JP2002095115A - Motor-driven cart - Google Patents

Abstract

PROBLEM TO BE SOLVED: To more safely turn a motor-driven cart. SOLUTION: In a traveling motor-driven cart, a steering wheel is manipulated to make a steering value sensor 85 detect a 1st set steering value and, if a speed sensor 86 detects a speed value larger than a 1st set speed value, the revolution of an electric motor 71 is suppressed by a control signal from a CPU 81. With such a constitution, the speed of the motor-driven cart is decelerated forcibly to the 1st set speed value, so that a large centrifugal force is not applied to an operator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric cart capable of safely turning a corner.

[0002]

2. Description of the Related Art Conventionally, there has been known an electric cart used as a wheelchair capable of automatically traveling for people who have difficulty walking, such as the elderly and the physically handicapped. The electric cart includes one or two steering wheels provided in front of the vehicle body, two driving wheels provided in the rear, a steering wheel for steering the operation wheels, and an accelerator lever provided in the vicinity of the steering wheel. And an electric motor and a battery mounted on the vehicle body, and a driver's seat fixed to the vehicle body for one person. The driver sits on the driver's seat and operates the accelerator lever while operating instruments on the operation panel. By operating the steering wheel while visually recognizing the road, it is possible to freely travel on roads and passages.

[0003] Some of such electric carts are configured to decelerate independently of the operation of an accelerator lever during turning such as when turning a corner or making a U-turn on a road. By forcibly reducing the speed of the electric cart during turning, the inconvenience of the driver being shaken off the electric cart by centrifugal force is avoided.

[0004]

By the way, even when the electric cart is turned, even if it is forcibly decelerated to a predetermined speed by the above-mentioned forced deceleration structure, if the turning radius is different, the centrifugal force applied to the driver is different. In particular, when making a sharp turn such that the ground point of the rear wheel on the inner wheel side is the turning center, the speed on the outer wheel side is substantially 2 even if the speed at the center in the width direction of the vehicle body is a predetermined deceleration speed. There is an inconvenience that the driver may be shaken off due to a large centrifugal force due to the doubling.

[0005] The present invention has been made to solve the above problems, and an object of the present invention is to provide an electric cart that can perform turning more safely.

[0006]

According to the first aspect of the present invention,
In an electric cart that travels by driving an electric motor supplied with power from a battery and turns with the displacement of a steered wheel due to operation of a steering device, a steering amount sensor that detects a steering amount of the steering device, and a travel speed is detected. A speed sensor and control means for controlling the traveling speed in accordance with the steering amount, wherein the control means sets a detection value of the speed sensor in advance in a state where the steering amount sensor detects the first set steering amount. When the speed is higher than the first set speed, a control signal for decelerating to the first set speed is output to the electric motor, and the steering amount sensor detects a second set steering amount larger than the first set steering amount. When the detected value of the speed sensor is higher than a second preset speed which is lower than the first preset speed, a control signal for decelerating to the second preset speed is output to the electric motor. And it is characterized in that it is configured to.

According to the present invention, in the running electric cart, when the steering device is operated, the steering amount sensor detects the first set steering amount, and the speed sensor detects a speed higher than the first set speed. The rotation speed of the electric motor is suppressed by the control signal from the control means,
As a result, the electric cart is forcibly decelerated to the first set speed, thereby preventing a large centrifugal force from being applied to the driver.

Further, when the steering amount sensor detects a second set steering amount larger than the first set steering amount by operating the steering device, and the speed sensor detects a second set speed higher than the first set speed. Since the rotation speed of the electric motor is further suppressed by the control signal from the control means and the speed of the electric cart becomes the second set speed, an increase in centrifugal force due to a small turning radius is effectively suppressed, and Is prevented from being subjected to a large centrifugal force.

As described above, since the speed of the electric cart at the time of turning is controlled in two stages for both the steering amount and the traveling speed, the speed is more appropriate than in the conventional case where the speed is controlled in one stage. Inconveniences such as the driver being shaken down by centrifugal force can be reliably prevented while ensuring the above.

[0010] The first set steering amount and the second set steering amount set in advance may be set to the same value. In this case, it is determined whether or not the traveling speed detected in a state where the vehicle is steered to the set steering amount exceeds the first set speed and whether or not the travel speed exceeds the second set speed. Controlled. Therefore, when the traveling speed is higher than the first set speed in a state where the actual steering amount is equal to the set steering amount, first the first speed is set.
The speed is reduced to the set speed, and is then gradually reduced to the second set speed.

