JP2011218847A - Vehicle device - Google Patents

Abstract

A mobile object that can be safely operated by a simple operation is provided.
A moving body according to the present invention is a coaxial two-wheeled vehicle that performs inversion control by driving wheels arranged coaxially, and an auxiliary mechanism provided in front of or behind the traveling direction of the coaxial two-wheeled vehicle, An auxiliary leg that can extend and contract from the coaxial two-wheel vehicle toward the road surface, an auxiliary wheel that is rotatably attached to the auxiliary leg and contacts the road surface, and an auxiliary mechanism that extends and contracts the auxiliary leg; An operation unit that determines a length of the auxiliary leg to change a posture and operates the actuator so that the auxiliary leg has the determined length.
[Selection] Figure 1

Description

  The present invention relates to a moving body, and more particularly, to a moving body including a coaxial two-wheel vehicle that drives two wheels disposed on the same axis to perform an inverted control.

  2. Description of the Related Art Conventionally, a coaxial two-wheeled vehicle that drives two wheels arranged on the same axis and performs an inverted control is known. The coaxial two-wheeled vehicle is tilted forward and backward, and acceleration / deceleration is performed by moving the center of gravity of the passenger.

  The state in which the coaxial two-wheeled vehicle is performing the inversion control is an unstable state in which the vehicle body unintentionally moves back and forth. When boarding, the passenger needs to get on the coaxial two-wheeled vehicle that is inversion-controlled while temporarily balancing with one foot. At this time, since the vehicle body is shaken back and forth, a certain skill is required for riding.

  During traveling, acceleration / deceleration is performed by detecting the forward / backward inclination of the vehicle body, and the degree of acceleration / deceleration depends on the skill of the passenger. Passengers who are unfamiliar with driving a coaxial two-wheeled vehicle cannot adjust acceleration / deceleration appropriately and may lose balance during sudden acceleration / braking. When stopping at an arbitrary position, the passenger needs to operate the coaxial two-wheeled vehicle while adjusting the center of gravity.

  At the time of getting off, the coaxial motorcycle is set in the getting-off mode, and the passenger gets off behind the vehicle body. In the getting-off mode, the inverted control of the coaxial two-wheeled vehicle is released. For this reason, it is impossible to stop on the spot, and the passenger gets off by tilting the vehicle body. Therefore, it is essential to confirm the safety on the back before getting off. Thus, when driving an inverted motorcycle, the passenger is required to have a certain skill.

  Therefore, Patent Documents 1 to 4 disclose coaxial two-wheeled vehicles including auxiliary wheels. In Patent Document 1, an auxiliary wheel that limits the tilt angle of the vehicle body is provided. This auxiliary wheel is grounded when acceleration exceeds a predetermined threshold value and sudden acceleration or deceleration occurs. As a result, comfortable acceleration / deceleration for the passenger is realized.

  Moreover, in patent document 2, the auxiliary | assistant braking part which generates the braking force of a vehicle by controlling the relative position of a vehicle body and a drive part is provided. When the vehicle is stopped, the vehicle can be stably stopped by grounding the auxiliary wheel.

  In Patent Document 3, the speed of the vehicle, the inclination angle with respect to the direction of gravity, and the inclination angle with respect to the road surface of the vehicle body are measured, and the extension / contraction amount and extension / contraction speed of the auxiliary wheel are controlled. When the vehicle is stopped, the auxiliary wheel can be brought into contact with the road surface at substantially the same time, and the vehicle can be stopped while keeping the vehicle body in a stable inverted state.

  In Patent Document 4, there is an auxiliary wheel that contacts the road surface when sudden acceleration or deceleration occurs. Stable running performance is realized by extending the range of movement of the center of gravity of the passenger between the center of the wheel and the center of the auxiliary wheel.

