EP3205322A1 - Véhicule électrique - Google Patents

Véhicule électrique Download PDF

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Publication number
EP3205322A1
EP3205322A1 EP17156208.5A EP17156208A EP3205322A1 EP 3205322 A1 EP3205322 A1 EP 3205322A1 EP 17156208 A EP17156208 A EP 17156208A EP 3205322 A1 EP3205322 A1 EP 3205322A1
Authority
EP
European Patent Office
Prior art keywords
control unit
electric vehicle
rollator
assisted
user
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17156208.5A
Other languages
German (de)
English (en)
Other versions
EP3205322B1 (fr
Inventor
Hiroaki Hashimoto
Taishiro MISAO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nabtesco Corp
Original Assignee
Nabtesco Corp
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Filing date
Publication date
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Publication of EP3205322A1 publication Critical patent/EP3205322A1/fr
Application granted granted Critical
Publication of EP3205322B1 publication Critical patent/EP3205322B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/001—Appliances for aiding patients or disabled persons to walk about on steps or stairways
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5079—Velocity sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors

Definitions

  • the present invention relates to an electric vehicle configured to assist elderly people, disabled people, patients and others with a gait impairment in walking.
  • Patent Literature 1 disclosed a walking aid device which can be easily operated by a user to travel straight or turn.
  • the walking aid device (the electric vehicle) disclosed in Patent Literature 1 includes a frame body having a handle portion to be held by a user, more than one wheel provided on the right and left sides of the frame body, more than one driving motor that drives each wheel rotatably, and a controller that detects a counter electromotive force generated at the driving motor and then controls the driving motor based on the detected counter electromotive force.
  • Patent Literature 1 Japanese Patent Application Publication No. 2009-183407
  • a front wheel striking a low step can run onto the step with an assist force from the driving motor for normal traveling.
  • the front wheel cannot run onto a high step with only the assist force from the driving motor for normal traveling.
  • a user is required to apply a force downward to the handle of the walking aid device to lift the front wheel relative to the rear wheel such that the front wheel can run onto the step.
  • this operation causes a large load to users with a gait impairment.
  • One object of the present invention is to provide an electric vehicle in which a front wheel can run onto a step without need of an operation causing a large load to users.
  • An electric vehicle of the present invention comprises: a frame; at least one front wheel and at least one rear wheel provided on the frame; a drive unit configured to produce a driving force to lift the at least one front wheel relative to the at least one rear wheel; and a control unit connected to the drive unit and configured to control the drive unit, wherein when the control unit determines that the at least one front wheel has struck a step while a user is trying to move the electric vehicle forward, the control unit controls the drive unit to lift the at least one front wheel relative to the at least one rear wheel.
  • the control unit may determine that the at least one front wheel has struck a step while the user is trying to move the electric vehicle forward.
  • the control unit may determine that the at least one front wheel has struck a step while the user is trying to move the electric vehicle forward.
  • control unit may determine that the at least one front wheel has struck a step while the user is trying to move the electric vehicle forward.
  • the control unit may determine that the at least one front wheel has struck a step while the user is trying to move the electric vehicle forward.
  • the at least one rear wheel comprises left and right rear wheels, and when a deceleration of one of the left and right rear wheels is equal to or greater than a third threshold value, the control unit may determine that the at least one front wheel has struck a step while the user is trying to move the electric vehicle forward.
  • the control unit may determine that the at least one front wheel has struck a step while the user is trying to move the electric vehicle forward.
  • the control unit may determine that the at least one front wheel has struck a step while the user is trying to move the electric vehicle forward.
  • the control unit may determine that the at least one front wheel has struck a step while the user is trying to move the electric vehicle forward.
  • control unit when the control unit determines that the at least one front wheel has struck a wall surface, the control unit may determine that the at least one front wheel has not struck a step.
  • control unit may not determine whether or not the at least one front wheel has struck a step.
  • control unit when the electric vehicle is on an upslope, the control unit may not determine whether or not the at least one front wheel has struck a step.
  • control unit when the electric vehicle is on a slope inclined left or right with respect to a traveling direction, the control unit may not determine whether or not the at least one front wheel has struck a step.
  • control unit may not determine whether or not the at least one front wheel has struck a step.
  • control unit when the electric vehicle is traveling at a speed equal to or higher than a predetermined speed, the control unit may not determine whether or not the at least one front wheel has struck a step.
  • control unit when the electric vehicle is turning, the control unit may not determine whether or not the at least one front wheel has struck a step.
  • the at least one front wheel comprises left and right front wheels, or the at least one rear wheel comprises left and right rear wheels, and when a difference in traveling speed between the left and right front wheels or between the left and right rear wheels is larger than a predetermined value, the control unit may not determine whether or not the at least one front wheel has struck a step.
  • the control unit may determine that the at least one front wheel has struck a step.
  • control unit may determine via the operation unit that the user is trying to move the electric vehicle forward.
  • the operation unit includes a handle connected to the frame and configured to be gripped by the user, and when the user pushes the handle forward, the control unit may determine that the user is trying to move the electric vehicle forward.
  • the control unit may determine that the user is trying to move the electric vehicle forward.
  • the control unit may determine that the user is trying to move the electric vehicle forward.
  • the drive unit may drive the at least one rear wheel in a forward direction.
  • the drive unit may include a motor configured to drive the at least one rear wheel in a forward direction for traveling.
  • control unit may increase or reduce the driving force in accordance with a force of the user to push the handle.
  • control unit may gradually increase the driving force after determining that the at least one front wheel has struck a step while the user is trying to move the electric vehicle forward.
  • control unit may increase or reduce the driving force in accordance with an amount of time for which the user pushes the handle.
  • control unit may cause the at least one front wheel to be lifted relative to the at least one rear wheel, and then control the drive unit to cause the electric vehicle to move forward such that the at least one front wheel contacts with a top portion of the step.
  • control unit when the control unit has determined that the at least one front wheel has struck a step, the control unit may control the drive unit to cause the at least one front wheel to be lifted relative to the at least one rear wheel in accordance with the reduced force of the user to push the handle forward or the force of the user to pull the handle backward.
  • control unit may control the drive unit to cause the at least one front wheel to be lifted relative to the at least one rear wheel.
  • control unit may control the drive unit to cause the at least one front wheel to be lifted relative to the at least one rear wheel.
  • control unit may cause the at least one front wheel to be lifted relative to the at least one rear wheel, and then gradually reduce the driving force of the at least one rear wheel in the forward direction.
  • control unit when the at least one rear wheel rotates, the control unit may gradually reduce the driving force of the at least one rear wheel in the forward direction.
  • the control unit when the at least one rear wheel rotates, may reduce the driving force of the at least one rear wheel in the forward direction at a higher rate in accordance with the rotation speed thereof, or set the driving force of the at least one rear wheel in the forward direction at zero.
  • control unit may cause the at least one front wheel to be lifted relative to the at least one rear wheel, and then reduce the driving force of the at least one rear wheel in the forward direction at a higher rate in accordance with the inclination angle of the electric vehicle, or set the driving force of the at least one rear wheel in the forward direction at zero.
  • control unit may have an automatic brake function to automatically brake the at least one rear wheel when the electric vehicle is on a downslope, and the control unit may cancel the automatic brake function when it determines that the at least one front wheel have struck a step while the electric vehicle is on a downslope and the user is trying to move the electric vehicle forward.