According to a second aspect of the present invention, in the first aspect of the present invention, the second set steering amount is a steering amount at which a ground contact point of one of the wheels is a turning center, and the second set speed is , 0.3 km / h to 0.7 km / h.

According to the present invention, when the amount of steering is such that the turning point is the center of turning of any of the wheels, this corresponds to the case where the electric cart is set to the minimum turning radius, and is the same. The speed is the time when the greatest centrifugal force is applied to the driver. In such a situation, the traveling speed is the second set speed, that is, any speed within the range of 0.3 km / h to 0.7 km / h. Is exceeded, the speed is reduced to the second set speed, so that there is no inconvenience that the driver is shaken off the electric cart by centrifugal force.

The second set speed is 0.3 km / h
The reason why the speed is set to any speed within the range of 0.7 km / h is that if the speed exceeds 0.7 km / h, a considerably large centrifugal force is generated, and the possibility that the driver is shaken off is increased. If the speed is less than 0.3 km / h, there is almost no possibility of shaking off the driver. However, the speed is too low, which hinders the electric cart from moving forward quickly toward the destination. Because.

[0014]

1 and 2 are partially cutaway perspective views showing one embodiment of an electric cart according to the present invention. FIG. 1 is a view showing a state in which a rear cover is covered on a rear part of a vehicle body. 2 shows a state in which the rear cover has been removed from the rear part of the vehicle body. As shown in these figures, the electric cart 1
Are a chassis 2 as a skeleton, a steering mechanism 3 provided at a front portion of the chassis 2, an accelerator lever 4 for adjusting a traveling speed of the electric cart 1, and a seat provided at a rear portion of the chassis 2. Seat 5 and the steering mechanism 3
, A driving unit 7 for driving the electric cart 1, and a control device 8 provided on the back side of the operation panel 6. The control device 8 controls the turning speed of the electric cart 1.

A pair of steering wheels W1 are provided in the front part of the chassis 2 in the width direction, and the same pair of driving wheels W2 are provided in the rear part. The vehicle is driven by the rotational drive of the wheel W2, and is turned by turning of each of the steered wheels W1 by the operation of the steering mechanism 3.

On the upper surface of the chassis 2, a floor 21 formed by molding a metal plate into a predetermined shape is laid.
And a box-shaped rear cover 23 is provided on the rear upper surface. A headlight 24 is provided at the center of the front surface of the front cover 22, and
The turn signals 26 are provided on the mudguards 25 on both sides in the width direction of the front cover 22.

The steering mechanism 3 penetrates the center of the front cover 22 and stands upright on the floor 21. The drive means 7 is supported by the chassis 2 via the floor 21 in the rear cover 23. The rear cover 23 is detachably attached to the floor 21 by screwing or the like, and by a predetermined operation, as shown in FIG.
It can be removed from the rear of the floor 21.

The seat 5 is attached via a support plate to a portion where the rear end of the chassis 2 is turned upward. The seat 5 includes a seat bottom 51 as a seat, a seat back 52 as a backrest joined to a rear end of the seat bottom 51, and a front end from a vertical intermediate position between both side edges of the seat back 52. Armrest 53, which is a pair of widthwise elbow pads projecting toward
It consists of

As shown in FIG. 2, the driving means 7 includes an electric motor 71 supported by a predetermined frame in the rear cover 23, a battery 72 for supplying electric power to the electric motor 71, and an electric power from the battery 72. A wiring box 73 in which various electric components for adjusting the electric power are wired, and a speed reducer for reducing the drive rotation of the electric motor 71 and transmitting the reduced drive rotation to the drive wheels W2. Then, the drive of the electric motor 71 by the power supply according to the operation amount of the accelerator lever 4 from the battery 72 is transmitted to the rotational drive of the drive wheel W2 via the speed reducer, whereby the electric cart 1 travels. It has become.

Therefore, when the driver sitting on the seat bottom 51 operates the steering wheel while operating the accelerator lever 4, the electric cart 1 runs at a speed corresponding to the operation amount of the accelerator lever 4.

