| 摘要 |
<p>A differential steering type motorized vehicle is capable of directly steering a front wheel (1) by the turning operation of handlebars (20), and performing on-the-spot turning around a central position of a vehicle body together with differential rotation type control of drive wheels (2R, 2L), and comprises the front wheel (1) as one wheel supported by a lower end of a handlebar shaft (21) provided below the handlebars (20) and located at a central position along the lateral axis, rear wheels (3R, 3L) as a pair of right and left omnidirectional wheels, a pair of drive wheels (2R, 2L) which are located between the front wheel (1) and the rear wheels (3R, 3L), and drive-controlled so as to perform the differential steering caused by differences in rotational direction and rotational speed between the rear wheels (3R, 3L), a rotational position sensor (25) for detecting the turn direction and the turn angle from the reference position of the handlebars (20) to be turned in the right or left direction, and motor drive wheel control means (31R, 31L) for controlling the rotational direction and the rotational speed of motors attached to the pair of right and left drive wheels (2R, 2L) according to the turn angle.</p> |