  • An electric vehicle of the present invention comprises: a frame; at least one front wheel and at least one rear wheel provided on the frame; and a drive unit configured to drive the at least one rear wheel, wherein the drive unit is connected to the at least one rear wheel via a planetary gear mechanism, the planetary gear mechanism includes a sun gear, an internal tooth gear disposed around the sun gear, a plurality of planet gears meshing with the sun gear and the internal tooth gear and configured to rotate and revolve when an output shaft of the drive unit rotates, and a planet carrier that rotatably supports the plurality of planet gears and receives the revolution movement of the plurality of planet gears, the sun gear is connected to the output shaft of the drive unit, the internal tooth gear is connected to the at least one rear wheel, and the planet carrier is fixed on the frame.
  • the planetary gear mechanism includes a sun gear, an internal tooth gear disposed around the sun gear, a plurality of planet gears meshing with the sun gear and the internal tooth gear and configured to rotate and revolve when an output shaft of the drive unit rotates
  • the electric vehicle comprises: a frame; at least one front wheel and at least one rear wheel provided on the frame; a drive unit configured to produce a driving force to lift the at least one front wheel relative to the at least one rear wheel; and a control unit connected to the drive unit and configured to control the drive unit, and the method comprises: by means of the control unit, determining that the at least one front wheel has struck a step while the user is trying to move the electric vehicle forward; and by means of the control unit, controlling the drive unit to lift the at least one front wheel relative to the at least one rear wheel.
  • a front wheel can be lifted relative to a rear wheel and run onto a step without need of an operation causing a large load to users.
  • Figs. 1 and 2 show an electric rollator (hereunder referred to as a power-assisted rollator) as an example of an electric vehicle.
  • Fig. 1 is a schematic perspective view of an example of an external appearance of a power-assisted rollator 10 according to the first embodiment.
  • Fig. 2 is a side view of the power-assisted rollator 10 shown in Fig. 1 .
  • the power-assisted rollator 10 may include a frame 11, a pair of front wheels 12 and a pair of rear wheels 13 provided on the frame 11, and a pair of handles (operation units) 14 connected to the frame 11. Each of the handles 14 may be provided with a hand brake 15 for manually stopping the power-assisted rollator 10.
  • Each of the pair of rear wheels 13 may be provided with a motor 20 for assisting the movement of the corresponding rear wheel 13.
  • the control unit 16 may have a speed sensor 22.
  • the frame 11 may include a left-right pair of pipe frames 31, and a coupling frame 32 that couples the pair of pipe frames 31 together in a lateral direction.
  • Both of the pair of front wheels 12 may be configured to wheel in a front-rear direction and also rotate about vertical axes.
  • the rear wheels 13 may be configured to wheel in the front-rear direction. Accordingly, the power-assisted rollator 10 can be easily moved forward and backward, and moreover, can be easily operated in a left-right direction or easily turned around.
  • brake shoes 33 capable of mechanical contact.
  • the brake shoes 33 may be coupled to brake levers 34 of the hand brakes 15 with wires. Therefore, when the user manually operates the brake levers 34, the brake shoes 33 may operate to brake the rear wheels 13.
  • the mechanical brakes are not limited to above configuration, but any mechanical brakes can be used.
  • a fall prevention member 36 may be provided on the rear end of each of the left and right pipe frames 31.
  • the fall prevention member 36 is configured to prevent the power-assisted rollator 10 from being toppled in the rear direction when the pair of front wheel 12 is lifted off the ground.
  • a pair of handles 14 On the upper ends of the left and right pipe frames 31, there may be provided a pair of handles 14.
  • the pair of handles 14 may be gripped by the hands of the user.
  • Each of the pair of handles 14 may include a pole 41.
  • the poles 41 may each have a grip 42 provided thereon.
  • the poles 41 may each have a brake lever 34 provided thereon. It may also be possible to configure the handles 14 in a different manner.
  • a bar handle may be provided so as to extend horizontally and connect the left and right pipe frames 31, and the bar handle may be provided with grips 42 serving as the left and right handles 14.
  • the motors 20 may be any motors such as servomotors, stepper motors, AC motors, and DC motors. Moreover, a reducer can be integrated with the motors.
  • the motors 20 may assist the rear wheels 13 in operation by driving the rear wheels 13 forward for traveling. In the embodiment, the motors 20 may also serve as drive units for lifting the front wheels 12 relative to the rear wheels 13. The motors 20 may produce a driving force for applying a moment to the power-assisted rollator 10 in such a direction as to lift the front wheels 12.
  • the motors 20 may also function as dynamic brakes.
  • the motors 20 may further serve as brake units for braking the rear wheels 13.
  • the motors 20 may serve as power generators while braking the rear wheels 13 with resistance forces thereof.
  • the motors 20 may be used as reverse brakes in which the motors 20 drive reversely.
  • the brake units for braking the rear wheels 13 are provided separately from the motors 20.
  • Such brake units may be electromagnetic brakes, mechanical brakes, etc.
  • the left and right motors 20 may be controlled as one unit by the control unit 16, or the left and right motors 20 may be controlled independently from each other.
  • the motors 20 may be connected to the rear wheels 13, but it may also be possible that the motors 20 are connected to all of the pair of front wheels 12 and the pair of rear wheels 13.
  • the control unit 16 may control the entirety of the power-assisted rollator 10 including the motors 20.
  • the control unit 16 may be provided adjacent to the battery 21. The control by the control unit 16 will be described later.
  • the speed sensor 22 may sense the number of rotations or the speed of the rear wheels 13 and send signals representing the number of rotations or the speed to the control unit 16.
  • the speed sensor 22 may be disposed adjacent to the control unit 16. It may also be possible that the speed sensor 22 is installed in the pair of rear wheels 13 of the power-assisted rollator 10. Alternatively, it may also be possible that the speed sensor 22 is provided in only the pair of front wheels 12 or in all of the pair of front wheels 12 and the pair of rear wheels 13.
  • the speed sensor 22 may calculate the number of rotation or the speed of the wheels or the speed of the power-assisted rollator 10 using a hall element included in the motors 20.
  • the number of rotations or the speed of the wheels or the speed of the power-assisted rollator 10 may be calculated from the counter electromotive force.
  • the number of rotations or the speed of the wheels or the speed of the power-assisted rollator 10 may be calculated from the angular velocities.
  • the speed sensor 22 may be installed in any of the components such as the frame 11 and the pair of handles 14, in addition to the pair of the front wheels 12 and the pair of the rear wheels 13. If the speed sensor includes an acceleration sensor, the speed may be calculated by integrating acceleration components. If the speed sensor includes a global positioning system (GPS), the speed may be calculated by differentiating location information.
  • GPS global positioning system
  • the inclination sensor 23 may sense the inclination of the power-assisted rollator 10, or sense, for example, whether the power-assisted rollator 10 is on a flat surface or on an inclined surface, and may send to the control unit 16 a signal related to the inclination of the power-assisted rollator 10.
  • the inclination sensor 23 may be provided in the upper portion of the power-assisted rollator 10, for example, in the pair of handles 14. Alternatively the inclination sensor 23 may be provided in the lower portion of the power-assisted rollator 10. However, if the inclination sensor 23 is provided in the upper portion, it may be possible to sense the attitude of the power-assisted rollator 10 more accurately as compared to the case where the inclination sensor 23 is provided in the lower portion.