JP 2008-247138 A JP 2008-131821 A JP 2007-237750 A JP 2007-186184 A

  However, in Patent Documents 1 and 4, the auxiliary wheel is used in an emergency in which an abnormality in acceleration occurs. The auxiliary wheel is grounded on the road surface in the direction opposite to the traveling direction in the case of acceleration, and is grounded on the road surface in the traveling direction in the case of deceleration. As described above, the auxiliary wheels disclosed in Patent Documents 1 and 4 merely define an allowable range in which the center of gravity of the occupant can move in the direction opposite to the acceleration. The auxiliary wheels described in Patent Documents 2 and 3 are used when the vehicle is stopped.

  Thus, in the coaxial two-wheeled vehicle of patent documents 1-4, the case where an auxiliary wheel is used is limited. However, a passenger who is not used to driving a coaxial two-wheel vehicle may need driving assistance other than when the vehicle is stopped or when an abnormality in acceleration occurs. For example, it is desired to adjust the degree of acceleration / deceleration during traveling.

  The present invention has been made in the background as described above, and an object of the present invention is to provide a moving body that can be safely operated by a simple operation.

  The moving body according to the first aspect of the present invention is a coaxial two-wheeled vehicle that performs inversion control by driving a coaxially arranged wheel, and an auxiliary mechanism provided in front of or behind the traveling direction of the coaxial two-wheeled vehicle. An auxiliary leg that can extend and contract from the coaxial two-wheel vehicle toward the road surface, an auxiliary wheel that is rotatably attached to the auxiliary leg and contacts the road surface, and an actuator that extends and contracts the auxiliary leg, and the coaxial two-wheel vehicle An operation unit that determines the length of the auxiliary leg to change the posture of the actuator and operates the actuator so that the auxiliary leg has the determined length.

  In the mobile body according to the second aspect of the present invention, in the mobile body described above, the auxiliary mechanism further includes a measurement unit that measures a ground contact load of the auxiliary wheel.

  In the moving body according to the third aspect of the present invention, in the above moving body, when the ground load of the auxiliary wheel measured by the measurement unit varies, the vehicle body of the coaxial two-wheel vehicle is leveled. The length of the auxiliary leg is determined.

  The moving body according to a fourth aspect of the present invention is characterized in that, in the above moving body, the auxiliary mechanism is provided in front and rear in the traveling direction of the coaxial two-wheel vehicle.

  A mobile body according to a fifth aspect of the present invention is the mobile body described above, wherein the operation section includes a throttle lever that adjusts acceleration / deceleration of the coaxial two-wheeled vehicle and a brake lever that stops the coaxial two-wheeled vehicle. is there.

  ADVANTAGE OF THE INVENTION According to this invention, the mobile body which can be drive | operated safely by simple operation can be provided.

It is a figure which shows the structure of the mobile body which concerns on embodiment. It is a figure which shows typically the structure of the moving body which concerns on embodiment. It is a flowchart for demonstrating the operation | movement procedure at the time of boarding of the mobile body which concerns on embodiment. It is a flowchart for demonstrating the operation | movement procedure at the time of alighting of the mobile body which concerns on embodiment. It is a flowchart for demonstrating the operation | movement procedure at the time of the acceleration / deceleration of the mobile body which concerns on embodiment. It is a figure which shows the state at the time of the acceleration of the mobile body which concerns on embodiment. It is a figure which shows the state at the time of the deceleration of the mobile body which concerns on embodiment. It is a flowchart for demonstrating the operation | movement procedure at the time of the braking of the moving body which concerns on embodiment. It is a flowchart for demonstrating the operation | movement procedure at the time of the uphill / downhill of the mobile body which concerns on embodiment. It is a figure which shows the state at the time of climbing of the mobile body which concerns on embodiment. It is a figure which shows the state at the time of the descent | fall of the moving body which concerns on embodiment.

  The best mode for carrying out the present invention will be described below with reference to the drawings. However, the present invention is not limited to the following embodiments. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

  As shown in FIG. 1, the moving body 1 according to the present invention includes a coaxial two-wheeled vehicle 10 and an auxiliary mechanism 20. In the example shown in FIG. 1, the auxiliary mechanism 20 is provided in front of the traveling direction of the coaxial two-wheel vehicle 10. The coaxial two-wheeled vehicle 100 includes a vehicle body 11, wheels 12, a step 13, a handle 14, a control unit 15, a throttle lever 16, and a brake lever 17.