The steering mechanism 3 includes a steering rod 31 erected on the chassis 2 at the front end of the vehicle body so as to be rotatable around its own axis, and an annular handle integrally connected to an upper end of the steering rod 31. 32 and a steering structure (not shown) connected to the lower end of the steering rod 31. The upper and lower dimensions of the steering rod 31 are set so that the upper end of the steering rod 31 is substantially at the level of the elbow of the driver sitting on the seat bottom 51. The left and right steered wheels W1 are turned by the forward / reverse rotation of the steering rod 31 around its own axis by the operation of the annular handle 32.
It turns to the operation direction of.

Each of the annular handles 32 has a substantially elliptical shape in plan view, and has a grip portion formed in a substantially straight shape so as to extend in the width direction toward the seat 5 with the steering wheel W1 facing forward. In addition to the holding portion 33, an arc-shaped panel mounting portion 34 is formed on the opposite side (that is, the front side) of the holding portion 33, and the center portion bulges upward.

The grip portion 33 has a length dimension slightly shorter than the width dimension of the seat bottom 51, and a diameter dimension such that the tips of the thumb and forefinger can abut in the gripped state. The driver sitting on the seat bottom 51 can easily grasp the grip portion 33 by extending his / her hand forward.

The panel mounting portion 34 is for mounting the operation panel 6, and is inclined forward and upward so that the height dimension gradually increases toward the front. The operation panel 6 is mounted on the panel mounting portion 34 along this inclination so that the panel surface of the operation panel 6 is opposed to the driver's line of sight, so that various instruments provided on the panel surface can be easily viewed. I have to.

The accelerator lever 4 includes a pair of widthwise accelerator rods 41 extending in the vertical direction parallel to the steering rod 31, and an annular handle 32 extending between the tops of the accelerator rods 41 and parallel to the gripping portion 33. And an operation unit 42 extending in the width direction. Each accelerator rod 41 is set in an L-shape in a side view,
The front end of the lower portion extending forward is rotatably supported about a rotation shaft 43 extending in the width direction integral with the steering rod 31, and is held by a biasing force of a biasing means (not shown).
3 is urged in a direction away from the third.

Therefore, when the driver releases his / her hand from the operation unit 42, the accelerator lever 4 is rotated counterclockwise around the rotation shaft 43 by the urging force of the urging means to reach the zero speed region. While the position is set, when the driver operates the operation unit 42 toward the front, the accelerator lever 4 rotates clockwise around the rotation shaft 43, and is set in the maximum speed range with the maximum operation amount. The operation unit 42 is integrated with the grip 33.

An unillustrated rotation sensor for detecting an operation amount of the accelerator lever 4 is provided at an appropriate position of the accelerator lever 4. The rotation sensor detects the operation amount of the accelerator lever 4 based on the rotation amount of the rotation shaft 43. When the operation amount is “0”, the battery 72
, The power supply to the electric motor 71 is stopped, and a brake (not shown) is operated to forcibly stop the traveling of the electric cart 1.

On the other hand, when the rotation sensor detects the operation of the accelerator lever 4, the amount of power supplied from the battery 72 to the electric motor 71 is increased in accordance with the operation amount. The traveling speed of the electric cart 1 can be adjusted arbitrarily.

The operation panel 6 is formed by being attached to a panel mounting portion 34 formed obliquely at a position in front of the annular handle 32, and various operation buttons are operated by facing the driver in the viewing direction. It is easier to see the various instruments.

The operation panel 6 is provided with an arc-shaped sunshade plate 60 (FIG. 3) projecting obliquely upward and rearward from the front edge thereof.
This prevents direct sunlight from irradiating the surface of the operation panel 6, thereby facilitating visual recognition of instruments on the surface of the operation panel 6.

FIG. 3 is a plan view showing an embodiment of an arrangement layout of operation buttons and instruments on the operation panel 6. As shown in this figure, the operation panel 6 has a display zone 6a in which instruments are arranged in an upper triangular area.
Is set, and an operation zone 6b in which operation buttons are arranged is set in an area below the display zone 6a.

In the display zone 6a, four remaining light indicating lamps (battery fuel gauges) each composed of an LED (light emitting diode) for displaying the remaining amount of the charged amount of the battery 72 at the left position.
61 are provided. These remaining amount indicating lamps 61 are shaped so that the vertical dimension gradually decreases from right to left. When the rightmost remaining amount indicator light 61 is lit, it indicates that the charged amount is equal to or higher than a predetermined high level, and the charged amount is sequentially reduced as the lighting is shifted to the left remaining amount indicator light 61. To indicate that they are within the range. Then, when the charged amount decreases until charging is required, the remaining amount indicating lamp 61 at the left end is turned on.

