PROBLEM TO BE SOLVED: To provide an inverted two-wheel vehicle enabling a rider to perform a travel operation by preferentially using a leg not in trouble among both legs of the rider at an initial stage of a training, and to perform the travel operation by actively using also the leg in trouble at a later stage of the training.SOLUTION: The inverted two-wheel vehicle includes: wheels provided in a vehicle body; driving means 5L and 5R for driving the wheels; a pair of steps for a travel operation; control means 8 which performs a control to keep an inverted state of the vehicle body and which obtains a multiplication result by multiplying a first control command corresponding to an operation amount and an operation direction of one step by a first ratio, which also obtains another multiplication result by multiplying a second control command corresponding to an operation amount and an operation direction of the other step by a second ratio, which thereby calculates an integrated control command of the first and the second control command from each step by adding the multiplication result and the other multiplication result, and which controls a parallel travel and a turning travel of the inverted two-wheel vehicle by controlling the driving of the driving means 5L and 5R on the basis of the integrated control command; and ratio change means 9 for changing at least either the first or the second ratio.SELECTED DRAWING: Figure 2

    【課題】訓練初期では搭乗者の両脚のうち不自由でない方の脚を優先的に利用して走行操作でき、訓練が進んで来たら不自由な方の脚も積極的に利用して走行操作できる倒立二輪車を提供する。【解決手段】倒立二輪車は、車両本体に設けられた車輪と、車輪を駆動する駆動手段5L、5Rと、走行操作するための一対のステップと、車両本体の倒立状態を維持する制御を行うと共に、一方のステップの操作量及び操作方向に応じた第1制御指令に第1比率を乗算した乗算結果と、他方のステップの操作量及び操作方向に応じた第2制御指令に第2比率を乗算した乗算結果と、を加算することで、各ステップによる第1及び第2制御指令の統合制御指令を算出し、該統合制御指令に基づいて駆動手段5L、5Rの駆動を制御することで、倒立二輪車の並進走行及び旋回走行を制御する制御手段8と、第1及び第2比率のうち少なくとも一方を変更する比率変更手段9と、を備える。【選択図】図2


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    Title :

    INVERTED TWO-WHEEL VEHICLE


    Additional title:

    倒立二輪車


    Contributors:

    Publication date :

    2017-04-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62K Fahrräder , CYCLES / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES



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