  In this specification, the pitch axis is an axis corresponding to the axle of the pair of wheels 12, the roll axis is an axis passing through the center of the vehicle body 11 and parallel to the traveling direction of the vehicle, and the yaw axis is This is an axis that passes through the center of the vehicle body 11 and is perpendicular to the road surface on which the vehicle travels.

  The coaxial two-wheel vehicle 10 according to the present embodiment can operate operations such as advancing, retreating, and turning left and right by moving the center of gravity of the passenger. When the passenger moves the center of gravity to the front side of the coaxial two-wheeled vehicle 10 and tilts the coaxial two-wheeled vehicle 10 forward, the forward movement operation is executed. Further, when the passenger moves the center of gravity to the rear side of the coaxial two-wheeled vehicle 10 and tilts the coaxial two-wheeled vehicle 10 backward, the backward movement operation is executed.

  The vehicle body 11 is a frame body that forms the skeleton of the coaxial two-wheeled vehicle 10. The vehicle body 11 can be constituted by, for example, a parallel link mechanism including a vehicle body upper member, a vehicle body lower member, and side members divided in the left and right directions. The vehicle body 11 supports two wheels 12 rotatably. The two wheels 12 are arranged in parallel on the same axis. The wheel 12 is provided with driving means (not shown) such as a motor independently. The driving means are connected by a vehicle body.

  On the vehicle body 11, a step 13 is provided for the passenger to board in a standing position when traveling. Step 13 is divided into left and right sides with the control unit 15 in the vehicle width direction of the vehicle body 11. A handle 14 is erected between steps 13. The handle 14 is tiltable with respect to the vehicle body 11 in the roll axis direction, and the handle 14 and the step 13 are connected by a link mechanism (not shown) so as to be perpendicular to each other.

  The control unit 15 controls the driving of the wheels 12 to perform the inverted control of the coaxial two-wheel vehicle 10. Although not shown here, the control unit 15 includes a sensor (such as a gyro sensor) that measures the tilt angular velocity or the tilt angle for performing the inversion control, and a sensor that can measure the rotation angle or the rotational angular velocity of the wheel ( Encoder, resolver, etc.).

  An auxiliary mechanism 20 is provided on the front side in the traveling direction of the coaxial two-wheel vehicle 10. The auxiliary mechanism 20 includes auxiliary legs 21, auxiliary wheels 22, actuators 23, and load sensors 24. The auxiliary mechanism 20 is connected to the vehicle body 11 via a jig 25. The auxiliary mechanism 20 can also be provided on the rear side in the traveling direction of the coaxial two-wheel vehicle 10.

  Further, as shown in FIG. 2, it is preferable to provide auxiliary mechanisms 20 on both the front side and the rear side of the coaxial two-wheel vehicle 10. Thereby, it becomes possible to drive the coaxial two-wheel vehicle 10 more safely. In the following description, an example in which the auxiliary mechanism 20 is provided on both the front side and the rear side of the coaxial two-wheel vehicle 10 will be described. The front side is the auxiliary mechanism 20a, and the rear side is the auxiliary mechanism 20b.

  The actuator 23 extends and contracts the auxiliary leg 21 in the direction of the road surface from the coaxial two-wheeled vehicle 10 in response to an operation from the throttle lever 16 or the brake lever 17 which is an operation unit. As the actuator 23, for example, a motor, a device using pneumatic pressure or hydraulic pressure, or the like can be used. An auxiliary wheel 22 is rotatably attached to the lower end of the auxiliary leg 21. A universal caster can be applied as the auxiliary wheel 220.

  A throttle lever 16 and a brake lever 17 which are operation units are provided on the handle 14 of the coaxial two-wheeled vehicle 10. The throttle lever 16 and the brake lever 17 are operated by being held by a passenger of the coaxial two-wheeled vehicle 10 in the same manner as in, for example, a bicycle or a motorcycle.