The remaining amount indicating lamp 61 blinks sequentially from the opposite side in the turning direction of the electric cart 1 with a predetermined short time difference in accordance with the operation of a turn button 67 described later, and this blinking is repeated once. This operation is repeated as long as the operation of the turn button 67 is continued after the operation. The turn signal 26 also blinks in synchronization with the blinking of the remaining amount indicating lamp 61.

The display zone 6a has a remaining amount indicator 6
An odometer 62 composed of an LED is provided adjacent to the odometer 1.

The operation zone 6b is further divided into upper and lower parts, and a stop operation zone 6c is set at an upper position and a traveling operation zone 6d is set at a lower position. The stationary operation zone 6c is an area provided with operation switches and the like that are operated while the electric cart 1 is stopped, and the traveling operation zone 6d is operated when the electric cart 1 is traveling. This is an area where operation buttons are provided.

The stop operation zone 6c is provided with a forward / reverse switch 63 at the center thereof, a power switch 64 on the right side, and a maximum speed setting switch (maximum speed setting device) on the left side. 65 are provided respectively.

The forward / reverse selector switch 63 is designed to operate in a forward mode when operated forward, and to operate in a reverse mode when operated backward. Therefore, by operating the forward / reverse changeover switch 63 to “forward” with the power switch 64 turned on, the electric cart 1 moves forward by operating the accelerator lever 4, while the electric cart 1 is operated to “reverse” by operating the accelerator lever 4. The operation of 4 causes the electric cart 1 to move backward.

On the right side of the forward / reverse selector switch 63, a forward / backward indicator light 63a (forward indicator light 63b and reverse indicator light 63) composed of LEDs arranged in the forward / backward direction are provided.
c) is provided. The forward indicator 63b is lit when the forward / reverse selector switch 63 is operated to the forward side, and the reverse indicator 63c is illuminated when the forward / backward switch 63 is operated toward the reverse side. Things.

The power switch 64 employs a system in which a predetermined key is inserted into a key hole 64a to perform a rotating operation. Key hole 64a set to "OFF" state
When the key is inserted and operated toward "ON", power from the battery 72 (FIG. 1) can be supplied to the electric motor 71, and the head is operated by operating in the direction of the lamp lighting symbol. The light 24 is turned on.

The maximum speed setting switch 65 is for setting the maximum speed, and employs a dial type switch which rotates while giving a click feeling. The maximum speed setting switch 65 is a circular switch body 6.
5a and a knob bar 65b integrally provided so as to cross the switch body 65a in the radial direction. On the other hand, the switch operation body 6 is provided in the stop operation zone 6c.
A scale is provided along the peripheral surface of the knob 5a.
By adjusting the tip of 5b to one of the scales, the maximum speed corresponding to the scale can be obtained in a state where the accelerator lever 4 is operated to the maximum speed position.

A horn button 66 is provided at the center of the traveling operation zone 6d, and turn buttons 67 (left turn button 67a and right turn button 67b) are provided on the left and right of the horn button 66, respectively. ing. The horn button 66 is for sounding an unillustrated horn provided at an appropriate position of the electric cart 1, and the turn button 67 is for blinking the turn signal 26. When the left turn button 67a is pushed, the left blinker 26 blinks, and when the right turn button 67b is pushed, the right blinker 26 blinks. As described above, when the turn button 67 is operated, the remaining amount indicating lamp 61 blinks.

Further, a manner switch 68 is provided on the right side of the traveling operation zone 6d and adjacent to the power switch 64, while a buzzer (not shown) is provided in the front cover 22. . When the manner switch 68 is turned on and the forward / reverse changeover switch 63 is operated to “reverse”, a buzzer sounds and a warning is given that the electric cart 1 is going backward. In the off state, the buzzer does not sound even if the electric cart 1 moves backward.

By providing such a manner switch 68, when the traveling place of the electric cart 1 is in a hospital or various public buildings, the electric cart 1 is moved backward by turning off the manner switch 68. No buzzer sounds. Therefore, each time the electric cart 1 is moved backward, a buzzer sounds and this bounces back into the room, causing noise, and the conventional inconvenience of causing unpleasant feelings around the user and causing discomfort is eliminated.

