Mobile vehicle

摘要

A two-wheeled vehicle 1 includes a steering section 6 which steers a front wheel 4. The steering section includes a steering shaft link 13 which turns about a first steering axis 10 together with a second steering axis 11, a front-wheel support section 14 which turns the front wheel 4 about the second steering axis 11, and a first motor 15 which causes the steering shaft link 13 to turn. A caster angle θ based on the first steering axis 10 is positive or 0. A trail t1 based on the second steering axis 11 is positive. When the two-wheeled vehicle 1 is in a basic posture state on a ground surface 12, the intersection point P3 of the second steering axis 11 and the ground surface 12 lies in front of the intersection point P2 of the first steering axis 10 and the ground surface 12.

主权项

1. A mobile vehicle including a vehicle body having a seat, a front wheel and a rear wheel arranged spaced apart from each other in a longitudinal direction of the vehicle body, and a steering section configured to cause the front wheel to turn about a steering axis, wherein
the steering axis includes a first steering axis and a second steering axis, the first steering axis is arranged at a front of the vehicle body, and the steering section includes:
a steering shaft link which is provided to be turnable about the first steering axis and which has the second steering axis arranged therein;a front-wheel support section which is provided to be turnable about the second steering axis and which supports the front wheel;a first actuator which causes the steering shaft link to turn about the first steering axis relative to the vehicle body;a posture detector which detects a posture state in a roll direction of the vehicle body; anda control section which controls the first actuator on the basis of the detection result by the posture detector, and wherein a caster angle based on the first steering axis is positive or 0, a trail based on the second steering axis is positive, and when the mobile vehicle is in a basic posture state on a flat ground surface, a point of intersection of the second steering axis and the ground surface lies in front of a point of intersection of the first steering axis and the ground surface.