  • the inclination sensor 23 may be a gyro sensor.
  • the attitude of the power-assisted rollator 10 may be sensed by an acceleration sensor.
  • Fig. 3 is a schematic view of an example of the leg detection sensor 25.
  • the leg detection sensor 25 may be mounted on the coupling frame 32.
  • the leg detection sensor 25 may be an image sensor, an infrared sensor, or the like.
  • the leg detection sensor 25 can detect behavior of a user's leg by measuring a distance from a foot of the user of the power-assisted rollator 10.
  • the leg detection sensor 25 shown in Fig. 3 may determine whether the user's leg in the area AR is moving or stays still, or whether it is moving away or closer, or whether or not it is turned around since the user is about to sit on a seat 37.
  • Figs. 4 and 5 are schematic views of the grip sensor 24.
  • the grip sensor 24 for sensing the operation force (the grip force) of the user to manually push or pull the power-assisted rollator 10. Displacement of the grip sensors 24 in the pushing and/or pulling direction with respect to the poles 41 may be restricted by an elastic member such as a spring (not shown).
  • the grip sensor 24 may further include a potentiometer to detect the displacement.
  • the grips 42 may be movable in the front-rear direction with respect to the poles 41.
  • the grips When the grips are moved in the direction of the arrows in Figs. 4 and 5 (the frontward direction), it may be determined that the power-assisted rollator 10 is pushed by the user.
  • the grips When the grips are moved in the direction opposite to the direction of the arrows in Figs. 4 and 5 (the rearward direction), it may be determined that the power-assisted rollator 10 is pulled by the user.
  • the grips are not moved, it may be determined that the rollator is neither pushed nor pulled.
  • Each of the left and right handles 14 may have a separate grip sensor 24.
  • the grip sensors 24 may sense an operation force (a grip force) applied to the handles 14 independently from each other and send a signal of the sensed operation force to the control unit 16. Thus, it can be recognized whether the user grips only one of the pair of handles 14 (the one-hand gripping state), grips none of the pair of handles 14 (the non-hand gripping state), or grips both the pair of the handles 14 (the two-hand gripping state).
  • strain sensors 38 may be provided on the grips 42 to sense the moments applied to the grips 42 or the pair of pipe frames 31, and the strain sensors 38 may serve as the grip sensors 24.
  • the grips 42 may be fixed on the poles 41 so that the structure may be simple.
  • a joy stick, a push button, or a proximity sensor for sensing a hand of the user may be provided on the grips 42 and these may be used as the grip sensors 24.
  • the determination whether the user is trying to move the electric vehicle forward via the operation unit may be achieved by sensing the operation force of the user applied to the operation unit when the user pushes or pulls the operation unit by hand or other part of his/her body, or by sensing the intention of the user by means of a switch means such as a joystick or a push button.
  • FIG. 6 is a flowchart of one example of the operation of the control unit 16.
  • the control unit 16 may determine whether the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. More specifically, the control unit 16 may determine whether the left and right handles 14 are pushed with more than a predetermined amount of force for more than a predetermined amount of time (e.g., one second or more), based on the signals from the grip sensors 24 provided on both the left and right handles 14 (step S1).
  • a predetermined amount of force e.g., one second or more
  • control unit 16 uses the rate of change of the operation force (the absolute value) in addition to the value of the operation force (the absolute value) so as to determine whether the handles 14 are pushed by the hands of the user with more than a predetermined amount of force. This may enable more accurately determining whether the handles 14 are pushed by the hands of the user with more than a predetermined amount of force.
  • the control unit 16 may determine that the handles 14 are not pushed by the hands of the user with more than a predetermined amount of force, and otherwise, the control unit 16 may determine that the handles 14 are pushed by the hands of the user with more than a predetermined amount of force. Further, when the operation force and the rate of change of the operation force reside within an oval region internally touching a rectangular numerical region defined by the predetermined values, the control unit 16 may determine that the handles 14 are not gripped by the user. This may enable further accurate determination.
  • control unit 16 may determine that the user is not trying to move the power-assisted rollator 10 forward and may not proceed to the following control operation. In this case, the control unit 16 may use the motors 20 as dynamic brakes and thereby brake the rear wheels 13.
  • step S1 when the pair of handles 14 are pushed with more than a predetermined amount of force for more than a predetermined amount of time ("YES" in step S1), the control unit 16 may determine that the user is trying to move the power-assisted rollator 10 forward. Then, the control unit 16 may determine whether the front wheels 12 have struck a step (step S2).
  • the speed sensor 22 may sense the number of rotations or the speed of the rear wheels 13 and send signals representing the number of rotations or the speed to the control unit 16.
  • the control unit 16 may calculate the speed of the rear wheels 13 based on the received signals and compare the calculated speed with a predetermined speed V.
  • control unit 16 may determine that the power-assisted rollator 10 is moving in a normal state and continue to assist the movement of the rear wheels 13 by the motors 20.
  • the control unit 16 may determine that the front wheels 12 have struck a step. In this case, the control unit 16 may control the motor 20 so as to increase or reduce the driving force of the motor 20 gradually in accordance with, e.g., the force to push the handles 14 (the operation force applied to the handles 14).
  • the driving force in the forward direction of the rear wheels 13 may produce a moment on the power-assisted rollator 10 in the direction to raise the front wheels 12 so as to lift the front wheels 12.
  • the control unit 16 may use the time and force to push the handle 14, as described above, so as to accurately determine that the user is trying to move forward and avoid making a determination inconsistent with the intention of the user. Therefore, the user may feel more safety in using the power-assisted rollator 10. It may also be possible that the above determination is based only on the force to push the handles 14. For example, when the handles 14 are pushed with more than a predetermined amount of force, it may be determined that the user is trying to move the power-assisted rollator 10 forward, In this case, the control unit 16 can determine quickly that the user is trying to move forward, and the user may not need to reduce the walking speed significantly to lift the front wheels 12.
  • control unit 16 may use the acceleration of the rear wheels 13, in addition to the speed of the rear wheels 13, to determine whether the front wheels 12 have struck a step. This may enable more accurately determining whether the power-assisted rollator 10 is moving. For example, it may also be possible that, when the speed of the rear wheels 13 is equal to or lower than the predetermined speed V and the acceleration of the rear wheels 13 is equal to or lower than a predetermined acceleration, the control unit 16 determines that the power-assisted rollator 10 has struck a step, and in other cases, the control unit 16 determines that the power-assisted rollator 10 has not struck a step.
  • the control unit 16 determines that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. That is, when the speed of the rear wheels 13 is approximately zero and the deceleration of the rear wheels 13 is equal to or greater than a predetermined value, it seems that the front wheels 12 have struck a step and are stopped suddenly.
  • a deceleration is a negative acceleration that has a positive value when the power-assisted rollator 10 is decelerated and has a negative value when the power-assisted rollator 10 is accelerated.
  • the control unit 16 determines that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. This may enable accurately determining whether the power-assisted rollator 10 is moving. As described above, it can be determined based on the signals from the grip sensors 24 whether the pair of handles 14 are pushed with more than a predetermined amount of force for more than a predetermined amount of time.
  • the driving force of the rear wheels 13 described above may cause the front wheels 12 to be lifted and run onto the step.
  • the user may then reduce the force to push the handles 14.
  • the moment applied to the power-assisted rollator 10 in the direction to press down the front wheels 12 (the moment opposed to lifting of the front wheels 12) may be reduced.
  • the control unit 16 may maintain the driving force of the rear wheels 13 in the forward direction for a period of time to drive the rear wheels 13 forward (see Fig. 7 ). Consequently, the moment in the direction to raise the front wheels 12 may be increased and act to lift the front wheels 12.
  • the user may then pull the handles 14 backward.
  • the force to pull the handles 14 backward may produce a moment in the direction to raise the front wheels 12, and the produced moment may act to lift the front wheels 12 in cooperation with the driving force of the rear wheels 13.
  • the operation of the handles 14 by the user may produce a moment on the power-assisted rollator 10 in the direction to raise the front wheels 12 (see the arrow M in Fig. 2 ), thereby ensuring that the front wheels 12 are lifted (the power-assisted rollator 10 is put into wheelle).
  • the user treads a pedal (not shown) fixed behind the rotation axis of the rear wheels 13, instead of pulling the handles 14 backward, so as to raise the front wheels 12.
  • the control unit 16 may gradually reduce the driving force of the rear wheels 13 in the forward direction at a first reduction rate.
  • the reduction of the driving force may be started at the timing when the conditions for the control unit 16 to control the drive units to lift the front wheels 12 (the conditions to determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward) become unsatisfied.
  • the reduction of the driving force may be started at the timing when the handles 14 are no longer pushed with more than a predetermined amount of force (when the user reduces the force to push the handles 14 or pulls the handles 14 backward), or when the rear wheels 13 rotates forward at a speed higher than the predetermined speed.
  • the user may then push the pair of handles 14 while the front wheels 12 are lifted relative to the rear wheels 13.
  • the user can move the power-assisted rollator 10 forward, and the front wheels 12 can run over the step.
  • the control unit 16 may determine that the front wheels 12 have run over the step and restrain the power-assisted rollator 10 from being accelerated further. In this case, the control unit 16 may control the motors 20 such that the driving force of the rear wheels 13 by the motors 20 is reduced at a higher rate.
  • the reduction rate of the driving force of the rear wheels 13 in the forward direction may be set at a second reduction rate that may be higher than the first reduction rate described above (see the two-dot chain line in Fig. 7 ). It may also be possible that the control unit 16 may set the driving force of the rear wheels 13 in the forward direction at zero.
  • the condition to determine that the user is trying to move the electric vehicle forward may not be limited to the above but may include one or more elements selected from, e.g., (i) the amount of rotation of the front wheels 12 or the rear wheels 13, (ii) the output from a strain gauge provided on the power-assisted rollator 10, (iii) the air pressure of the tires of the front wheels 12 or the rear wheels 13, (iv) the acceleration of the power-assisted rollator 10 in the front-rear direction, (v) the output from a pressure sensor provided on the handle 14 or the like, (vi) the output from an electromyography sensor provided on the handles 14 or the like, and (vii) the movement of the feet of the user.
  • control unit 16 may control the motors 20 such that the front wheels 12 are lifted relative to the rear wheels 13.
  • the front wheels 12 can readily run over the step without need of an operation causing a large load to users.
  • the control unit 16 may determine that the front wheels 12 have struck the step. Thus, the control unit 16 can properly determine that the front wheels 12 have struck the step.
  • the existing speed sensor 22 can be used to sense that the front wheels 12 have struck the step.
  • control unit 16 may determine via the handles 14 (the operation units) that the user is trying to move the power-assisted rollator 10 forward. Thus, when the user ordinarily operates the handles 14 as usual, the control unit 16 can properly determine that the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 may determine that the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 can properly determine that the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 may determine that the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 can quickly determine that the user is trying to move the power-assisted rollator forward, and the user may not need to reduce the walking speed significantly to lift the front wheels 12.
  • the existing grip sensors 24 can be used to sense that the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 may determine that the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 can accurately determine that the user is trying to move the power-assisted rollator 10 forward and avoid making a determination inconsistent with the intention of the user.
  • the motors 20 may drive the rear wheels 13 in the forward direction to lift the front wheels 12 relative to the rear wheels 13, and therefore, the front wheels 12 can be smoothly raised using the rear wheels 13 without need of using another raising means or the like.
  • the motors 20 may drive the rear wheels 13 in the forward direction for traveling to lift the front wheels 12 relative to the rear wheels 13, and therefore, the front wheels 12 can be smoothly raised using the motors 20 for traveling of the rear wheels 13.
  • control unit 16 may increase or reduce the driving force in accordance with the force of the user to push the handles 14, and therefore, the driving force can be obtained properly from the motors 20 in accordance with the operation force applied to the handles 14 and thus in accordance with the intention of the user.
  • control unit 16 may increase or reduce the driving force in accordance with the amount of time for which the user pushes the handles 14, and thus the driving force from the motors 20 may be increased or reduced gradually while the user pushes the handles 14. Therefore, the driving force can be obtained properly in accordance with the height of the step (a small driving force may be produced for a low step, and a large driving force for a high step).
  • control unit 16 may cause the front wheels 12 to be lifted relative to the rear wheels 13, and then control the motors 20 to cause the power-assisted rollator 10 to move forward such that the front wheels 12 contact with the top portion of the step. Therefore, the front wheels 12 can smoothly run onto the step.
  • control unit 16 may control the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13 in accordance with the reduced force of the user to push the handles 14 forward or the force of the user to pull the handles 14 backward. Therefore, it can be ensured using the operation force on the handles and the driving force from the motors 20 that the front wheels 12 are lifted.
  • control unit 16 may cause the front wheels 12 to be lifted relative to the rear wheels 13, and then gradually reduce the driving force of the rear wheels 13 in the forward direction. Thus, it is possible to prevent sudden acceleration immediately after the raised front wheels 12 contacts with the ground again.
  • control unit 16 when the rear wheels 13 rotate, the control unit 16 may gradually reduce the driving force of the rear wheels 13 in the forward direction. Thus, when the rear wheels 13 starts to rotate, the control unit 16 can determine that the front wheels 12 have been raised.
  • the control unit 16 may reduce the driving force of the rear wheels 13 in the forward direction at a higher rate in accordance with the rotation speed thereof, or set the driving force of the rear wheels 13 in the forward direction at zero.
  • the control unit 16 may reduce the driving force of the rear wheels 13 significantly so as to prevent sudden acceleration of the power-assisted rollator 10 or idling of the rear wheels 13.
  • control unit 16 may cause the front wheels 12 to be lifted relative to the rear wheels 13, and then reduce the driving force of the rear wheels 13 in the forward direction at a higher rate in accordance with the inclination angle of the power-assisted rollator 10, or set the driving force of the rear wheels 13 in the forward direction at zero.
  • the control unit 16 may prevent the power-assisted rollator 10 from failing backward when it is inclined at an angle larger than an allowable angle.
  • the control unit 16 from driving the motors 20 independently of the intention of the user when the power-assisted rollator 10 is inclined backward and thus the hands of the user gripping the handles 14 pushes the handles 14 forward.
  • control unit 16 to control the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13.
  • control unit 16 may automatically determine that the front wheels 12 have struck a step. Alternatively, it may also be possible that the control unit 16 causes the front wheels 12 to be lifted relative to the rear wheels 13 in accordance with a predetermined operation by the user, irrespective of whether the front wheels have struck the step.
  • the control unit 16 may recognize by a sensor (not shown) that the brake levers 34 are operated and recognize that the handles 14 are pulled backward, based on the signals from the grip sensors 24.
  • the control unit 16 may then increase the output of the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13 (the power-assisted rollator 10 is put into wheelie).
  • the user may then push the pair of handles 14 while the front wheels 12 are lifted relative to the rear wheels 13.
  • the user can move the power-assisted rollator 10 forward, and the front wheels 12 can run over the step.
  • the user continues to operate the brake levers 34 manually. After the front wheels 12 have run over the step, the user may take his/her hands away from the brake levers 34.
  • the control unit 16 can accurately recognize whether the user is trying to cause the power-assisted rollator 10 to run over a step or trying to pull the power-assisted rollator 10 backward.
  • the method for the control unit 16 to recognize whether the user is trying to cause the front wheels 12 to be lifted may not be limited to use of the brake levers 34 by the user and may employ other approaches.
  • the control unit 16 may control the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13.
  • the front wheels 12 can be lifted relative to the rear wheels 13 as necessary, even when the front wheels 12 have not struck the step.
  • the front wheels 12 can be lifted by the operation of the brake levers 34, there is no need of additionally providing a dedicated operation means, and the front wheels 12 can be raised smoothly by using the brake levers 34.
  • the power-assisted rollator 10 in this variation may be provided with a function to automatically brake the rear wheels 13 such that the power-assisted rollator 10 is not accelerated too much on a downslope (an automatic brake function).
  • the front wheels 12 may strike a step while the power-assisted rollator 10 is traveling on a downslope.
  • control unit 16 may cancel the automatic brake function when it determines that the front wheels 12 have struck a step while the power-assisted rollator 10 is on a downslope and the user is trying to move the power-assisted rollator 10 forward. As in the embodiment described above, the control unit 16 may then increase the output of the motors 20 thereby to increase the driving force of the rear wheels 13 in the forward direction. The control unit 16 may determine whether the power-assisted rollator 10 is on a downslope based on the signals from the inclination sensor 23.
  • the second embodiment shown in Figs. 8 to 14 may have different features related to the rear wheels 13 and the motors 20. In other respects, this embodiment may be configured in substantially the same way as the first embodiment.
  • Figs. 8 to 14 the same elements as in the first embodiment are denoted by the same reference numerals and detailed descriptions thereof will be omitted.
  • the motors 20 of the power-assisted rollator 10 may be connected to the rear wheels 13 via associated planetary gear mechanisms 50.
  • each of the motors 20 may include a housing 61 fixed on the pipe frame 31, an output shaft support 62 housed in the housing 61 and rotatable on the housing 61, and an output shaft 63 fixed on the output shaft support 62 and configured to rotate integrally with the output shaft support 62.
  • a flange 64 may be fixed on the housing 61, and the output shaft 63 may be projected from a middle portion of the housing 61.
  • a bearing 65 Between the housing 61 and the output shaft support 62, there may be interposed a bearing 65.
  • a magnet 66 On the outer periphery of the output shaft support 62.
  • a coil 67 may be disposed around the magnet 66, and the coil 67 may be fixed on the housing 61.
  • the coil 67 may be fed with electric power from the battery 21 and may cause rotation of the output shaft support 62 having the magnet 66 provided thereon.
  • a cap 68 may be provided in the middle portion of the housing 61.
  • a rear wheel 13 may include a wheel 71, a tire 72 provided on the outer periphery of the wheel 71, and a wheel retainer 73 connected to the wheel 71.
  • the wheel 71 may be fixed on a bearing 75 provided around the flange 64 via a retainer plate 74.
  • the planetary gear mechanism 50 may include a sun gear 51, an internal tooth gear 52 disposed around the sun gear 51, three planet gears 53 meshing with the sun gear 51 and the internal tooth gear 52 and configured to rotate and revolve when the output shaft 63 rotates, and a planet carrier 54 that rotatably supports the three planet gears 53 and receives the revolution movement of the planet gears 53.
  • the sun gear 51 may be connected to the output shaft 63 of the motor 20 and may be rotatable in accordance with the rotation of the output shaft 63.
  • the internal tooth gear 52 may be connected to the wheel 71 of the rear wheel 13.
  • the planet carrier 54 may be connected to the flange 64 of the motor 20 and may be fixed on the pipe frame 31 via the flange 64 and the housing 61.
  • the following is the action of controlling the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13 (the power-assisted rollator 10 is put into wheelie) in the embodiment.
  • the power-assisted rollator 10 is moving normally with the front wheels 12 thereof not striking a step.
  • the assist force from the output shaft 63 of the motor 20 may be transmitted from the sun gear 51 connected to the output shaft 63 of the motor 20 to the internal tooth gear 52 via the planet gears 53, and then transmitted to the rear wheel 13 connected to the internal tooth gear 52.
  • the motor 20 may assist the movement of the reel wheel 13.
  • the pipe frame 31 connected to the planet carrier 54 may not rotate.
  • the front wheels 12 of the power-assisted rollator 10 strike a step
  • the front wheels 12 may be locked and the rear wheels 13 may also stop rotating.
  • the internal tooth gear 52 of the planetary gear mechanism 50 connected to the rear wheel 13 may also be locked.
  • the rotational force from the output shaft 63 of the motor 20 may be transmitted to the sun gear 51 connected to the output shaft 63.
  • This rotational force may be transmitted from the sun gear 51 to the planet carrier 54 via the planet gears 53 and may act on the pipe frame 31 connected to the planet carrier 54 in the direction of the arrow M (see Fig. 9 ) (in the direction opposite to the traveling direction of the power-assisted rollator 10).
  • the control unit 16 may control the motors 20, so as to rotate the entirety of the power-assisted rollator 10 and lift the front wheels 12 relative to the rear wheels 13.
  • the control unit 16 may increase the output of the motor 20 in accordance with the operation force (the grip force) applied to the handles 14. More specifically, when the motors 20 are controlled such that the output of the motor 20 is larger for the same operation force than in the normal state (that is, the proportional factor of the motor output for multiplication of the operation force is larger), the front wheels 12 can be lifted relative to the rear wheels 13.
  • the motors 20 may be connected to the rear wheels 13 via the planetary gear mechanisms 50.
  • the front wheels 12 of the power-assisted rollator 10 strike a step, the front wheels 12 can be lifted relative to the rear wheels 13 using the planetary gear mechanisms 50. That is, the control unit 16 can cause the front wheels 12 to be lifted relative to the rear wheels 13 (the power-assisted rollator 10 is put into wheelie) by the driving force of the motors 20 and the reaction of the planetary gear mechanisms 50.
  • the planetary gear mechanism 50 may include a sun gear 51 connected to the output shaft of the motor 20, an internal tooth gear 52 disposed around the sun gear 51, planet gears 53 meshing with the sun gear 51 and the internal tooth gear 52 and configured to rotate and revolve when the output shaft 63 rotates, and a planet carrier 54 that rotatably supports the planet gears 53 and receives the revolution movement of the planet gears 53.
  • the internal tooth gear 52 may be connected to the rear wheels 13, and the planet carrier 54 may be fixed on the pipe frame 31.
  • control unit 16 may cause the front wheels 12 to be lifted relative to the rear wheels 13 using the planetary gear mechanisms 50. It may also be possible to replace the planetary gear mechanisms 50 with eccentric reducers or other mechanisms including gears that rotate and revolve.
  • the planetary gear mechanism 50 may be replaced with a mechanism including two gears. More specifically, as shown in Figs. 13 and 14 , a first gear 57 may be directly connected to the motor 20, a second gear 58 may be directly connected to the rear wheel 13, and the first gear 57 and the second gear 58 may mesh with each other. As shown in Fig. 13 , in normal traveling, the power-assisted rollator 10 may travel with the motor 20 assisting the rear wheel 13 in moving. On the other hand, as shown in Fig. 14 , when the front wheel 12 strikes a step and the front wheel 12 is locked, the rear wheel 13 may be also locked. When the motor 20 further rotates, a force may be generated so as to lift the entirety of the power-assisted rollator 10. At this time, a force may act to rotate in the direction opposite to traveling of the power-assisted rollator 10. Thus, the front wheels 12 of the power-assisted rollator 10 can readily run over the step.
  • the third embodiment shown in Figs. 15a , 15b , 16a , and 16b may be different from the first embodiment in that the drive units for generating a driving force for lifting the front wheels 12 may be separate from the motors 20. In other respects, this embodiment may be configured in substantially the same way as the first embodiment.
  • Figs. 15a , 15b , 16a , and 16b the same elements as in the first embodiment are denoted by the same reference numerals and detailed descriptions thereof will be omitted.
  • the drive units for generating a driving force for lifting the front wheels 12 may be constituted by additional motors 46 separate from the motors 20.
  • the rotation axis of the additional motors 46 may be either the same as the rotation axis of the rear wheels 13 ( Fig. 15a ) or different from the rotation axis of the rear wheels 13 ( Fig. 15b ).
  • the drive units for generating a driving force for lifting the front wheels 12 may be constituted by actuators 47 separate from the motors 20.
  • the actuators 47 may be connected to the frame 11.
  • the actuator 47 may be either an expanding actuator or a rocking actuator.
  • An expanding actuator may expand and contract to lift the front wheels 12 relative to the rear wheels 13 ( Fig. 16a ), while the rocking actuator may rock to lift the front wheels 12 relative to the rear wheels 13 ( Fig. 16b ).
  • the motors 20 may not be necessarily provided.
  • Fig. 17 is a schematic perspective view of an example of an external appearance of a power-assisted rollator (an electric vehicle) 10 according to the embodiment.
  • the power-assisted rollator 10 may include a frame 11, a pair of front wheels 12 and a pair of rear wheels 13 provided on the frame 11, and a pair of handles 14 connected to the frame 11.
  • Each of the pair of rear wheels 13 may be provided with a motor 20 for assisting the movement of the rear wheel 13.
  • a battery 21 On the frame 11, there may be mounted a control unit 16.
  • the control unit 16 may have an inclination sensor 23.
  • a pair of handles 14 to be operated by a user.
  • the pair of handles 14 may be connected to each other via a bar handle 17 extending horizontally.
  • the pair of handles 14 and the bar handle 17 may constitute a substantial U-shape.
  • the pair of handles 14 may further be provided with an arm support 27 that supports elbows of the user.
  • the arm support 27 may have openings in which the pair of handles 27 are inserted respectively for mounting.
  • a seat 37 on which the user can sit as necessary.
  • the battery 21 may supply power to elements of the power-assisted rollator 10 such as the motors 20 and the control unit 16.
  • the battery 21 may be provided below the seat 37 positioned between the pair of pipe frames 31.
  • Each of the pair of rear wheels 13 may be provided with a speed sensor (sensing unit) 22.
  • the speed sensor 22 may also be installed in any of the components such as the frame 11 and the pair of handles 14, instead of the pair of front wheels 12 and/or the pair of rear wheels 13. Alternatively, it may be possible that the speed sensor 22 is disposed adjacent to the control unit 16.
  • the traveling speed of the power-assisted rollator 10 may be determined based on the rotation speed of the rear wheels 13, but this is not limitative. It may also be possible to determine the traveling speed based on the rotation speed of the front wheels 12 or both the rotation speeds of the front wheels 12 and the rear wheels 13.
  • the sensing unit is constituted by an acceleration sensor.
  • the acceleration sensor may directly sense the acceleration of the power-assisted rollator 10 and send the signals of the acceleration to the control unit 16, instead of using the rotational acceleration of the rear wheels 13.
  • the control unit 16 may be configured to calculate the speed by integrating the acceleration.
  • the sensing unit is constituted by a global positioning system (GPS) device.
  • GPS global positioning system
  • the GPS device may detect the position of the power-assisted rollator 10, instead of using the rotational acceleration of the rear wheels 13.
  • the control unit 16 may be configured to differentiate the positional information from the GPS device to calculate the speed of the power-assisted rollator 10, and differentiate the positional information from the GPS device twice to calculate the acceleration.
  • the inclination sensor 23 may be constituted by an acceleration sensor having two or more axes.
  • the inclination sensor 23 may be disposed adjacent to the control unit 16.
  • the inclination sensor 23 is provided in the upper portion of the power-assisted rollator 10.
  • the inclination sensor 23 is constituted by a gyro sensor, instead of the acceleration sensor, for sensing the attitude of the power-assisted rollator 10.
  • the power-assisted rollator 10 may have no grip sensor, strain sensor, proximity sensor, or pressure sensor that may directly sense whether or not the user grips the pair of handles 14. However, this is not limitative. In the embodiment, it may be possible that the power-assisted rollator 10 includes grip sensors 24 on the handles as in the first embodiment ( Figs. 1 and 2 ).
  • Fig. 18 is a flowchart of one example of the operation of the control unit 16.
  • the control unit 16 may determine whether the control on the power-assisted rollator 10 enters a step mode (step S11 in Fig. 18 ).
  • a step mode may constitute a basis for the control unit 16 to determine whether or not the front wheels 12 have struck a step.
  • the control unit 16 may not determine whether or not the front wheels 12 have struck a step, in order to increase the safety and prevent erroneous determination. Therefore, in any modes other than the step mode, the control unit 1 may not cause the front wheels 12 to be lifted relative to the rear wheels 13.
  • the control unit 16 may determine whether to enter the step mode in consideration of the conditions (A-1) to (A-7) below. When any one of the conditions (A-1) to (A-7) below is satisfied, the control unit 16 may not enter the step mode. Alternatively, it may be possible that when two or more of the conditions (A-1) to (A-7) below are satisfied, the control unit 16 does not enter the step mode.
  • control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step).
  • the control unit 16 may erroneously determine that the front wheels 12 have struck a step. Therefore, when the fall prevention brake is applied, the control unit 16 may preferably not enter the step mode.
  • the control unit 16 may erroneously determine that the user has taken away his/her hands from the handles 14 and control the motors 20 to suddenly stop the power-assisted rollator 10. In such a case, the control unit 16 may preferably not enter the step mode, so as to avoid erroneously determining that the front wheels 12 have struck a step.
  • the control unit 16 may preferably not enter the step mode, so as to avoid erroneously determining that the front wheels 12 have struck a step.
  • control unit 16 may not enter the step mode, so as to avoid erroneously determining that the front wheels 12 have struck a step.
  • control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step). The control unit 16 may determine whether the power-assisted rollator 10 is on an upslope based on the signals from the inclination sensor 23.
  • the step is positioned near the feet of the user. Therefore, it may be dangerous that the power-assisted rollator 10 enters the step mode and accelerates,
  • the motors 20 may preferably not increase its output for assistance. Further, it may be preferable in terms of safety that the power-assisted rollator 10 is not capable of moving upstairs.
  • the control unit 16 may preferably not enter the step mode when the sensed inclination reaches or exceeds such a level that the front wheels 12 are presumed to have run onto the step.
  • control unit 16 may not enter the step mode, so as to increase the safety.
  • control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step).
  • the control unit 16 may preferably not enter the step mode.
  • control unit 16 may not enter the step mode, so as to increase the safety.
  • the control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step) during a predetermined period of time after the power-assisted rollator 10 has run over a step.
  • the control unit 16 may not enter the step mode when the rear wheels 13 run over a step or the front wheels 12 have struck a stair. Therefore, the power-assisted rollator 10 may not run over two or more steps successively. In addition, it may be dangerous that when the power-assisted rollator 10 fails to run over a step, an impact occurs and causes the power-assisted rollator 10 to enter the step mode again and make oscillation. Therefore, after the power-assisted rollator 10 runs over a step, it may preferably not enter the step mode again during a predetermined period of time.
  • control unit 16 may not enter the step mode during a predetermined period of time after the power-assisted rollator 10 have run over a step, so as to increase the safety.
  • control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step).
  • the control unit 16 may preferably not enter the step mode.
  • control unit 16 may not enter the step mode, so as to increase the safety.
  • control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step).
  • the front wheel 12 may preferably run over the step.
  • the control unit 16 determines that the power-assisted rollator 10 is turning and does not enter the step mode.
  • control unit 16 may not enter the step mode, so as to avoid erroneously determining that the front wheel 12 has struck a step.
  • control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step).
  • the motor may be in an assistance state when the handles 14 are pushed. If one of the rear wheels 13 is lifted and rotated idly, a difference in traveling speed may be produced between the left and right front wheels 12 or between the left and right rear wheels 13. Therefore, it may be preferable that when the difference in traveling speed between the left and right front wheels 12 or between the left and right rear wheels 13 is larger than a predetermined value, the control unit 16 determines that one of the front wheels 12 or the rear wheels 13 is rotated idly and does not enter the step mode.
  • control unit 16 may not enter the step mode, so as to avoid erroneously determining that the front wheels 12 have struck a step when one of the front wheels 12 or the rear wheels 13 is rotated idly.
  • the control unit 16 may enter the step mode when none of the Conditions (A-1) to (A-7) described above is satisfied. Next, the control unit 16 may determine whether the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward (step S12 in Fig. 18 ).
  • the control unit 16 may consider Conditions (B-1) to (B-9) below. For example, when all of the Conditions (B-1) to (B-9) below are satisfied, the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Alternatively, it may also be possible that when at least one (a part) of Conditions (B-1) to (B-9) below is satisfied, the control unit 16 may determine that the front wheels 12 have struck a step.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
  • the power-assisted rollator 10 may be stopped suddenly, and a deceleration (a negative acceleration) may occur to the rear wheels 13. Sensing the deceleration of the rear wheels 13 may make it possible to determine that the front wheels 12 have struck the step.
  • the threshold value (the first threshold value) of the deceleration of the rear wheels 13 may preferably be set at such a value that the control unit 16 does not erroneously determine that the front wheels 12 have struck a step when the power-assisted rollator 10 is stopped suddenly by the user's force.
  • the deceleration of the rear wheels 13 may be either determined based on the number of rotations of the rear wheels 13 or determined using the acceleration sensors attached to the left and right rear wheels 13.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. In this manner, the control unit 16 can simply determine that the front wheels have struck a step without use of grip sensors 24, for example.
  • Condition (B-1) When Condition (B-1) is satisfied, and after the deceleration of the rear wheels 13 has become equal to or greater than the threshold value (the first threshold value) (the deceleration has occurred), the rotation speed of the rear wheels 13 is equal to or greater than a negative threshold value (the power-assisted rollator 10 is not moving backward), the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 may determine whether the front wheels 12 have struck a step based only on the deceleration of the rear wheels 13. Therefore, there may be possibility that the control unit 16 erroneously determines that the front wheels 12 have struck a step when the user pulls the handles 14 backward.
  • the control unit 16 may additionally examine the condition that after the deceleration of the rear wheels 13 has become equal to or greater than the threshold value (the first threshold value), the rotation speed of the rear wheels 13 is equal to or greater than the negative threshold value, so as to avoid erroneously determining that the front wheels 12 have struck a step when the user pulls the handles 14 backward.
  • the negative threshold value may preferably be approximately zero.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Thus, the control unit 16 can more accurately determine that the front wheels 12 have struck the step.
  • Condition (B-2) When Condition (B-2) is satisfied, and before the deceleration of the rear wheels 13 becomes equal to or greater than the threshold value (the first threshold value) (the deceleration occurs), the rotation speed of the rear wheels 13 was positive (the power-assisted rollator 10 was moving forward), the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 may determine that the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Thus, the control unit 16 can more accurately determine that the user was trying to move the power-assisted rollator forward when the front wheels 12 struck the step.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
  • the speed of the rear wheels 13 may become approximately zero.
  • the speed calculated with the hall element may not immediately become zero when the actual speed of the rear wheels 13 is zero. Therefore, when the rotation speed of the rear wheels 13 is equal to or less than the positive threshold value (the second threshold value), the control unit 16 may determine that the front wheels 12 have struck a step, thereby to increase the accuracy in determining that the front wheels 12 have struck a step.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Thus, the control unit 16 can more accurately determine that the front wheels 12 have struck the step.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
  • both left and right front wheels 12 strike a step
  • a large deceleration may occur to both the left and right rear wheels 13.
  • the power-assisted rollator 10 approaches a step in a slightly slanted position in a plan view
  • a large deceleration may occur to the rear wheel 13 on the same side as the front wheel 12 striking the step, whereas the front wheel 12 that did not strike the step can move further, and therefore, a smaller deceleration may tend to occur to the rear wheel 13 on the same side as the front wheel 12 that did not strike the step.
  • the control unit 16 may determine that the front wheel has struck the step.
  • the deceleration of the rear wheels 13 may be calculated with a component in the front-rear direction sensed by the acceleration sensors mounted on the left and right rear wheels 13, instead of the number of rotations of the rear wheels 13.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 can accurately determine that the front wheels 12 have struck the step.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 may examine the condition that the deceleration of the rear wheel 13 on the other side is equal to or greater than the threshold value (the fourth threshold value), so as to avoid erroneously determining that one of the front wheel 12 has struck a step when the power-assisted rollator 10 turns lightly. It may also be possible that the deceleration of the rear wheels 13 may be calculated with a component in the front-rear direction sensed by the acceleration sensors mounted on the left and right rear wheels 13, instead of the number of rotations of the rear wheels 13.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Thus, the control unit 16 may avoid erroneously determining that one of the front wheel 12 has struck a step when the power-assisted rollator 10 turns lightly.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
  • control unit 16 may examine the condition that both the decelerations of the left and right rear wheels 13 have exceeded the moderate threshold value (the fifth threshold value).
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 can determine accurately when the left and right rear wheels 12 strike a step almost at the same time
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
  • the control unit 16 may examine the condition that the grip force applied to the same side as a larger deceleration is sensed is equal to or greater than the threshold value, so as to determine that one of the front wheel 12 has struck the step.
  • the control unit 16 can refrain from causing the front wheels 12 to be lifted relative to the rear wheels 13.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Thus, when there is no need to lift the front wheels 12, the control unit 16 can refrain from causing the front wheels 12 to be lifted relative to the rear wheels 13.
  • control unit 16 determines that the front wheels 12 have struck a wall surface, it may determine that the front wheels 12 have not struck a step.
  • the power-assisted rollator 10 may tend to bound due to the reaction force from the step or the rotational inertia of the front wheels 12.
  • the downward acceleration applied to the power-assisted rollator 10 may not exceed the gravitational acceleration.
  • the control unit 16 may recognize that the front wheels 12 have struck the wall surface and may not cause the front wheels 12 to be lifted relative to the rear wheels 13.
  • a switch or a range sensor is provided to sense a step positioned in front of the front wheels 12 and having a predetermined height or more, and the control unit 16 may determine that the front wheels 12 have struck the wall surface based on the signals from the switch or the range sensor.
  • control unit 16 determines that the front wheels 12 have struck a wall surface, it may determine that the front wheels 12 have not struck a step. Thus, when the front wheels 12 have struck a step, the control unit 16 can refrain from causing the front wheels 12 to be lifted relative to the rear wheels 13.
  • control unit 16 may not cause the front wheels 12 to be lifted relative to the rear wheels 13.
  • the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. The control unit 16 may then control the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13.
  • a predetermined amount of waiting time may be provided to accurately determine that the front wheels 12 have struck a step.
  • the control unit 16 may gradually increase the driving force of the rear wheels 13 delivered from the motor 20.
  • the assist force of the rear wheels 13 reaches its maximum value, this state may be kept for a period of time. Then, the control unit 16 may terminate the step mode irrespective of whether the front wheels 12 have run over the step.
  • the operation performed after the control unit determines that the front wheels 12 have struck the step may be substantially the same as for the first embodiment and therefore will not be described again.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Handcart (AREA)
  • Rehabilitation Tools (AREA)
EP17156208.5A 2016-02-15 2017-02-15 Véhicule électrique Active EP3205322B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016025990 2016-02-15
JP2016200326 2016-10-11

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EP3205322A1 true EP3205322A1 (fr) 2017-08-16
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JP (1) JP6901276B2 (fr)

Cited By (10)

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CN108904229A (zh) * 2018-05-28 2018-11-30 国家康复辅具研究中心 智能轮式助行器
CN110522614A (zh) * 2018-05-25 2019-12-03 松下电器产业株式会社 行走训练机器人
EP3622936A1 (fr) * 2018-09-12 2020-03-18 Jtekt Corporation Dispositif d'assistance à la marche
CN112618182A (zh) * 2020-12-30 2021-04-09 广东博方众济医疗科技有限公司 轮椅助行器
CN112790952A (zh) * 2019-11-14 2021-05-14 纬创资通股份有限公司 控制方法以及电动助行器
USD940601S1 (en) * 2020-08-28 2022-01-11 Qingfeng Li Rollator
US11334091B2 (en) 2018-06-04 2022-05-17 Panasonic Corporation Map information update system
USD953210S1 (en) * 2020-06-17 2022-05-31 Foshan Hct Medical Equipment Co., Ltd. Foldable four-wheel walking aid
US11452662B2 (en) * 2018-02-27 2022-09-27 Jtekt Corporation Walking assist device
WO2023272773A1 (fr) * 2021-07-01 2023-01-05 浙江益恒悦医疗科技有限公司 Procédé et appareil de commande à assistance électrique pour aide à la marche intelligente, aide à la marche intelligente et dispositif de commande

Families Citing this family (4)

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JP7210907B2 (ja) * 2018-05-31 2023-01-24 株式会社ジェイテクト 歩行支援装置
JP7215187B2 (ja) * 2019-01-22 2023-01-31 株式会社ジェイテクト 歩行支援装置
JP7222258B2 (ja) * 2019-02-05 2023-02-15 株式会社ジェイテクト 歩行支援装置
WO2021079835A1 (fr) 2019-10-24 2021-04-29 ナブテスコ株式会社 Véhicule électrique, procédé de commande correspondant et programme de commande correspondant

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US20120018233A1 (en) * 2010-07-20 2012-01-26 Chang Yoon Young Walking-assistant device
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WO2015041128A1 (fr) * 2013-09-17 2015-03-26 株式会社村田製作所 Charrette à bras
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JP6232873B2 (ja) * 2012-09-18 2017-11-22 株式会社村田製作所 手押し車およびプログラム

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US20120018233A1 (en) * 2010-07-20 2012-01-26 Chang Yoon Young Walking-assistant device
WO2014188726A1 (fr) * 2013-05-22 2014-11-27 ナブテスコ株式会社 Dispositif électrique d'aide à la marche, programme de commande de dispositif électrique d'aide à la marche, et procédé de commande de dispositif électrique d'aide à la marche
WO2015041128A1 (fr) * 2013-09-17 2015-03-26 株式会社村田製作所 Charrette à bras
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11452662B2 (en) * 2018-02-27 2022-09-27 Jtekt Corporation Walking assist device
CN110522614A (zh) * 2018-05-25 2019-12-03 松下电器产业株式会社 行走训练机器人
CN108904229A (zh) * 2018-05-28 2018-11-30 国家康复辅具研究中心 智能轮式助行器
US11334091B2 (en) 2018-06-04 2022-05-17 Panasonic Corporation Map information update system
EP3622936A1 (fr) * 2018-09-12 2020-03-18 Jtekt Corporation Dispositif d'assistance à la marche
CN112790952A (zh) * 2019-11-14 2021-05-14 纬创资通股份有限公司 控制方法以及电动助行器
USD953210S1 (en) * 2020-06-17 2022-05-31 Foshan Hct Medical Equipment Co., Ltd. Foldable four-wheel walking aid
USD940601S1 (en) * 2020-08-28 2022-01-11 Qingfeng Li Rollator
CN112618182A (zh) * 2020-12-30 2021-04-09 广东博方众济医疗科技有限公司 轮椅助行器
WO2023272773A1 (fr) * 2021-07-01 2023-01-05 浙江益恒悦医疗科技有限公司 Procédé et appareil de commande à assistance électrique pour aide à la marche intelligente, aide à la marche intelligente et dispositif de commande
US11793706B2 (en) 2021-07-01 2023-10-24 Zhejiang Yihengyue Medical Technology Co., Ltd. Power-assist control method and device for intelligent rollator, intelligent rollator, and controller

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JP6901276B2 (ja) 2021-07-14
JP2018061819A (ja) 2018-04-19
EP3205322B1 (fr) 2019-10-23

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