FIG. 4 is a block diagram showing an embodiment of the speed control during turning by the control device 8. Control device 8
Is composed of a so-called microcomputer,
One that performs a predetermined determination based on on / off information from various switches and detection signals from various sensors, and outputs a control signal so that the electric motor 71 rotates at a predetermined rotation number set in advance. It is. Such a control device 8
Is a central processing unit (Central Processes)
sing Unit) and the CPU 81
RAM (Rand) which is an external storage device attached to
om Access Memory) 82 and ROM
(Read Only Memory) 83.

The RAM 82 is an external storage device capable of freely reading and writing data. The RAM 82 receives various detected values and predetermined arithmetic processing results and the like, and performs intermediate processing and arithmetic processing results as necessary. Various values are output.
The ROM 83 is a read-only external storage device, in which a program for performing arithmetic processing for speed control and determination processing is stored in advance.

When power can be supplied to the electric motor 71 by turning on the power switch 64, RO
The program of M83 is read by the CPU 80, and the control device 8 is in a controllable state. The CPU 80 outputs a control signal to the electric motor 71 as necessary according to the program, and a predetermined condition is satisfied when the vehicle turns a curve. When the rotation of the electric motor 71 decreases, the electric cart 1
Is to be decelerated.

In order for the control device 8 to perform the above-described control, various sensors are provided at appropriate places of the electric cart 1. As such a sensor, first, the power switch 64
Can be mentioned. That is, when the power switch 64 is turned on, this is input to the CPU 81.

An accelerator lever sensor 84 for detecting an operation amount of the accelerator lever 4 is provided at an appropriate position of the accelerator lever 4, and a rotation operation amount of the annular handle 32 is provided near the steering rod 31. Is provided with a steering amount sensor 85 for detecting the steering angle. Further, near the axle of the drive wheel W2, a speed sensor 86 that detects the rotational speed of the left and right drive wheels W2 and detects the running speed of the electric cart 1 based on the average value of the left and right rotational speeds
Is provided. The detection signals from these sensors 84, 85, 86 are input to the CPU 81 one by one.
, A control signal based on these detection signals is output to control the rotation speed of the electric motor 71.

The speed sensor 86 is connected to the left and right drive wheels W
The reason why the running speed of the electric cart 1 is detected based on the average value of the rotation speeds 2 is that when the electric cart 1 turns, the rotation speed of the inner wheel is different from the rotation speed of the outer wheel. This is because the traveling speed representing the electric cart 1 cannot be obtained only from the rotation speed of one of the drive wheels W2.

On the other hand, an electric power supply circuit for supplying electric power from the battery 72 to the electric motor 71 has an electric motor 71
A power amount adjusting circuit 74 is provided in series with the power amount adjusting circuit 74. The electric energy adjustment circuit 74 is formed by combining electric components such as a resistor and a capacitor, and supplies predetermined electric power indicated by a control signal from the CPU 81 to the electric motor 71.

In the present invention, the electric cart 1
When the vehicle turns, the steering amount of the annular handle 32 detected by the steering amount sensor 85 (specifically, the rotation angle of the annular handle 32 around the steering rod 31) and the traveling speed of the electric cart 1 detected by the speed sensor 86 are determined. CP based on
U81 makes a predetermined determination, and when the steering amount θ becomes the first-stage amount (first set steering amount θ1) (θ = θ1), the traveling speed V is set to a speed corresponding to it (first set speed V1). And the steering amount θ is larger than the first set steering amount θ1 in the second stage (second set steering amount θ2) (θ = θ
When 2) is reached, a control signal is output from the CPU 81 to the power amount adjusting circuit 74 so as to reduce the speed to a speed (second set speed V2) corresponding to the second set steering amount θ2. The electric cart 1 is turned at a safe speed.

The first set steering amount θ1, the second set steering amount θ2, the first set speed V1 and the second set speed V2 are stored in the ROM 83 in advance, and each time the power switch 64 is turned on. These values are called by the CPU 81 and used for speed control.

In order to perform such control, the CPU 81
Is provided with a steering amount determining unit 81a, a speed determining unit 81b, and a speed setting unit 81c. The steering amount determination unit 8
1a is the steering amount θ detected by the steering amount sensor 85 and the first
And a comparison calculation with the second set steering amounts θ1 and θ2,
Based on the result of this calculation, it is possible to determine which set steering amount the steering amount θ exceeds.

The speed discriminating section 81b includes a speed sensor 86
And the first and second set speeds V
1 and V2, and performs a function of determining which set speed the traveling speed V exceeds based on the calculation result.