  The wire 18 a connects the throttle lever 16 and the actuator 23. The wire 18 b connects the brake lever 17 and the actuator 23. Operations from the throttle lever 16 and the brake lever 17 are transmitted to the actuator 23 via the wires 18a and 18b. Here, an example in which both the throttle lever 16 and the brake lever 17 are provided has been described, but either one may be provided.

  The coaxial motorcycle 10 is accelerated when the passenger opens the throttle lever 16, and is decelerated when the passenger closes. A target speed is set according to how the throttle lever 16 is opened, and the length of the auxiliary legs 21 of the auxiliary mechanisms 20a and 20b according to the target speed is determined. In response to this, the actuator 23 is operated, and the auxiliary legs 21 of the auxiliary mechanisms 20a and 20b expand and contract.

  Further, when the passenger grips the brake lever 17, the speed of the coaxial two-wheel vehicle 10 is reduced to zero. Then, the lengths of the auxiliary legs 21 of the auxiliary mechanisms 20a and 20b are determined so that the speed becomes zero. In response to this, the actuator 23 is operated, and the auxiliary legs 21 of the auxiliary mechanisms 20a and 20b expand and contract.

  Thus, according to the configuration of the present invention, the posture of the coaxial two-wheeled vehicle 10 can be positively changed by a simple operation in which the passenger operates the operation unit. Thereby, the mobile body 1 can be accelerated / decelerated and stopped in a stable state regardless of the driving skill of the passenger.

  The auxiliary mechanisms 20a and 20b are provided with load sensors 24, respectively. The load sensor 24 is a sensor that measures the ground load of the auxiliary wheel 22. The load sensor 24 has a function of detecting whether or not the auxiliary wheel 22 is grounded. Moreover, it has the function to monitor the state of the road surface by monitoring the ground load of the auxiliary wheel 22.

  For example, when traveling on a flat road surface, the value of the load sensor 24 hardly changes. When approaching a slope, the value of the load sensor 24 provided on the traveling direction side becomes larger than when traveling on a flat road surface. The length of each auxiliary leg 21 of the auxiliary mechanisms 20a and 20b can be changed according to the change in the measurement value of the load sensor 24.

  The load sensor 24 may be provided on either the front side auxiliary mechanism 20a or the rear side auxiliary mechanism 20b. When provided on one side, it is preferably provided on the front side in the traveling direction of the coaxial two-wheeled vehicle 10. As a result, the state of the road surface on which the coaxial two-wheel vehicle 10 travels can be determined, and the coaxial two-wheel vehicle 10 can be driven more safely.

  Here, with reference to FIG. 3, the operation | movement procedure at the time of boarding to the mobile body 1 is demonstrated. FIG. 3 is a flowchart for explaining an operation procedure when the vehicle 1 is boarded. As shown in FIG. 3, the main power supply of the moving body 1 is turned on (S1). At this time, the motor for driving the wheels 12 is locked so that the coaxial two-wheel vehicle 10 does not move back and forth (S2).

  Thereafter, the passenger holds the brake lever 17 (S3). As a result, the actuator 23 is operated, and the auxiliary legs 21 of the auxiliary mechanisms 20a and 20b provided at the front and rear are expanded and contracted (S4). Then, it is determined whether or not the vehicle body 11 is horizontal (S5). When the vehicle body 11 is not horizontal (S5NO), the actuator 23 operates to extend and retract the auxiliary leg 21 until the vehicle body 11 becomes horizontal.

  When the vehicle body 11 becomes horizontal (S5 YES), it is determined whether or not the measured value of the load sensor 24 is equal to or greater than a threshold value (S6). Here, the load sensor 24 determines whether or not the auxiliary wheels 22 of the front and rear auxiliary mechanisms 20a and 20b are grounded. When the measured value of the load sensor is smaller than the threshold value (S6 NO), the actuator 23 is actuated again (S4), and then it is determined whether or not the vehicle body 11 is horizontal. These procedures are repeated until the measurement value of the load sensor 24 becomes equal to or greater than the threshold value.

  When the measured value of the load sensor 24 is equal to or greater than the threshold value (S6 YES), the position of the actuator 23 is held (S7). As a result, the coaxial two-wheel vehicle 10 is in a stable state supported by the auxiliary mechanism 20. Thereafter, for example, the completion of boarding is notified by a blinking display of a lamp or the like (S8). In this state, the passenger gets on the coaxial two-wheeled vehicle 10 (S9). Therefore, the passenger can ride in a stable state.

  Thereafter, the passenger loosens the grip of the brake lever 17. As a result, the brake detection sensor is turned off (S10). Thereby, the coaxial two-wheeled vehicle 10 will be in the inverted control state which can be moved forward or backward by the change of the attitude | position to the front-back direction.

  Next, with reference to FIG. 4, the operation | movement procedure at the time of alighting to the mobile body 1 is demonstrated. FIG. 4 is a flowchart for explaining an operation procedure when getting off the vehicle 1. As shown in FIG. 4, first, the passenger turns on the getting-off button (S21). Then, the actuator 23 is actuated to expand and contract the auxiliary leg 21 (S22).

  And in S23-S25, a passenger's balance state is estimated. Specifically, first, it is determined whether or not the speed of the coaxial two-wheeled vehicle 10 is zero (S23). When the speed of the coaxial two-wheeled vehicle 10 is zero (S22 YES), it is determined whether or not the vehicle body 11 is horizontal (S23). If the vehicle body is horizontal (S23 YES), it is determined whether the measured value of the load sensor 24 is equal to or greater than a threshold value (S25). When the conditions in S23 to S25 are not satisfied (NO), these procedures (S22 to S25) are repeatedly executed.

  When the measured value of the load sensor 24 is equal to or greater than the threshold value, the actuator 23 holds the position of the auxiliary leg 21 (S26). As a result, the coaxial two-wheel vehicle 10 is supported by the auxiliary mechanism 20 and is in a stable state. Thereafter, the completion of getting off is notified by an alarm or the like (S27). Thereafter, the passenger can safely get off the coaxial two-wheeled vehicle 10 (S28).

  Next, with reference to FIGS. 5-7, the operation | movement procedure at the time of acceleration / deceleration of the mobile body 1 is demonstrated. FIG. 5 is a flowchart for explaining an operation procedure when the moving body 1 is accelerated or decelerated. FIG. 6 is a diagram illustrating a state during acceleration of the mobile body 1, and FIG. 7 is a diagram illustrating a state during deceleration. In FIG. 5, the procedure from S32 to S36 is a procedure at the time of acceleration, and the procedure from S38 to S42 is a procedure at the time of deceleration.

  First, the passenger moves his / her weight in front of the coaxial two-wheeled vehicle 10 (S31). As a result, the vehicle body 11 is tilted forward, and the coaxial two-wheel vehicle 10 moves forward. During acceleration, the passenger first opens the throttle lever 16 (S31) and checks the throttle value (S32).

  And the measured value of the load sensor 24 is confirmed (S34). Thereafter, the length of the auxiliary leg 21 is determined with reference to the measurement value of the load sensor 24 in order to accelerate to the target speed according to the throttle value. For example, when the passenger's weight is too much forward, the length of the auxiliary leg 21 is determined so as not to suddenly accelerate. Further, when the passenger's weight shift to the front is insufficient and the target speed is not reached, the front-side auxiliary leg 21 is contracted and the rear-side auxiliary leg 21 is extended so as to be further inclined forward. Each length is determined.

  Then, the actuator 23 is actuated to expand and contract the auxiliary leg 21 to the determined length (S35). Then, the speed of the coaxial two-wheel vehicle 10 is confirmed (S36). When the target arbitrary speed is reached, the actuator 23 holds the length of the auxiliary leg 21 (S37). If it is not the desired arbitrary speed, the auxiliary leg 21 is expanded and contracted again (S35).

  Thereby, as shown in FIG. 6, the coaxial two-wheeled vehicle 10 can be positively inclined forward. For this reason, even a passenger unfamiliar with driving can safely and smoothly accelerate to a predetermined speed without sudden acceleration.

  When decelerating, the passenger first closes the throttle lever 16 (S38) and checks the throttle value (S39). And the measured value of the load sensor 24 is confirmed (S40). Thereafter, the length of the auxiliary leg 21 is determined with reference to the measurement value of the load sensor 24 in order to accelerate to the target speed according to the throttle value.

  For example, when the weight of the passenger is too far behind, the length of the auxiliary leg 21 is determined so as not to suddenly decelerate. Further, when the passenger's rearward weight shift is insufficient and the target speed is not reached, the front side auxiliary leg 21 is extended and the rear side auxiliary leg 21 is contracted so as to be further tilted backward. Each length is determined.

  And the actuator 23 act | operates and the auxiliary leg 21 is expanded-contracted to the determined length (S41). Then, the speed of the coaxial two-wheel vehicle 10 is confirmed (S42). When the desired arbitrary speed is reached, the actuator 23 holds the length of the auxiliary leg 21 (S43). If it is not the desired arbitrary speed, the auxiliary leg 21 is expanded and contracted again (S41).

  Thereby, as shown in FIG. 7, the coaxial two-wheeled vehicle 10 can be positively inclined backward. For this reason, even a passenger who is unfamiliar with driving can safely and smoothly decelerate to a predetermined speed without sudden deceleration.

  Thus, during acceleration / deceleration, the auxiliary mechanism 20 functions as a buffer that regulates the forward and backward tilting posture of the coaxial two-wheel vehicle 10. Moreover, the load sensor 24 plays a role of adjusting the effectiveness of the action as a buffer in accordance with the passenger's intention and driving skill. The throttle lever 16 serves as an interface for adjusting the effectiveness.

  Next, with reference to FIG. 8, the operation | movement procedure at the time of the braking of the mobile body 1 is demonstrated. FIG. 8 is a flowchart for explaining an operation procedure during braking of the moving body 1. As shown in FIG. 8, first, the passenger grips the brake lever 17 (S51). As a result, the actuator 23 is operated, and the auxiliary legs 21 of the auxiliary mechanisms 20a and 20b provided in the front and rear directions expand and contract (S52). When the brake lever 17 is operated, the auxiliary leg 21 provided in the front auxiliary mechanism 20a is extended, and the vehicle body 11 is decelerated posture.

  And in S53-S55, a passenger's balance state is estimated. Specifically, first, it is determined whether the measured value of the load sensor 24 is equal to or greater than a threshold value (S53). The measured value of the load sensor 24 is equal to or greater than the threshold value (S53 YES), and if it is confirmed that both auxiliary wheels 22 are grounded, it is confirmed whether or not the speed of the coaxial two-wheel vehicle 10 is zero.

  When the speed of the coaxial two-wheel vehicle 10 is zero (S54 YES), it is confirmed whether or not the vehicle body 11 is horizontal (S55). When the conditions in S53 to S35 are not satisfied (NO), these procedures (S52 to S55) are repeatedly executed.

  When the measured value of the vehicle body 11 is equal to or greater than the threshold value, the actuator 23 holds the position of the auxiliary leg 21 (S56). Thereby, the coaxial two-wheeled vehicle 10 is supported by the auxiliary mechanism 20 and is maintained in a stable stopped state (S57).

  Next, with reference to FIGS. 9-11, the operation | movement procedure at the time of the uphill / downhill of the mobile body 1 is demonstrated. FIG. 9 is a flowchart for explaining an operation procedure when the mobile body 1 is climbing or descending. FIG. 10 is a diagram showing a state when the mobile body 1 is climbing up, and FIG. 11 is a diagram showing a state when going downhill.

  When approaching a slope, the measurement value of the load sensor 24 changes. For example, when approaching an uphill, the value of the load sensor 24 on the front side in the traveling direction becomes larger than when traveling on a flat road surface. Further, when approaching a downhill, the value of the load sensor 24 on the front side in the traveling direction becomes smaller than when traveling on a flat road surface.

  When such a change in the measurement value of the load sensor 24 is sensed (S61), the actuator 23 is operated and the auxiliary leg 21 is expanded and contracted (S62). And it is judged whether the measured value of the load sensor 24 provided in each of the auxiliary mechanism 20a on the front side and the auxiliary mechanism 20b on the rear side is equal to or greater than a threshold value, and whether or not the auxiliary wheel 22 is grounded. Determination is made (S63). If the value of the load sensor 24 is equal to or greater than the threshold value (S63 YES), it is determined whether the vehicle body 11 is horizontal (S64). When the conditions of S63 and S64 are not satisfied, the procedures of S62 to S64 are repeated.

  As shown in FIG. 10, in the case of uphill, the auxiliary leg 21 of the auxiliary mechanism 20a on the front side of the coaxial two-wheel vehicle 10 is contracted, and the auxiliary leg 21 of the auxiliary mechanism 20b on the rear side is extended. On the other hand, as shown in FIG. 11, in the case of a downhill, the auxiliary leg 21 of the auxiliary mechanism 20a on the front side of the coaxial two-wheel vehicle 10 is extended, and the auxiliary leg 21 of the auxiliary mechanism 20b on the rear side is contracted. As a result, the vehicle body 11 is held in a horizontal state.

  When the vehicle body 11 becomes horizontal (S64 YES), the actuator 23 holds the position of the auxiliary leg 21 (S65). Then, the auxiliary mechanism 20a, 20b can stably travel on the hill with the vehicle body 11 held horizontally (S66).

  As described above, according to the present invention, the coaxial two-wheeled vehicle 10 can be always kept in a stable state by the auxiliary wheel 22 being grounded. Further, during traveling, the auxiliary mechanism 20 actively assists to change the posture of the vehicle body 11 forward and backward. For this reason, stable and safe acceleration / deceleration can be realized.

  Further, since the auxiliary leg 21 can be expanded and contracted while judging the posture of the passenger from the measured value of the load sensor 24, sudden acceleration / deceleration can be prevented. In addition, since the road surface condition can be determined by the load sensor 24, the length of the auxiliary leg 21 can be changed according to the situation, so that stable driving can be performed even on a slope.

  As mentioned above, although embodiment of the mobile body which concerns on this invention was described, it can change in the range which does not deviate not only from said structure but the technical idea of this invention.

DESCRIPTION OF SYMBOLS 1 Mobile body 10 Coaxial two-wheeled vehicle 11 Car body 12 Wheel 13 Step 14 Handle 15 Control part 16 Throttle lever 17 Brake lever 18a, 18b Wire 20, 20a, 20b Auxiliary mechanism 21 Auxiliary leg 22 Auxiliary wheel 23 Actuator 24 Load sensor 25 Jig

Claims (5)

A coaxial two-wheeled vehicle that performs inverted control by driving wheels arranged coaxially;
An auxiliary mechanism provided forward or rearward in the traveling direction of the coaxial two-wheel vehicle, the auxiliary leg extending and contracting from the coaxial two-wheel vehicle toward the road surface, and the auxiliary wheel rotatably attached to the auxiliary leg and grounded to the road surface And an auxiliary mechanism having an actuator for expanding and contracting the auxiliary leg,
An operating unit for determining a length of the auxiliary leg to change a posture of the coaxial two-wheeled vehicle, and operating the actuator so that the auxiliary leg has the determined length;
A moving body comprising:   The movable body according to claim 1, wherein the auxiliary mechanism further includes a measurement unit that measures a ground load of the auxiliary wheel.   The length of the auxiliary leg is determined so that the body of the coaxial two-wheeled vehicle is leveled when the ground load of the auxiliary wheel measured by the measuring unit varies. Moving body.   The movable body according to any one of claims 1 to 3, wherein the auxiliary mechanism is provided in front and rear in a traveling direction of the coaxial two-wheeled vehicle. The operation unit is
A throttle lever for adjusting acceleration / deceleration of the coaxial two-wheel vehicle;
A brake lever for stopping the coaxial two-wheel vehicle;
The moving body according to any one of claims 1 to 4, comprising:

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