the left and right sides of the loading platform is sandwiched between the set of track regulating portions provided on the base, The position in the left-right direction is determined, and as a result, the position in the left-right direction of the loading platform is fixed. When one of the set of rolling members is driven to swing the loading platform, the other rolling member rolls along the other track regulating portion, and the loading platform is The part can be swung while being restricted to a predetermined position.

  In this case, the track restricting portion may be a rack-like rail having a surface engraved with teeth, and the rolling member may be constituted by a pinion gear that meshes with the teeth of the rack-like rail.

  According to the said structure, the tooth | gear of the pinion gear which functions as a rolling member has meshed | engaged with the tooth | gear of the rack-shaped rail, and the pinion gear can roll on the surface of a rack-shaped rail reliably. Since the rack-shaped rail is fixed, the rotation of the pinion gear relatively moves the rotation axis (rotation center) of the pinion gear, and the rack-shaped rail can be moved up and down along the longitudinal direction of the rack-shaped rail. By supporting the rotating shaft of the pinion gear on both the left and right sides of the loading platform, the left and right ends of the loading platform are moved up and down as the rotating shaft is moved up and down, and the entire loading platform is swung by the lifting of both ends. Become. In the above, a mechanism using a rack and a pinion is shown as a representative example. However, by configuring the screw shaft like the rack-like rail and the nut part similarly to the pinion, It is also possible to do.

  Further, in each of the above-described configurations, the cargo bed portion may include a shaft portion for swinging, and may be configured to be supported by the base portion via the shaft portion.

  According to the above configuration, the loading platform is installed so as to be able to swing with the base, and the weight of the transported object or the passenger mounted on the loading platform is determined via the shaft. Therefore, it is possible to load a transported object or a passenger with a sufficient weight while the loading platform is swingable. In the case where the rolling parts installed on the left and right sides of the loading platform are in contact with the track regulating parts installed on the left and right sides of the base, the weight is further dispersed. Can also be supported.

  In each configuration, each of the two wheels includes a motor for individually driving the motor, and the motor controls forward, reverse, steering, and rotation by controlling the rotational direction, rotational speed, and rotational speed by the control means. The turning as well as their speed can be adjustable.

  According to the above configuration, since the wheels for traveling the two-wheeled vehicle are independently driven, it is possible to move forward or backward linearly by being driven at the same rotational speed in the same direction. By making a difference between the rotational speeds of the left and right wheels, it is possible to move forward or backward while steering. Further, when only one side is moved forward and the other is stopped or moved backward, it is also possible to turn. Since the motors for driving both wheels are controlled by the control means, the operation command by the operator controls the rotation direction of the respective motors by the control means, so that the desired driving for the two-wheeled vehicle is performed. The condition will be executed.

  In the motor having the above-described configuration, the rotating shaft is coupled to the axle of each wheel via a transmission mechanism, and the wheel and the motor are integrated with each other by being supported by the frame via a suspension. Thus, the relative positional relationship with the frame can be changed.

  In such a configuration, the driving force generated by the motor can be transmitted from the rotating shaft to the transmission mechanism and then transmitted to the axle. Therefore, for example, it can be transmitted to the wheel axle while being decelerated by a transmission mechanism including a reduction gear. The rotation shaft of the motor is connected to the axle via a transmission mechanism, while the motor body is supported by the frame, so that only the rotation shaft is rotated while the motor body is fixed. In addition, since the suspension is interposed between the motor body and the frame, the position of the motor body is freely movable in the operating range of the suspension. That is, the wheel is connected to the rotating shaft of the motor via the axle and the transmission mechanism, and since the wheel and the motor are integrated, a suspension is interposed between the wheel and the frame. Become. Therefore, this suspension can absorb vibrations and a sudden vertical movement of the wheels from the road surface.

  And in the case of the said structure, the said motor is arrange | positioned with the said transmission mechanism so that it may be slidably contacted by the both sides of the left-right direction of the said base, and along the regulation part provided in the side surface of the both sides of this base It can be made slidable.

  According to the above configuration, when the shock is absorbed by the suspension, the relative positional relationship with the frame (substantially the base portion supported by the frame) changes. It can be regulated. For example, when a suspension is arranged to absorb a shock in the vertical direction between the motor and the frame while the two-wheeled vehicle is stopped on a horizontal ground, the motor or the like (the motor and the wheel integrated therewith) is vertically By restricting the sliding direction so as to be able to slide in the direction, the direction of impact absorbed by the suspension and the moving direction of the motor or the like match, and smooth impact absorption by the suspension becomes possible. At the same time, it can resist an external force acting on the motor or the like in a direction away from the base.

  In each of the above configurations, the base portion includes an operation handle and a handle support portion that supports the operation handle, and the handle support portion detects a force sense change due to an external force acting on the operation handle. A detection unit may be provided, and the rotation state of the motor may be controlled in accordance with a change in force sense detected by the force sense detection unit.

  In the case of such a configuration, by applying an external force (operation force) to the operation handle for operation, a so-called power assist function for assisting the operation force can be exhibited. That is, the operation handle is not for steering the two-wheel vehicle, but is provided for detecting the operation force to be assisted. In the case of a configuration in which the wheel is driven by a driving unit such as a motor, it is possible to control the running state while controlling the driving unit via the control means by operation with a joystick or the like. When traveling on an intense road surface, control in a subtle direction is required, so that operation with an operation handle is possible instead of a joystick.