The speed setting section 81c includes a steering amount discriminating section 8
1a and the traveling speed of the electric cart 1 during turning is set based on the discrimination results of the speed discriminating unit 81b. The set speed is output as a control signal to the electric energy adjustment circuit 74, and the The rotation speed of the motor 71 is reduced to a value corresponding to the first set speed V1 or the second set speed V2.

Specifically, the steering amount θ is equal to the first set steering amount θ.
When it is less than 1 (θ <θ1), the current traveling speed is set as it is, and the electric cart 1 performs a normal driving operation of traveling at a speed corresponding to the operation amount of the accelerator lever 4.

When the steering amount θ is equal to or larger than the first set steering amount θ1 and smaller than the second set steering amount θ2 (θ1 ≦ θ <θ2).
Is compared with whether or not the traveling speed V exceeds the first set speed V1, and when it is exceeded (V> V1), a control signal for reducing the traveling speed to the first set speed V1 is output by a power amount adjusting circuit. 74 to the electric cart 1
Turns at the first set speed V1, while when it does not exceed, the running speed is continued as it is.

When the steering amount θ is equal to or larger than the second set steering amount θ2 (θ ≧ θ2), it is determined whether or not the traveling speed V exceeds the second set speed V2. )
A control signal for reducing the traveling speed to the second set speed V2 is output to the electric energy adjusting circuit 74, whereby the electric cart 1 turns at the second set speed V2, while when the electric cart 1 does not exceed the second set speed V2. , The running speed is maintained.

In this embodiment, the first set steering amount θ1 employs a value that is approximately half of the maximum steering amount, and the second set steering amount θ2 indicates that the contact point of the steered wheel W1 turns. The value of the steering amount that becomes the center (that is, the steering amount slightly smaller than the maximum steering amount) is adopted. This value is adopted as the second set steering amount θ2 because the electric cart 1 is set to a substantially minimum turning radius at this value.

Further, the second steering amount θ2 corresponding to the second set steering amount θ2
The set speed V2 is set to a value within a range from 0.3 km / h to 0.7 km / h. The reason why such a value is adopted is that if the speed exceeds 0.7 km / h, a considerably large centrifugal force is generated, which increases the possibility of the driver being shaken off. If there is, there is almost no possibility of dropping the driver, and it is not necessary to lower the speed for safety measures,
This is because the speed of the electric cart is so low that it prevents the electric cart from moving quickly toward the destination.

As described in detail above, the electric cart 1 according to the present invention is the same as the electric cart 1 in running, except that
2 is operated, the steering amount sensor 85 detects the first set steering amount θ1, and the speed sensor 86
When a speed higher than the set speed V1 is detected, the CPU 8
The number of revolutions of the electric motor 71 is suppressed by the control signal from the control unit 1 and the electric cart 1 is forcibly reduced to the first set speed V1, thereby preventing a large centrifugal force from being applied to the driver.

Further, when the annular handle 32 is operated, the steering amount sensor 85 detects the second set steering amount θ2 larger than the first set steering amount θ1, and the speed sensor 86 sets the second set steering amount faster than the first set speed V1. When the second set speed V2 is detected, the rotation speed of the electric motor 71 is further suppressed by the control signal from the CPU 81, and the speed of the electric cart 1 becomes the second set speed V2. The increase is effectively suppressed and a large centrifugal force is not applied to the driver.

As described above, the speed of the electric cart 1 at the time of turning is controlled in two steps for both the steering amount and the traveling speed, so that it is more appropriate than in the conventional case of controlling in one step. Inconveniences such as the driver being shaken off by the centrifugal force while ensuring the speed are reliably prevented.

The present invention is not limited to the above embodiment, but includes the following contents.

(1) In the above embodiment, the electric cart 1 is a four-wheeled vehicle provided with two steering wheels W1 and two drive wheels W2. It is not limited to being a four-wheeled vehicle,
The present invention may be applied to a so-called three-wheeled vehicle having two steering wheels or two driving wheels.

(2) In the above embodiment, the annular handle 32 is applied as a handle that is gripped and operated by the driver. However, the present invention is limited to the case where the handle is the annular handle 32. Instead, a so-called bar handle such as a bicycle handle may be used. However, when a bar handle is used, it is preferable to adopt a structure in which the gripping portions of the handle are bent in directions facing each other.

