JP7305203B2 - Kick-type traveling vehicle - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a kick-type traveling vehicle that a user advances by kicking a traveling surface with his/her legs.

An electrically assisted bicycle uses a torque sensor to detect the depression of a pedal and activates a motor to assist the rotation of the wheel. . Electric power-assisted bicycles had the problem that when the electric energy stored in the storage battery was exhausted and the motor stopped working, the pedals became heavier than normal bicycles. In recent years, the popularity of electrically assisted bicycles has been increasing, partly due to improvements due to adoption.

On the other hand, kick-type traveling vehicles, such as kick skaters and skateboards, in which a person moves by kicking a traveling surface, are not electrically assisted. There are various reasons for this, but one of the reasons is that a mechanism similar to that of an electrically assisted bicycle cannot be applied as is to a kick-type traveling vehicle. In a power-assisted bicycle, a crankshaft, which receives a load corresponding to the force applied to the pedals, can be provided with a mechanism that can stably measure the load without major design changes.

In this regard, a kick-type traveling vehicle cannot be provided with a mechanism that can stably detect the force that kicks the traveling surface without major design changes. A mechanism different from a mechanism for detecting and generating an assisting force is required, and a specific example thereof is described in Patent Document 2, for example.
The kick-type traveling vehicle described in Patent Document 2 is designed to accelerate when a person kicks the traveling surface and decelerate when the person stops kicking the traveling surface. When the surface is kicked and the kick-type traveling vehicle reaches its maximum speed, an auxiliary force is added to the wheels to delay deceleration. This allows you to extend the distance traveled with a single kick.

JP 2019-108126 A Japanese Patent Application Laid-Open No. 2004-202002

However, this kick-type traveling vehicle does not generate an auxiliary force when a person kicks the running surface and accelerates, so there is a problem that it is not possible to obtain a driving force greater than the driving force obtained by a person's leg power. rice field.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a kick-type traveling vehicle that can travel with a propulsive force greater than the propulsive force obtained by human legs.

A kick-type traveling vehicle according to the present invention that meets the above object has wheels and a deck on which a user rides , and a user who puts one leg on the deck uses the other leg that is not on the deck to move a running surface. Acceleration measuring means for measuring acceleration of the kick-type traveling vehicle, and rotation assisting the rolling of the wheels in a kick-type traveling vehicle in which the wheel rolls on the traveling surface by the propulsive force generated by kicking A drive source that generates a force by actuation, and a control unit that controls the operation of the drive source, wherein the control unit detects that the acceleration measured by the acceleration measurement means has reached a set value A or more. As an essential condition for starting the operation of the driving source, it is detected that the absolute value of the negative acceleration measured by the acceleration measuring means exceeds a set value B, and the operating of the driving source is stopped. do.

A kick-type traveling vehicle according to the present invention comprises acceleration measuring means for measuring acceleration of the kick-type traveling vehicle, a drive source for generating a rotational force to assist the rolling of the wheels, and a controller for controlling the operation of the drive source. and the control unit determines that the acceleration measured by the acceleration measuring means is equal to or greater than the set value A as an essential condition for starting the operation of the driving source. The driving source can be operated to generate propulsive force while the kick-type traveling vehicle is accelerating, and it is possible to run with a propulsive force greater than the propulsive force obtained by human leg power.

1 is a perspective view of a kick-type traveling vehicle according to an embodiment of the present invention; FIG. 1 is a side view of a kick-type traveling vehicle; FIG. 4 is a block diagram showing connections of the control unit; FIG. FIG. 4 is a flow diagram showing control of the motor;

Next, specific embodiments of the present invention will be described with reference to the attached drawings for better understanding of the present invention.
As shown in FIGS. 1 and 2, a kick-type traveling vehicle 10 according to an embodiment of the present invention has wheels 11 and 12, and the wheels are propelled by a driving force generated when a user kicks a traveling surface G with his/her legs. 11 and 12 roll on the running surface G to run. The kick-type traveling vehicle 10 will be described in detail below.

As shown in FIGS. 1 and 2, the kick-type traveling vehicle 10 according to the present embodiment includes a handle 13 to be gripped by a user, a deck 14 elongated in the front-rear direction on which the user stands, and a deck 14 arranged in front of the deck 14. The kick scooter has drive wheels 11 mounted on the deck and driven wheels 12 provided behind the deck 14 . Hereinafter, the kick-type traveling vehicle 10 is described as being arranged on the traveling surface G unless otherwise specified.