  The present invention relating to the attitude control method of a loading platform in a two-wheeled vehicle relates to the two-wheeled vehicle having each of the above-described configurations, wherein the attitude detection means detects the inclination state of the loading platform portion by comparison with a horizontal plane, and the control means The inclination state of the loading platform is divided into an inclination in the advancing / retreating direction and an inclination in the left / right direction, and the inclination is corrected by moving the weight by operating the first driving means for the inclination in the advancing / retreating direction. For the inclination in the left-right direction, the inclination is corrected by operating the second driving means and swinging the loading platform.

  According to the control method of the above configuration, for example, when the displacement is detected from the state in which the loading platform is a horizontal plane as the posture detection means, the displacement can be detected in any direction. In order to correct this displacement and correct the loading platform in a horizontal state, the displacement is divided into two directions, the front-rear direction and the left-right direction, and the two directions are corrected. The two directions are the forward / backward direction of the two-wheeled vehicle for the front / rear direction, and the left / right direction of the two-wheeled vehicle for the left / right direction. And it becomes possible to correct by the action | operation of a 2nd drive means.

  Furthermore, the present invention related to an operation control method in a two-wheeled vehicle relates to a two-wheeled vehicle having an operation handle and a handle support portion, and by applying an operation force in a predetermined direction to the operation handle, The force sense detection unit inputs the detection value to the control unit while decomposing the operation force into the forward / backward direction and the left / right component, and the control unit causes the rotation speeds of the wheels and Controlling the direction of rotation and operating individual motors that drive both wheels individually so as to control the relative rotational speed of both wheels by changing the value in the left-right direction. is there.

  According to the above configuration, by applying an external force to the operation handle, the external force is detected by the force sense detection unit, and the direction of the external force is decomposed into the forward / backward direction of the two-wheeled vehicle and the left-right direction. Thus, it is possible to detect the operation force in the forward / backward direction and the left / right direction while distinguishing them. The rotation of wheels on both the left and right sides is controlled in accordance with the external force in these two directions, and the rotation of the wheels necessary for forward / backward movement, steering and turning is controlled. By changing the rotational speed of the wheel according to the magnitude of the external force at this time, it is possible to control the forward / backward, steering and turning speeds.

  According to the present invention relating to a two-wheeled vehicle, the tilt of the loading platform is corrected by swinging the loading platform in the left-right direction, and the swing is caused by rotating the rolling member. Compared with the case of using a, it can be based on a small mechanism. Further, in the configuration in which the rolling member is provided so as to mesh with the pinion gear and the pinion gear meshes with the rack-shaped rail, the lifting and lowering by rolling of the pinion gear can be reliably performed.

  In addition, in the case of a configuration in which a suspension is interposed between the wheel and the frame, vibrations on the road surface can be absorbed, so that the platform can be stabilized even when traveling on a road surface with severe undulations. In particular, by installing the motor separately for each wheel, the rotational state of both wheels can be individually controlled, so that not only forward and backward movement of the two-wheel vehicle but also steering and turning are possible.

  Further, in the configuration in which the operation handle and the handle support portion are provided, the force sense detection portion is provided in the handle support portion, so that the operation force can be detected by applying an external force to the operation handle, The power assist function can be exhibited by rotating the wheel motor in accordance with the detection force. The power assist function operates according to the degree to which an external force is applied to the operation handle, and thus enables traveling according to the operator's intention.

  On the other hand, according to the present invention relating to the control method for the two-wheeled vehicle, the tilt state of the loading platform is divided into two directions, the forward / backward direction and the left / right direction, and the tilt in the forward / backward direction can be corrected by weight movement. The inclination in the left-right direction can be corrected by swinging the loading platform. By controlling the correction to the inclination in the two directions, the posture of the loading platform can be stabilized.

  Further, according to the present invention related to the operation control method, the external force acting on the operation handle can be detected while being divided into two directions by the force sense detection unit of the handle support portion, and one of the two directions is detected. Is the operating force for the forward / backward direction, and the other is the operating force for the rotational direction (steering direction or turning direction). Thus, by controlling the two types of operating forces while being divided, it is possible to perform power assist at the time of forward and reverse travel, and to exhibit the power assist function even at the time of steering or turning.

It is explanatory drawing which shows the outline of embodiment which concerns on a two-wheeled vehicle. It is an exploded explanatory view showing details of an embodiment according to a two-wheeled vehicle. It is explanatory drawing which shows the movement state of a weight. It is explanatory drawing which shows the control system at the time of moving a weight. It is explanatory drawing which shows the state of the inclination of a carrier part. It is explanatory drawing which shows the control system at the time of rocking a loading platform part. It is explanatory drawing which shows the relationship between the steering handle for operation control, and a handle support part. It is explanatory drawing which shows the modification of embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing an embodiment of a two-wheeled vehicle. As shown in this figure, in the present embodiment, two wheels 1L and 1R are arranged separately on the left and right, and a vehicle body portion 10 is provided between them. In the following, the direction in which the wheels 1L and 1R roll is referred to as the forward / backward direction, and the lateral direction toward the forward / backward direction is referred to as the left / right direction.

  The outline of the vehicle body portion 10 is composed of a base portion 2 and a cargo bed portion 3. The base portion 2 is provided with a weight and first driving means to be described later, and is provided with a mechanism for supporting the cargo bed portion 3. ing. The wheels 1L and 1R are individually supported by the frames 4L and 4R, and both the frames 4L and 4R are fixed to the base 2 at the lower part, and the base 2 is supported by the frames 4L and 4R. Yes. In this embodiment, the frames 4L and 4R are formed in a substantially arc shape, and the curved portion is arranged upward, and the upper end of the curved portion and the axles (or axles) of the left and right wheels 1L and 1R are arranged. Suspensions 41L and 41R for absorbing the impact in the vertical direction are interposed between the connecting members).

  Here, the details of each part will be described sequentially. FIG. 2 is an exploded view of the two-wheeled vehicle. As shown in this figure, the base portion 2 is formed in a box shape having a main body portion opened upward, and the weight 5 and the first driving means 6 are arranged inside the box shape. is there.

  Rails 21 and 22 for restricting the direction in which the weight 5 should move are provided on the bottom surface 20 of the base portion 2, and a fitting portion 51 into which the rails 21 and 22 can be fitted on the bottom portion of the weight 5. , 52 are provided and are movable in the direction along the rails 21, 22. The directions of the rails 21 and 22 coincide with the advancing / retreating direction of the two-wheeled vehicle, and therefore the weight 5 can move in the advancing / retreating direction of the two-wheeled vehicle.

  In addition, although the weight 5 can also install the exclusive weight for a gravity center adjustment, it is good also as a structure carrying the battery for the power supply to each member. In the present embodiment, a plurality of batteries are mounted in a row. As a mechanism for moving the weight 5, in the present embodiment, the weight 5 is provided with a lead screw 24 that rotates in the circumferential direction by the motor 23 and a female screw portion 53 that is screwed to the lead screw 54. . The rotation of the motor 23 causes the lead screw 24 to rotate, so that the female screw portion 53 rotates according to the number of rotations. The entire weight 5 is moved in the forward / backward direction by the screwing of the female screw portion 53. The motor 23, the lead screw 24, and the female screw portion 53 constitute a first drive means.

  By the way, two sets of track restricting portions 27a, 27b, 28a, 28b are provided on the left and right side walls 25, 26 of the base portion 2. In the present embodiment, the track regulating portions 27a, 27b, 28a, 28b are constituted by rack-like rails. That is, the longitudinal direction of the flexible rack formed in the shape of a long arc is arranged in the vertical direction, and the teeth are provided so that the teeth are aligned in the vertical direction. When the pinion gears 33a, 33b, 34a, 34b roll by meshing with the pinion gears 33a, 33b, 34a, 34b supported by the horizontal shafts 31, 32 on the left and right sides of the loading platform 3, the track It can move in the ascending / descending direction along the surfaces of the restricting portions 27a, 27b, 28a, 28b.

  At least one of the pinion gears 33a to 34b is driven by the second driving means, and in the present embodiment, the two pinion gears 33b, 34b can be rotated simultaneously. The driving force at this time is obtained by the motor 35 installed on the back surface side of the loading platform 3, and the driving force is transmitted to the horizontal shaft 32. Therefore, the motor 35 that generates this driving force and the horizontal shaft 32 constitute second driving means. Since the loading platform 3 swings, the left and right ends move up and down so as to draw an arcuate locus. Therefore, the track regulating portions 27a to 28b are arranged in a direction along the arc shape when both ends of the loading platform portion 3 swing.

  In addition, an attitude angle sensor 36 as an attitude detection unit described later is provided on the back side of the cargo bed part 3 so that the state of inclination of the cargo bed part 3 can be detected. The attitude angle sensor 36 is configured by sensor fusion in which a gyro sensor, an acceleration sensor, and the like are integrated, and a detection value by the attitude angle sensor 36 is input to a control unit described later, and an inclination direction, an inclination angle, and The angular velocity is detected, and a command for correcting the tilt state by the control unit is output to the motor 23 for the first driving means and the motor 35 for the second driving means.

  Furthermore, in this embodiment, a handle support portion 6 is provided between the base portion 2 and the base portion 3. The handle support portion 6 is connected to a force sense detection portion 60 provided on the upper surface of the flat base portion 61, and the operation handle 7 is coupled to the handle support portion 6.

  Specifically, a sensor unit 62 composed of a strain gauge is installed at the center of the base unit 61, and a shaft unit 63 for transmitting an operating force is fixed to the sensor unit 62. Further, a transmission portion 64 for transmitting the operation force of the operation handle 7 is fixed to the shaft portion 63. The transmission part 64 is formed in a rectangular shape by two linear members 64a and 64b that are in contact with the shaft part 63 at two points in parallel, and connecting members 64c and 64d that connect both ends of the linear members 64a and 64b. In other words, the linear members 64 a and 64 b are fixed at positions where they come into contact with the shaft portion 63. The longitudinal direction of the linear members 64a and 64b is arranged in parallel with the advancing / retreating direction of the two-wheeled vehicle. The connecting members 64c and 64d transmit the operating force transmitted from the operating handle 7 while disassembling the two linear members 64a and 64b, and at the same time, are formed by the linear members 64a and 64b. This is to maintain a rectangular shape.

  Therefore, the operation handle 7 is connected to the base portion 61 via the sensor portion 62, the shaft portion 63, and the transmission portion 64 by fixing the base portion 71 to the one connecting member 64c. The operation portion 72 of the operation handle 7 is composed of a rod-like member extending in the left-right direction, and can present a steering force for steering and turning in addition to the operation force in the forward / backward direction.

  With such a configuration, by applying an external force (operation force) to the operation portion 72 of the operation handle 7, the operation force is transmitted to the shaft portion 63 via the transmission portion 64. At this time, the operating force in the advancing / retreating direction is applied to the shaft portion 63 from a portion in contact with (fixed to) the shaft portion 63 as the same direction and the same operation force with respect to the two linear members 64a and 64b. Communicated. Further, the operating force for steering or turning is transmitted to the two linear portions 64a and 64 as operating force in different directions or as torque in the turning direction. In this way, the state of the transmitted operating force is detected by the sensor unit 62 and output as electrical information to the control unit.