(3) In the above embodiment, different values are set for the first set steering amount θ1 and the second set steering amount θ2, however, the present invention provides the first set steering amount θ
The present invention is not limited to setting different values for the first and second set steering amounts θ2, but may set the same value. However, in this case, after the steering amount θ reaches the set operation amount, the electric cart 1 is first run at the first set speed V1 for a predetermined time (for example, several seconds), and after the predetermined time elapses, the second operation is performed.
What is necessary is just to reduce to the set speed V2.

[0068]

According to the first aspect of the invention, the speed of the electric cart during turning is controlled in two stages for both the steering amount and the traveling speed.
The inconvenience of the driver being shaken down by the centrifugal force can be reliably prevented while securing an appropriate speed as compared with the case where the control is performed in stages.

According to the second aspect of the present invention, the second set steering amount is a steering amount at which the ground point of one of the wheels is the turning center, and the second set speed is 0.3 km / km.
h to 0.7 km / h, so that even when the electric cart is set to the minimum turning radius and the largest centrifugal force is applied to the driver, the driver can use the centrifugal force. Inconveniences such as swinging down from the electric cart can be reliably prevented.

[Brief description of the drawings]

FIG. 1 is a partially cutaway perspective view showing an embodiment of an electric cart according to the present invention, showing a state in which a rear cover is covered on a rear part of a vehicle body.

FIG. 2 is a partially cutaway perspective view showing one embodiment of the electric cart according to the present invention, and shows a state in which a rear cover is removed from a rear part of the vehicle body.

FIG. 3 is a plan view showing an embodiment of an arrangement layout of operation buttons and instruments on an operation panel.

FIG. 4 is a block diagram showing an embodiment of speed control during turning of the electric cart.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Electric cart 2 Chassis 21 Floor 22 Front cover 23 Rear cover 24 Headlight 26 Turn signal 3 Steering mechanism 31 Steering rod 32 Annular handle 33 Gripping part 34 Panel mounting part 34 Operation rod 4 Accel lever 41 Accel rod 42 Operation part 43 Rotating shaft 5 Seat 51 Seat bottom 52 Seat back 53 Armrest 6 Operation panel 6a Display zone 6b Operation zone 6c Stop operation zone 6d Travel operation zone 60 Sunshade plate 61 Remaining indicator light 62 Odometer 63 Switch 63a Forward / rearward indicator light 63b Forward display Light 63c Reverse indicator light 64a Key hole 64 Power switch 65a Switch body 65b Pick bar 65 Maximum speed setting switch 66 Horn button 67 Turn button 67a Left turn button 67b Right turn button 68 Manner switch 7 Driving means 71 Electric motor 72 Battery 73 Wiring box 74 Power adjustment circuit 8 Control device 81 CPU 81a Steering amount discriminating unit 81b Speed discriminating unit 81c Speed setting unit 82 RAM 83 ROM 84 Accel lever sensor 85 Steering amount Sensor 86 Speed sensor

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60K 41/00 301 B60K 41/00 301F 301G B62D 6/00 B62D 6/00 // B62D 101: 00 101: 00 113: 00 113: 00 F term (reference) 3D032 CC13 CC21 DA03 DA23 DA64 DA65 EC23 EC24 GG15 3D035 AA01 AA06 BA02 3D041 AA40 AA76 AB00 AD50 AD51 AE02 AE41 5H115 PA08 PC06 PG07 PI16 PI29 PU02 PV01 QN03 RB17 TB03 TI02 TO02

Claims (2)

[Claims] A steering amount sensor for detecting a steering amount of the steering device in an electric cart that travels by driving an electric motor supplied by electric power from a battery and turns by a displacement of a steering wheel by an operation of the steering device; A speed sensor for detecting a running speed and control means for controlling the running speed in accordance with the steering amount are provided, and the control means detects the speed of the speed sensor in a state where the steering amount sensor detects the first set steering amount. When the detected value is higher than the first set speed, a control signal for decelerating to the first set speed is output to the electric motor, and the second set steering amount is larger than the first set steering amount by the steering amount sensor. When the detected value of the speed sensor is higher than a second preset speed which is lower than the first preset speed in a state where is detected, the control signal for decelerating to the second preset speed is transmitted to the electric motor. An electric cart characterized by being configured to output to a computer. 2. The second set steering amount is a steering amount in which a ground point of any one of the wheels becomes a turning center, and the second set speed is 0.3 km / h to 0.7 km / h. The electric cart according to claim 1, wherein: