To provide a two-wheel moving device which can move on a land and water while water-tightly separating an occupant from an outside.SOLUTION: A two-wheel moving device comprises: a cabin which has an openable/closable getting-on entrance, is configured to be water-tight up to a position higher than a waterline when the own device travels on water, and accommodates an occupant therein while separating the occupant from an outside; propulsion means which comprises a rotationally driven impeller and makes the own deice moves on water; attitude detection means for detecting an attitude of the own device; inclination correction means for correcting an inclination of the own device on a land; anti-rocking means which suppresses rocking of the own device on water; attitude control means which switches between an operation of the inclination correction means and an operation of the anti-rocking means on the basis of a detection value of the attitude detection means; position information acquisition means for acquiring position information of the own device and position information of an external device; and movement control means for performing driving control of the propulsion means in such a manner that the own device moves along a target route set on the basis of the position information of the own device and the position information of the external device acquired by the position information acquisition means.SELECTED DRAWING: Figure 9
【課題】乗員を外部から水密に離隔した状態で陸上及び水上を移動することができる二輪式移動装置を提供する。【解決手段】開閉可能な乗り込み口を有し自装置が水上で移動する場合の喫水線よりも高い高さまで水密に構成され乗員を内部に外部から離隔して収容する車室と、回転駆動されるインペラを備え自装置を水上で移動させる推進手段と、自装置の姿勢を検知する姿勢検知手段と、自装置の陸上での傾きを補正する傾き補正手段と、自装置の水上での減揺を行なう減揺手段と、姿勢検知手段の検知値に基づいて傾き補正手段の作動と減揺手段の作動を切り替える姿勢制御手段と、自装置の位置情報及び外部機器の位置情報を取得する位置情報取得手段と、位置情報取得手段で取得された自装置の位置情報と外部機器の位置情報に基づいて設定された目標ルートに沿って自装置が移動するように推進手段の駆動制御を行う移動制御手段と、を備えた。【選択図】図9
TWO-WHEEL MOVING DEVICE
二輪式移動装置
2021-06-24
Patent
Electronic Resource
Japanese