  Further, the handle support portion 6 of the present embodiment is fixed to the base portion 2 and provided integrally. Accordingly, the loading platform 3 is disposed above the base 61 of the handle support 6. Therefore, in order to install the loading platform 3 above the base 61 in a swingable state, the support portions 65 and 66 are erected on the upper surface of the base 61 in this embodiment. The support portions 65 and 66 are formed by a rod-shaped member having a through hole at the tip so that the through hole is at a predetermined height. On the other hand, a rocking shaft 37 is provided on the lower surface of the loading platform 3, and by inserting the rocking shaft 37 into the through holes of the support portions 65 and 66, the loading platform 3 can be rocked. The loading platform 3 can be supported with an appropriate distance from the base 61. The strengths of the swing shaft 37 and the support portions 65 and 66 can be adjusted according to the weight of the transported object or the passenger mounted on the loading platform 3, but the number of the support portions 65 and 66 can be adjusted. It can be accommodated by increasing.

  The wheels 1L and 1R are supported by the frames 4L and 4R. The frames 4L and 4R are connected to the left and right sides of the vehicle body 10 (specifically, the base 2). Suspensions 41L and 41R are interposed between the wheels 1L and 1R and the frames 4L and 4R, and the axle 11 is substantially supported by the suspensions 41L and 41R. .

  Specifically, the axle 11 is connected to a rotating shaft 81 extending from a drive unit 8 incorporating a driving motor, and the rotating shaft 11 is configured directly on the motor shaft or via a transmission mechanism. The transmitted rotational force can be transmitted to the axle 11. As a result, the drive unit 8 is configured integrally with the wheels 1L and 1R. Therefore, the suspensions 41L and 41R are coupled to the drive unit 8 so that the impact of the wheels 1L and 1R is exerted. It will be in a state where it can be absorbed.

  Further, the drive unit 8 incorporating the motor is entirely surrounded by a casing, and a part of the casing is in sliding contact with the base 2 and is allowed to slide in a predetermined direction. . That is, the side surface of the casing disposed on the side facing the base portion 2 includes a sliding contact region 82 having a partially projecting shape, and the sliding contact region 82 is restricted from moving in the left-right direction and the forward / backward direction. A restricting portion 29 that allows sliding in the vertical direction is provided on the side surface of the base portion 2.

  In such a configuration, the wheels 1L and 1R including the drive unit 8 are supported by the suspensions 41L and 41R, and when the wheels 1L and 1R receive an impact, the impact is regarded as a vertical movement and the suspension 41L. , 41R. Further, as shown in the figure, it has a function of stabilizing the axle 11 when the wheels 1L and 1R are supported in a cantilever state.

  Although not particularly illustrated, a control unit is installed using a space existing in the base 2, and this control unit is a variety of sensors detected by the posture detection means 36 and the force detection unit 62. The detection value is input, and a control signal for the first and second driving means and the motor (driving unit) 8 for driving the wheels is output.

  Next, the control method and the operation control method will be described together while explaining the operation mode of the present embodiment. Since the present embodiment is configured as described above, the center of gravity of the two-wheel vehicle in the advancing / retreating direction can be adjusted by moving the weight 5 installed on the base 2 by the first driving means. Further, the second driving means causes the rolling members (pinion gears) 33 and 34 to roll along the track restricting portions (rack-shaped rails) 27 and 28, thereby swinging the loading platform 3 and the loading platform. 3 can be adjusted. Note that the forward / backward tilt and the left / right tilt are simultaneously detected by the posture detection means (posture angle sensor) 36 provided on the back surface of the loading platform 3 as described above.

  First, a method for adjusting the center of gravity in the forward / backward direction will be described. FIG. 3 is a diagram illustrating a state of movement of the weight 5. As shown in this figure, in the present embodiment, the entire vehicle body 10 including the base portion 2 and the loading platform portion 3 is configured to be installed below the axle (rotation center) 11 of the wheels 1L and 1R. . As a result, the center of gravity of the vehicle body 10 is lower than the center of rotation 11, so that in a state where all the controls are stopped (non-control state), the wheels 1L and 1R are rotationally driven by the weight of the vehicle body 10. The posture of the entire two-wheeled vehicle is stabilized without acting. In addition, a transported object is loaded on the loading platform 3 or a passenger is on board, but the center of gravity position when the weight of the transported object or the passenger at that time is combined is lower than the rotation center 11. As described above, if the weight of the transported object or the passenger is limited or the height of loading / boarding is limited, the posture in the non-control state is similarly stabilized. As will be described later, when the brake device is provided, the stopping state can be stabilized by the brake device. Therefore, even if the center of gravity of the vehicle body is arranged above the rotation center 11 (so-called inverted type). However, in the case where no brake device is provided, this embodiment will be described as a representative example in which the center of gravity is lower than the rotation center 11 in consideration of stability in an uncontrolled state.

  In a state where the control by the control device is operating (control state), the position of the center of gravity is controlled to be directly below the rotation center 11. For example, the position of the center of gravity fluctuates due to a change in the weight balance when the two-wheel vehicle is accelerated or decelerated, or when a conveyed product is loaded, and this is adjusted by the movement of the weight 5. The moving direction of the weight 5 is regulated by the rails 21 and 22 as described above, and this direction is the forward and backward direction of the two-wheeled vehicle.