The horizontally arranged linear handle 13 is centrally connected to the upper end of a substantially vertically arranged hollow column 15 . The column 15 is rotatably supported by a support member 16 fixed to the deck 14 , and a fork 17 that rotatably supports the wheels 11 is connected to the lower end of the column 15 . The direction of the wheels 11 (the traveling direction of the kick-type traveling vehicle 10) is changed by turning the handle 13 to the left or right by the user and rotating the column 15. As shown in FIG. The deck 14 is arranged substantially horizontally, and at the rear of the deck 14, a fork 18 that rotatably supports the wheel 12 and an arc-shaped fork that is stepped on by the user and contacts the upper side of the wheel 12 to generate a frictional force. A brake member 19 is attached.

With the kick-type traveling vehicle 10 in the stopped state, the user places one leg (hereafter referred to as the left leg, but it goes without saying that the right leg may also be used) on the deck 14 while the other leg is placed on the deck 14 . (Hereinafter, this leg is referred to as the right leg, but it goes without saying that the left leg may also be used.) By kicking the running surface G, the robot accelerates and starts running. When the user stops kicking the running surface G with his/her right leg, the kick-type traveling vehicle 10 during traveling gradually decelerates, and the user steps on the brake member 19 with his/her right leg to brake. By pressing the member 19 against the wheel 12, the vehicle is rapidly decelerated and stopped.

1, 2, and 3, the kick-type traveling vehicle 10 includes acceleration measuring means 20 for measuring the acceleration of the kick-type traveling vehicle 10, and the rolling motion of the wheels 11 and 12 on the traveling surface G. A motor (an example of a drive source) 21 that generates a rotational force that assists the motor 21 by operation, a control unit 22 that controls the operation of the motor 21, and whether or not the user is on the kick-type traveling vehicle 10. A boarding detection means 23 for detecting and an inclination detection means 24 for detecting an inclination of the traveling surface G while the kick-type traveling vehicle 10 is traveling are provided.

In the present embodiment, an acceleration sensor attached to the deck 14 is used as the acceleration measuring means 20, but it goes without saying that the present invention is not limited to this. For example, instead of the acceleration sensor, a tachometer that detects the number of rotations of the wheels 12 (or wheels 11) and a kick-type traveling vehicle 10 based on the measured value of the tachometer and the radius of the wheels 12 (or wheels 11) Acceleration measurement means using an acceleration derivation mechanism based on the rotation of the wheels, which is composed of an arithmetic circuit that calculates the acceleration of It is also possible to configure

While the kick-type traveling vehicle 10 is traveling on an uneven traveling surface G, measurement of the acceleration of the kick-type traveling vehicle 10 by the acceleration sensor becomes unstable depending on the design of the acceleration sensor and the unevenness of the traveling surface G. In addition, when the acceleration of the kick-type traveling vehicle 10 is the value obtained from the number of rotations of the wheels 12, the acceleration of the kick-type traveling vehicle 10 can be stably obtained even when the kick-type traveling vehicle 10 is traveling on the uneven traveling surface G. It was confirmed by experimental verification that Therefore, treating the value obtained from the number of revolutions of the wheels 12 as the acceleration of the kick-type traveling vehicle 10 means that even when the kick-type traveling vehicle 10 is traveling on the uneven traveling surface G, the acceleration of the kick-type traveling vehicle 10 is Acceleration can be stably derived, which is effective.

However, when the value obtained from the number of revolutions of the wheels 12 is unconditionally treated as the acceleration of the kick-type vehicle 10, even if the wheels 12 rotate while the wheels 12 are not rolling on the running surface G (for example, Even if an object touches the wheel 12 while the user is lifting the kick-type traveling vehicle 10 and the wheel 12 rotates, the obtained value is detected as the acceleration of the kick-type traveling vehicle 10. . This point can be improved by treating the value obtained from the number of revolutions of the wheels 12 as the acceleration of the kick-type traveling vehicle 10 only when the acceleration measured by the acceleration sensor is equal to or greater than a preset set value C. It is possible. This is the advantage of configuring the acceleration measuring means with the acceleration deriving mechanism based on the rotation of the wheels and the acceleration sensor. In the present embodiment, C is a value of 0.5 m/s ² or more and 1.5 m/s ² or less, preferably 0.8 m/s ² or more and 1.2 m/s ² or less.