  The control relationship at this time is shown in FIG. As shown in this figure, the inclination angle and the angular velocity due to the inclination of the loading platform 3 are measured by the attitude detection means (attitude angle sensor), and at the same time, the position of the weight 5 is the first drive means (motor 35), and the respective measured values are input to the control unit. The attitude angle sensor sequentially measures the tilt angle and the angular velocity, and inputs the measured value to the control unit. If the value does not indicate a horizontal state, a signal (command voltage) for moving the weight 5 from the control unit. Is output. The rotary encoder measures the speed and acceleration of movement simultaneously with the position of the weight 5 and outputs a command for moving the weight 5 while predicting the correction range of the inclination angle of the loading platform 3. Note that whether or not the inclination angle of the loading platform 3 due to the movement of the weight 5 is corrected is verified by an attitude angle sensor.

  Next, a method for adjusting the inclination in the left-right direction will be described. FIG. 5 is a diagram showing the state of the two-wheeled vehicle and the relationship between the base 2 and the loading platform 3. FIG. 5A shows a state on a horizontal road surface, and FIG. 5B shows a state on a road surface inclined to the right (inclined so that the right side is lower). As shown in FIG. 5A, when the vehicle is traveling on a horizontal road surface, the vehicle body 10 is in a horizontal state, and therefore it is not necessary to swing the loading platform 3. Therefore, the rolling members (pinion gears) 33 and 34 are stopped at intermediate positions between the track regulating portions (rack rails) 27 and 28.

  On the other hand, as shown in FIG. 5B, when traveling on an inclined road surface, the vehicle body 10 is inclined overall. Initially, the loading platform 3 is naturally inclined, but by rolling the pinion gears 33 and 34, the left and right ends are raised or lowered along the rack-like rails 27 and 28, thereby the loading platform 3 Is swung. By this swinging, the loading platform is inclined to the side opposite to the angle at which the road surface is inclined, and the loading platform 3 is brought into a horizontal state as a whole.

  The control relationship at this time is shown in FIG. As shown in this figure, when an inclined surface is encountered, the condition of vehicle body tilting acts, and the tilt angle and angular velocity at this time are measured by the attitude angle sensor and input to the control unit. When the measured value by the attitude angle sensor detects an inclined state, a signal (command voltage) for causing the second drive means (motor 35) to roll the pinion gears 27 and 28 in a predetermined direction. Is output. By this operation of the driving means, the loading platform 3 swings, and a relative inclination angle (relative angle) is generated between the entire vehicle body 10 (particularly, the base 2). The drive means is provided with a rotary encoder, and the rolling state of the pinion gears 27 and 28 due to drive transmission is measured and input to the control unit as the inclination angle and angular velocity of the cargo bed portion 3. The tilt angle (absolute angle) of the platform 3 in the swinging state is measured by the attitude angle sensor and input to the control unit. Since the absolute angle is sequentially measured, the angular velocity of the relative angle by the driving means is adjusted so as to correct the state of the relative angle to a horizontal state at an early stage while measuring the state of the relative angle.

  As described above, the inclination angle and the angular velocity measured by a single attitude angle sensor (attitude detection means) are divided into an inclination in the advancing / retreating direction and an inclination in the left / right direction, and are input to the control unit. By operating different driving means for tilting or tilting, the loading platform 3 can be corrected to a horizontal state.

  Next, an operation method using the operation handle will be described. As shown in FIG. 1, the operation handle is disposed at a sufficient height and can be operated with a portion extending in the horizontal direction. In the case of a configuration in which no driving force is presented to the wheels 1L and 1R, the operation handle 7 can be pushed and pulled to move, and turning can also be operated. In the present embodiment, since the wheels 1L and 1R are driven by a drive unit (motor), the vehicle can be advanced / retreated, steered, and turned by the driving force obtained by the drive unit. The drive by the drive unit is for demonstrating a power assist function based on an operation force applied to the operation handle.

  Therefore, a method for controlling operations by the drive unit (motor) will be described. FIG. 7 is a diagram illustrating a state in which the loading platform is omitted so that the operation control method can be easily understood. As shown in this figure, the handle support portion 6 is fixed to the base portion 2 as a part of the vehicle body 10. Then, the operation force of the operation handle 7 is transmitted to the force sense detection unit 61, whereby the operator's operation intention is determined. Specifically, the operating force acting on the operating handle 7 is detected by being classified into an operating force in the advancing / retreating direction and an operating torque in the rotating direction, and based on this, the advancing / retreating driving force and the rotational driving torque are detected. Is calculated, and the driving force for the two wheels 1L and 1R is controlled.

上式において、Ｆ_ｘは操作ハンドルに作用する進退方向の操作力であり、Ｔ_ｚは、操作力によって生じる操作トルクである。また、Ｆ_ｖｍａｘは二輪ビークルの進退運動の最大駆動力であり、Ｔ_ｖｍａｘは、旋回運動の最大トルクである。Ｆ_ｘｍａｘは進退方向の最大操作力であり、Ｔ_ｚｍａｘは旋回方向の最大操作トルクである。さらに、ｋ_ｆおよびｋ_ｔは、進退運動および旋回運動のそれぞれに対するアシスト率であり、０＜ｋ_ｆ≦１および０＜ｋ_ｔ≦１で設定され、ｋ_ｆ＝ｋ_ｔ＝１においてアシスト率が最大となる。 Advancing drive force F _v and the rotation drive torque T _v at this time is calculated by the following equation.

In the above equation, F _x is an operating force in the forward / backward direction that acts on the operating handle, and T _z is an operating torque generated by the operating force. F _vmax is the maximum driving force for the _forward and _backward movement of the two-wheeled vehicle, and T _vmax is the maximum torque for the turning movement. F _xmax is the maximum operating force in the forward / backward direction, and T _zmax is the maximum operating torque in the turning direction. Further, k _f and k _t are assist rates for the forward / backward motion and the turning motion, respectively, and are set as 0 <k _f ≦ 1 and 0 <k _t ≦ 1, and the assist rate is k _f = k _t = 1. Maximum.

なお、上式におけるＬは、平行に配置された車輪間の幅を意味する。 Then, the driving force f _r for the driving force f _l and right wheel 1R for the left wheels 1L at this time are respectively calculated by the following equation.

Note that L in the above equation means the width between the wheels arranged in parallel.

上式において、ｉ_ｌは左側の車輪１Ｌを駆動するモータへの電流指令であり、ｉ_ｒは右側の車輪１Ｒを駆動するモータへの電流指令である。また、ｒ_ｗは車輪の半径である。α_ｌおよびα_ｒは、左右それぞれの車輪を駆動するモータの駆動トルクから電流指令への変換係数である。 Furthermore, the current command to the drive unit (motor) for driving the wheels 1L and 1R can be obtained by the following equation.

In the above equation, _il is a current command to the motor that drives the left wheel 1L, and _ir is a current command to the motor that drives the right wheel 1R. _Rw is the radius of the wheel. α _l and α _r are conversion coefficients from the driving torque of the motors driving the left and right wheels to current commands.

  The current command calculated in this way is processed by the control unit, and the driving force for both wheels 1L and 1R is controlled based on the command data. At this time, as described above, since the command current for driving both wheels 1L and 1R changes according to the operating force applied to the operating handle 7, the power assist function based on the state of presentation of the operating force is provided. Will act.

  The power assist function described above changes the driving force of the wheels 1L and 1R in proportion to the operating force applied to the operating handle 7. Therefore, for example, on an inclined ground such as an upward slope, the entire operating force may increase as the two-wheel vehicle is pushed up. Accordingly, in order to enable the same power assist operation as that on a flat ground even on such an inclined land, it is possible to adopt a configuration provided with speed feedback control for the motor for driving the left and right wheels 1L and 1R. is there.

That is, by setting the maximum speed V _{vmax in the} forward / backward direction of the two-wheel vehicle and the maximum speed ω _vmax in the rotational direction, the speed V _v and the rotational speed ω _v of the two-wheel vehicle can be obtained by the following equations.

As is clear from the above equation, the speed V _v and the rotational speed ω _v of the two-wheeled vehicle are proportional to the operating force F _x (advance / retreat direction) and T _z (rotation direction). Therefore, from the two-wheel vehicle speed V _v and the rotational speed ω _v obtained above, the speeds v _l (the wheel speed on the left side) and v _r (the speed of the wheel on the right side) that each of the wheels 1L and 1R travel are as follows: Can be obtained by:

上式におけるω_ｌは左側の車輪の速度フィードバックへの速度指令であり、ωｒは右側の車輪の速度フィードバックへの速度指令である。 Furthermore, the speed command to the feedback control configured in the motor that drives both wheels 1L and 1R is expressed by the following equation.

In the above equation, ω _l is a speed command to the speed feedback of the left wheel, and ωr is a speed command to the speed feedback of the right wheel.

  In this way, by constructing feedback control for the motors that drive both wheels 1L and 1R, the two-wheeled vehicle is moved according to the traveling speed and rotational speed in accordance with the ratio of the operating force applied to the operating handle 7. Can be made. Therefore, the operating force in the upward inclination or the like is the same as the operating force in flat ground, and the operation can be operated without a sense of incongruity.

  In the present embodiment, since the operation handle 7 is provided only on one side, when the road surface is inclined to the left or right, the weight of the operation handle 7 is in the turning direction with respect to the force detection unit 62. It will act as torque. In this case, it may be mistaken for steering or turning even when an operation force for steering or turning is not applied. In such a case, tilt correction can be performed. If another operating handle 7 is installed at a symmetrical position, no torque in the turning direction is generated when the vehicle is tilted left and right, and no correction is necessary.

上式において、Ｍは操作ハンドルの質量であり、ｇは重力加速度、ｘ_Ｇは力覚検知部を原点とした進退方向の操作ハンドルの重心の位置を示す。また、φは車体の左右方向への傾斜角である。なお、傾斜角は、前述の姿勢検知手段によって検出される傾斜角が使用されることとなる。 Therefore, if described above inclination correction, as shown in the following equation, and to provide a correction value in the turning direction of the torque T _v. Then, the corrected torque T _{V2 in} the turning direction is as follows.

In the above equation, M is the mass of the operation handle, g is the gravitational acceleration, and x _G is the position of the center of gravity of the operation handle in the advancing / retreating direction with the force sensor as the origin. Φ is an inclination angle of the vehicle body in the left-right direction. Note that the inclination angle detected by the above-described posture detection means is used.

By using the torque _Tv2 in the turning direction corrected as described above when calculating the driving force of the wheel, it is possible to eliminate the influence of the weight of the operation handle when tilting left and right.

上式において、Ｍは操作ハンドルの質量であり、ｇは重力加速度である。また、θは車体の進退方向への傾倒角である。なお、傾倒角は、前述の姿勢検知手段により検知される角度が使用される。 Similarly, when the vehicle body tilts in the forward / backward direction, such as ascending or descending, or when the vehicle body tilts during acceleration or deceleration of the two-wheeled vehicle, the weight of the operation handle is controlled in the forward / backward direction. It is also assumed to act as a force. Normally, the tilt state is corrected by the weight adjustment described above, but if the tilt state continues, the operation force due to the weight of the operation handle when the vehicle body tilts in the forward / backward direction is corrected. There is a need. Therefore, tilt correction can be performed for such an operating force. Operating force F _v2 of the corrected moving direction in this case is as shown by the following equation.

In the above equation, M is the mass of the operating handle, and g is the gravitational acceleration. Further, θ is an inclination angle of the vehicle body in the forward / backward direction. As the tilt angle, an angle detected by the above-described posture detection means is used.

By using the operation force _Fv2 for inclination correction for calculating the driving force of the wheel, the influence of the weight of the operation handle can be eliminated even in a state where the vehicle body is inclined in the forward / backward direction.

  As mentioned above, although embodiment of this invention, its control method, and the operation control method were demonstrated, the said embodiment shows an example of this invention and is not the meaning limited to this embodiment. Therefore, it is possible to appropriately change each constituent member of the above embodiment.

  For example, rack-shaped rails are used as the track restricting portions 27 and 28 and pinion gears are used as the rolling members 33 and 34. However, the left and right sides of the loading platform 3 are moved up and down with rails and wheels having sufficient frictional resistance. You may comprise. Further, the rails 21 and 22 for regulating the moving direction of the weight 5 and the regulation unit 29 for regulating the sliding in the vertical direction of the driving unit 8 for driving the wheels 1L and 1R are easy to understand the configuration. Although illustrated as simple shapes, these may be configured by linear motion rails.

  Furthermore, the operation handle 7 in the embodiment is provided only at one place. In the case of such a configuration, it is normally provided on the rear side with respect to the advancing / retreating direction of the two-wheeled vehicle. However, the present invention is not limited to such a case, and another configuration may be provided at a symmetrical position. For example, as shown in FIG. 8, another handle 9 may be provided on the opposite side of one handle 7. The balance in the advancing / retreating direction due to the weights of the handles 7 and 8 is adjusted by the movement of the weight 5 that corrects the tilt of the vehicle body 10, and the torque in the turning direction that acts when tilting in the left-right direction is the weight balance in the advancing / retreating direction. Can be modified based on It should be noted that the handles 7 and 9 having the same weight balance have the same size and shape, and the base of the other operation handle 9 is connected to the opposite side of the transmission portion provided in the handle support portion 6. In this case, since the weight balance between the front and the back is maintained, it is possible to omit the operation of correcting the torque in the turning direction in the state of tilting left and right.

  Further, the operation handle 7 may be configured to have a brake operation unit as illustrated in FIG. 8 when it is assumed that the operation unit 72 is grasped and operated by a hand. . That is, the brake lever 73 is provided on one side (or both sides) of the operation handle 72, and the wire 74 is operated by operating the brake lever 73. In this case, it is possible to provide a brake device (for example, a drum brake or a disc brake) on the wheels 1L and 1R so as to temporarily or continuously stop the rolling of the wheels 1L and 1R. FIG. 8 shows a mode in which the brake lever 73 is provided only on one side, and illustrates an example in which the wire 74 is branched by a single brake lever 74 and the brake devices of the two wheels 1L and 1R are operated simultaneously. . Further, when a disc brake is provided as the brake device, the brake device can function as a stopping device when the control signal (command voltage or the like) by the control unit is 0 value. Furthermore, if a mechanism for continuing the brake operation is provided, it can also function as a parking brake during parking. Note that the shape of the handle 7 (or the handle 9) can be grasped by the operator when traveling, but the shape of the handle 7 (or the handle 9) is the operation of the operation handles 7 and 9 in the forward / backward direction and the turning direction. However, the present invention is not limited to this as long as it can present force. For example, the operation handles 77 and 9 may be connected to a rope or the like and pulled.

  The frames 4L and 4R that support the wheels 1L and 1R are provided only on one side of the wheels 1L and 1R, and the axle 11 is in a cantilever state. However, if the size of the frame portion is not limited, the frame 4L , 4R may be branched to support the outside of the wheels 1L, 1R.

1L Left wheel 1R Right wheel 2 Base 3 Loading platform 4L Left frame 4R Right frame 5 Weight 6 Handle support 7 and 9 Operation handle 8 Wheel drive unit 10 Car body 11 Axle 20 Base bottom 21 and 22 Rail 23 Motor 24 Lead screw 25, 26 Base side surface 27a, 27b, 28a, 28b Track regulation part (rack rail)
29 Restriction parts 31, 32 Horizontal shafts 33a, 33b, 34a, 34b Rolling members (pinion gears)
35 Motor 36 Attitude detection means (Attitude angle sensor)
41L, 41R Suspension 51, 52 Insertion part 53 Female thread part 60 Force sense detection part 61 Base part 62 of handle support part Sensor part 63 Shaft part 64 Transmission part 64a, 64b Linear member 64c, 64d Connection member 65, 66 Support part 71 Operating handle base 72 Operating handle operating portion 73 Brake lever 74 Brake operating wire 81 Rotating shaft 82 Sliding contact area

Claims (11)