In this embodiment, as shown in FIG. 1, an in-wheel motor arranged inside the wheel 11 is used as the motor 21 .
A secondary battery 25 electrically connected to the motor 21 and the control unit 22 is accommodated in the column 15 . The secondary battery 25 is charged by connecting the secondary battery 25 to an external power source, and stores power to be supplied to the motor 21, the control unit 22, and the like.

As shown in FIG. 1, the boarding detection means 23 includes a load sensor provided on the deck 14 where the user puts his/her left leg, and the user's movement of the kick-type traveling vehicle 10 based on the measured value of the load sensor. It has an arithmetic circuit for determining whether or not the vehicle is on board the vehicle. The arithmetic circuit of the passenger detection means 23 detects that the user is on the deck 14 (kick-type traveling vehicle 10) when the measured value of the load sensor is greater than or equal to a predetermined set value. is detected, and it is detected that the user is not on the deck 14 when the measured value of the load sensor is less than the set value.

In this embodiment, the kick-type traveling vehicle 10 is designed such that the longitudinal direction of the deck 14 is parallel to the traveling surface G during traveling. The tilt detection means 24 is an inclinometer fixed to the deck 14, and detects the tilt in the longitudinal direction of the deck 14, that is, the tilt of the traveling surface G on which the kick-type traveling vehicle 10 is traveling. The controller 22 detects whether the traveling surface G on which the kick-type traveling vehicle 10 is traveling is horizontal, upwardly inclined, or downwardly inclined, based on the measurement value of the inclination detection means 24 . Note that the tilt detection means 24 can also be fixed to a member other than the deck 14 .

The control unit 22 can be configured by an electronic circuit or the like, and as shown in FIG. is connected to a switch 26 that activates the control unit 22 by pressing the switch 26 .
The control unit 22 is activated, the acceleration of the kick-type traveling vehicle 10 from the acceleration measuring means 20, the information on whether or not a user is on board from the boarding detecting means 23, and the inclination of the running surface G from the inclination detecting means 24. It is possible to receive each angle and control the motor 21 based on the received information.

Next, the operation of the kick-type traveling vehicle 10 will be described.
As shown in FIG. 4, when the control unit 22 is activated by the user's operation of the switch 26 (step S1), the control unit 22 can perform various processes, and the acceleration measured by the acceleration measuring means 20 is It is detected whether or not it is equal to or greater than the set value A (step S2). At this time, the motor 21 is stopped. In the present embodiment, A is a value of 0.5 m/s ² or more and 2.0 m/s ² or less, preferably 1.0 m/s ² or more and 1.5 m/s ² or less. The values of A and C are experimentally verified so that the user's burden can be stably reduced, and the motor can be operated only when the kick-type traveling vehicle 10 is accelerated by the user's leg strength. decided again and again.

In step S2, when the control unit 22 detects that the acceleration measured by the acceleration measuring unit 20 is equal to or greater than the set value A, whether or not the boarding detection unit 23 has detected that the user is boarding. is detected (step S3). On the other hand, in step S2, when the control unit 22 detects that the acceleration measured by the acceleration measuring means 20 is less than the set value A, the process of step S2 is performed again, that is, the acceleration measured by the acceleration measuring means 20 is greater than or equal to the set value A is detected by the control unit 22 .

Here, when the acceleration measurement means is configured by an acceleration derivation mechanism based on wheel rotation and an acceleration sensor, in step S2, the acceleration calculated by the acceleration derivation mechanism based on wheel rotation is equal to or greater than the set value A. and that the acceleration measured by the acceleration sensor is equal to or greater than a set value C (for example, A>C) is the condition for proceeding to step S3. Otherwise, the process of step S2 is performed again.

In step S3, if the boarding detection means 23 detects that the user is boarding, the control unit 22 determines whether the running surface G during running is either upwardly inclined or horizontal. 24 is detected (step S4). On the other hand, in step S3, when the boarding detection means 23 detects that the user is not boarding, the process of step S2 is performed again.

In step S4, when the inclination detecting means 24 detects that the traveling surface G during traveling is either upwardly inclined or horizontal, the controller 22 issues a command signal to the motor 21 to operate the motor 21. This is transmitted to operate the motor 21 (step S5). When the motor 21 is operated, it applies rotational force to the wheels 11 to assist the wheels 11 in rolling. Therefore, the kick-type traveling vehicle 10 has a driving force obtained by combining the driving force obtained by the leg force of the user and the driving force due to the operation of the motor 21 (that is, the driving force larger than the driving force obtained by the user's leg force). can run in

Also, the acceleration condition is that the acceleration measured by the acceleration measuring means 20 is equal to or greater than the set value A, and the boarding condition is that the boarding detection means 23 detects that the user is on board, The control unit 22 determines that the acceleration condition, the boarding condition, and the running surface condition are all detected by the inclination detecting means 24 as being either an upward slope or a horizontal running surface G during running. Since the operation of the motor 21 is started when the conditions are satisfied, in the present embodiment, the control unit 22 sets the acceleration condition, the boarding condition, and the running surface condition as essential conditions for starting the operation of the motor 21, respectively.

Here, from the viewpoint of causing the kick-type traveling vehicle 10 to travel with a propulsive force greater than the propulsive force obtained by the user's leg strength, only the acceleration condition is the essential condition for starting the operation of the motor 21. The running surface condition does not have to be a prerequisite for starting the motor 21 operation. Therefore, it is possible for the control unit 22 to select whether or not to set one or both of the boarding condition and the running surface condition as essential conditions for starting the operation of the motor 21 in addition to the acceleration condition.
Needless to say, the order of steps S2, S3, and S4 may be changed. For example, boarding conditions may be detected before acceleration conditions are detected.

If the boarding condition is not an essential condition for starting the operation of the motor 21, it is preferable to configure the acceleration measuring means with an acceleration deriving mechanism based on the rotation of the wheels and an acceleration sensor. A situation in which the acceleration derivation mechanism based on the rotation of the wheels detects an acceleration equal to or greater than the set value A and the acceleration sensor detects an acceleration equal to or greater than the set value C indicates that the user is riding on the kick-type traveling vehicle 10 and is traveling. This is because it can be regarded as

By the time T seconds have passed since the motor 21 started operating in step S5 (step S10), whether the boarding detection means 23 detects that the user is not in the boarding state (step S6), or the tilt detection means 24 detects that the running surface G is downwardly inclined (step S7), the negative acceleration (deceleration) is measured by the acceleration measuring means 20, and the absolute value of the measured negative acceleration (deceleration) is determined. When it is detected that the value is equal to or greater than the set value B (step S8), the controller 22 sends a command signal to the motor 21 to stop the motor 21 (step S9).

Therefore, the controller 22 detects that the traveling surface G on which the kick-type traveling vehicle 10 is traveling is downwardly inclined by the inclination detection means 24, or detects the absolute value of the negative acceleration measured by the acceleration measurement means 20. When the value is detected to be equal to or greater than the set value B, the motor 21 in operation is stopped. The set value B is a value that is set in advance, and is set assuming a situation in which the user depresses the brake member 19 to deliberately decelerate the kick-type traveling vehicle 10 . In the present embodiment, B is a value of 1.5 m/s ² or more and 3.5 m/s ² or less, preferably 2.0 m/s ² or more and 3.0 m/s ² or less. This range of B was determined by various tests.

When adopting a design that can directly detect the brake operation itself by the user (for example, a kick-type traveling vehicle equipped with a handbrake that brakes by operating a lever attached to the steering wheel, and the control unit is ), instead of detecting that the absolute value of the measured negative acceleration is greater than or equal to the set value B and stopping the motor, the brake operation is detected and the motor is started. You may make it stop.

When the user is not on the kick-type traveling vehicle 10 (step S3) or when the traveling surface G is downwardly inclined (step S4), the stopped motor 21 is not operated and the user does not get on the kick-type traveling vehicle 10 (step S6), when the traveling surface G becomes downwardly inclined (step S7), or when the absolute value of the negative acceleration exceeds the set value B Secondly (step S8), stopping the motor 21 in operation is for safety reasons.

Also, after the motor 21 starts operating, the user is on the deck 14 (kick-type traveling vehicle 10), the traveling surface G is uphill or horizontal, and the absolute value of the negative acceleration is set. Even if it continues to be detected that the value is not equal to or greater than the value B, when T seconds have passed (step S10), the control unit 22 stops the motor 21 (step S9). T is a preset value, and in the present embodiment, T is set to a value of 2 or more and 5 or less.