A two-wheeled vehicle that enables traveling in the forward / backward direction, steering and turning by rolling of two wheels installed on the left and right, a frame that supports the two wheels with appropriate intervals, and the frame A base supported between the wheels, a cargo bed supported by the base, a weight provided below the cargo bed while allowing movement in the advancing and retreating direction, and the movement of the weight Two wheels comprising: first driving means for supplying a driving force to the vehicle; attitude detecting means for detecting the attitude of the loading platform; and control means for controlling the driving of the driving means based on information obtained by the attitude detecting means. In the vehicle
The loading platform includes a rocking mechanism that rocks so that both the left and right sides move up and down in the advancing and retreating direction, and a second driving unit that drives the rocking of the loading platform by the rocking mechanism. the second drive means state, and are not controlled by the control means on the basis of the information obtained by the posture detecting means, wherein the loading platform unit comprises a shaft portion for swinging the shaft portion A two-wheeled vehicle characterized by being supported by the base via a base . A two-wheeled vehicle that enables traveling in the forward / backward direction, steering and turning by rolling of two wheels installed on the left and right, a frame that supports the two wheels with appropriate intervals, and the frame A base supported between the wheels, a cargo bed supported by the base, a weight provided below the cargo bed while allowing movement in the advancing and retreating direction, and the movement of the weight Two wheels comprising: first driving means for supplying a driving force to the vehicle; attitude detecting means for detecting the attitude of the loading platform; and control means for controlling the driving of the driving means based on information obtained by the attitude detecting means. In the vehicle
The loading platform includes a rocking mechanism that rocks so that both the left and right sides move up and down in the advancing and retreating direction, and a second driving unit that drives the rocking of the loading platform by the rocking mechanism. The second drive means is controlled by the control means based on information obtained by the posture detection means.
The swing mechanism is divided into left and right sides in the forward / backward direction, at least one pair of track restriction portions provided on the base portion, and on both sides of the loading platform portion so as to roll along the track restriction portion. And the second drive means provides a driving force for rolling to at least one of the set of rolling members. The two-wheeled vehicle according to claim 1 , wherein the track restricting portion is provided in a long length so as to guide in a direction of a trajectory in which left and right ends move by swinging of the loading platform portion.   The set of track regulating portions are arranged so that individual surfaces that are separately provided face each other, and the set of rolling members are arranged on the left and right sides of the loading platform. The two-wheeled vehicle of Claim 2 arrange | positioned in the state pinched | interposed between the track | orbit control parts.   4. The two-wheeled vehicle according to claim 3, wherein the track restricting portion is a rack-shaped rail having teeth formed on a surface thereof, and the rolling member is a pinion gear that meshes with the teeth of the rack-shaped rail. Each of the two wheels is provided with a motor for individually driving the motor, and the motor controls forward, reverse, steering and turning as well as the direction of rotation, the number of rotations, and the rotation speed are controlled by the control means. The two-wheeled vehicle according to any one of claims 1 to 4 , wherein the speed is adjustable. The motor has a rotating shaft connected to the axle of each wheel via a transmission mechanism and is supported via a suspension with respect to the frame, so that the wheel and the motor are integrated, The two-wheeled vehicle according to claim 5 , wherein the relative positional relationship with the frame can be changed. The motor, together with the transmission mechanism, arranged to be brought into sliding contact with the right and left direction sides of the base, to claim 6 is slidable along the regulating portion provided on a side surface of the left and right sides of the base portion The described two-wheeled vehicle. The base portion includes an operation handle and a handle support portion that supports the operation handle, and the handle support portion includes a force sense detection portion that detects a change in force sense due to an external force acting on the operation handle. The two-wheeled vehicle according to any one of claims 5 to 7 , wherein a rotational state of the motor is controlled in accordance with a change in force sense detected by a sense detection unit.   A two-wheeled vehicle that enables traveling in the forward / backward direction, steering and turning by rolling of two wheels installed on the left and right, a frame that supports the two wheels with appropriate intervals, and the frame A base supported between the wheels, a cargo bed supported by the base, a weight provided below the cargo bed while allowing movement in the advancing and retreating direction, and the movement of the weight Two wheels comprising: first driving means for supplying a driving force to the vehicle; attitude detecting means for detecting the attitude of the loading platform; and control means for controlling the driving of the driving means based on information obtained by the attitude detecting means. In the vehicle
  The loading platform includes a rocking mechanism that rocks so that both the left and right sides move up and down in the advancing and retreating direction, and a second driving unit that drives the rocking of the loading platform by the rocking mechanism. The second driving means is a control method in a two-wheeled vehicle that is controlled by the control means based on information obtained by the attitude detection means,
  By the posture detection means, the inclination state of the cargo bed part is detected by comparison with a horizontal plane,
  The control means divides the tilt state of the loading platform into an advancing / retreating direction inclination and a left / right direction inclination, and the first driving means is activated for the advancing / retreating direction inclination, and the weight is moved. The inclination of the loading platform in a two-wheeled vehicle is modified by correcting the inclination and correcting the inclination by oscillating the loading platform by operating the second driving means for the lateral tilt. Attitude control method. A control method for a two-wheeled vehicle according to any one of claims 1 to 8 ,
By the posture detection means, the inclination state of the cargo bed part is detected by comparison with a horizontal plane,
The control means divides the tilt state of the loading platform into an advancing / retreating direction inclination and a left / right direction inclination, and the first driving means is activated for the advancing / retreating direction inclination, and the weight is moved. The inclination of the loading platform in a two-wheeled vehicle is modified by correcting the inclination and correcting the inclination by oscillating the loading platform by operating the second driving means for the lateral tilt. Attitude control method. An operation control method for a two-wheeled vehicle according to claim 8 ,
In order to control the attitude of the loading platform,
By the posture detection means, the inclination state of the cargo bed part is detected by comparison with a horizontal plane,
The control means divides the tilt state of the loading platform into an advancing / retreating direction inclination and a left / right direction inclination, and the first driving means is activated for the advancing / retreating direction inclination, and the weight is moved. The inclination is corrected, and the inclination is corrected by operating the second driving means to swing the cargo bed for the inclination in the left-right direction,
By applying an operation force in a predetermined direction to the operation handle, the force sense detection unit inputs a detection value to the control means while breaking down the operation force into a forward / backward direction and a lateral force,
The control means controls the rotational speed and the rotational direction of both wheels by changing the value in the forward / backward direction, and controls both wheels individually so as to control the relative rotational speed of both wheels by changing the value in the left / right direction. An operation control method for a two-wheeled vehicle, characterized by operating individual motors that are driven by a motor.

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