After the motor 21 stops, the control unit 22 does not restart the operation of the motor 21 until R seconds have passed, and after the R seconds have passed, returns to step S2 so that the operation of the motor 21 can be restarted (step S11). This is to avoid the motor 21 from applying rotational force to the wheel 11 substantially continuously. R is a preset value, and in the present embodiment, R is set to a value of 1 or more and 3 or less.

In the present embodiment, the control unit 22 detects that the running surface G on which the kick-type vehicle 10 is running is either an upward slope or a horizontal one, and the control unit 22 operates the motor 21. (steps S4 and S5), but instead, the traveling surface G on which the kick-type traveling vehicle 10 is traveling is inclined upward, horizontal, or downwardly inclined more gently than the predetermined inclination angle S. It is also possible to make it an essential condition for the control unit 22 to start the operation of the motor 21 that the inclination detection means 24 detects that the The tilt angle S is, for example, 10° or 5°.

In this case, when the motor 21 is operating, the control unit 22 determines that the traveling surface G on which the kick-type traveling vehicle 10 is traveling is inclined downward at an inclination angle S or more (an inclination angle S or steeper than an inclination angle S). Something is detected by the tilt detection means 24 and the motor 21 in operation is stopped.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and all modifications of conditions that do not deviate from the gist of the present invention are within the scope of the present invention.
For example, the kick-type running vehicle is not limited to a kick skater, and may be a skateboard or the like as long as the user kicks the running surface with his or her legs.
Moreover, when the passenger detection means is provided, the passenger detection means may be a sensor that detects that the steering wheel is gripped by the user.
Furthermore, it is also possible to use the rear wheels as driven wheels.

10: kick-type traveling vehicle, 11, 12: wheels, 13: handle, 14: deck, 15: column, 16: support member, 17, 18: fork, 19: brake member, 20: acceleration measuring means, 21: motor , 22: control unit, 23: boarding detection means, 24: tilt detection means, 25: secondary battery, 26: switch

Claims (7)

It has wheels and a deck on which a user rides , and a user who puts one leg on the deck kicks the running surface with the other leg that is not on the deck, and the wheel moves on the running surface with a propulsive force. In a kick-type traveling vehicle that rolls and travels,
an acceleration measuring means for measuring the acceleration of the kick-type traveling vehicle;
a drive source that operates to generate a rotational force that assists rolling of the wheel;
A control unit that controls the operation of the drive source,
The control unit sets the fact that the acceleration measured by the acceleration measuring means has reached a set value A or more as an essential condition for starting the operation of the drive source , and the negative acceleration measured by the acceleration measuring means is A kick-type traveling vehicle characterized by detecting that the absolute value exceeds a set value B and stopping the operation of the driving source in operation . 2. The kick-type traveling vehicle according to claim 1, further comprising boarding detection means for detecting whether or not a user has boarded the vehicle, wherein the controller detects that the user has boarded the vehicle. A kick-type traveling vehicle characterized in that being detected by means is also an essential condition for starting operation of the drive source. 3. The kick-type traveling vehicle according to claim 1, further comprising inclination detecting means for detecting an inclination of said traveling surface during traveling, wherein said control unit determines whether said traveling surface is inclined upward or horizontal during traveling. A kick-type traveling vehicle characterized in that it is also an essential condition for starting the operation of the drive source that the inclination detection means detects that 4. A kick-type traveling vehicle according to claim 3, wherein said controller stops said driving source in an operating state when said inclination detecting means detects that said traveling surface during traveling is downwardly inclined. A kick-type running vehicle. 3. The kick-type traveling vehicle according to claim 1, further comprising inclination detection means for detecting an inclination of said traveling surface during traveling, wherein said control unit detects that said traveling surface is inclined upward, horizontal, or predetermined. A kick-type traveling vehicle characterized in that the fact that the inclination detection means detects any downward inclination gentler than the inclination angle S is also an essential condition for starting the operation of the drive source. 6. The kick-type traveling vehicle according to claim 5, wherein the controller detects that the traveling surface during traveling has a downward inclination equal to or greater than the inclination angle S, and controls the driving source in operation. A kick-type traveling vehicle characterized by stopping the 7. The kick-type traveling vehicle according to claim 1, wherein the controller detects that the absolute value of the negative acceleration measured by the acceleration measuring means is greater than or equal to a set value B. , a kick-type traveling vehicle characterized by stopping the driving source in operation.

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