EP3308761A1 - Véhicule électrique et son procédé de freinage - Google Patents

Véhicule électrique et son procédé de freinage Download PDF

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Publication number
EP3308761A1
EP3308761A1 EP17195658.4A EP17195658A EP3308761A1 EP 3308761 A1 EP3308761 A1 EP 3308761A1 EP 17195658 A EP17195658 A EP 17195658A EP 3308761 A1 EP3308761 A1 EP 3308761A1
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EP
European Patent Office
Prior art keywords
electric vehicle
control unit
user
assisted
rollator
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
EP17195658.4A
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German (de)
English (en)
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EP3308761B1 (fr
Inventor
Hiroaki Hashimoto
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Nabtesco Corp
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Nabtesco Corp
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Publication of EP3308761A1 publication Critical patent/EP3308761A1/fr
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    • 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
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means

Definitions

  • the present invention relates to an electric vehicle for assisting elderly people, disabled people, patients and others with a gait impairment in walking.
  • the invention also relates to a method of braking the electric vehicle.
  • Patent Literature 1 discloses a walking aid device that can be easily operated by a user to travel straight or turn.
  • the walking aid device (an electric rolling walker) disclosed in Patent Literature 1 includes a frame body having a handle portion to be gripped by a user, more than one wheel provided on left and right sides of the frame body, more than one driving motor that drives each of the wheels to rotate, and a controller that detects a counter electromotive force generated at the driving motor and controls the driving motor based on the counter electromotive force.
  • the walking aid device of Patent Literature 1 also includes a grip sensor (touch sensor) on the handle portion, for detecting whether a user is gripping the handle portion.
  • a grip sensor touch sensor
  • the walking aid device applies brakes to the wheels.
  • the grip sensor needs to be used to determine whether a user is gripping the handle portion.
  • the grip sensor therefore, is provided on the handle portion, which might result in a cost increase of the walking aid device.
  • Patent Literature 1 Japanese Patent Application Publication No. 2009-183407
  • An electric vehicle (10) is an electric vehicle (10) provided with a wheel (13) or an endless track and characterized by including a brake unit (20) for braking the wheel (13) or the endless track and a control unit (16) for determining, based on a change in acceleration of the electric vehicle (10), whether a user is operating the electric vehicle (10) and controlling the brake unit (20) based on a result of the determination.
  • the term "operating” refers to a case where a part of a body of the user or his/her belonging leans against, rests on, or contacts with the electric vehicle, in addition to a case where the user is pushing or pulling the electric vehicle with his/her hands.
  • the term “gripping” refers to holding the handles so as to cover them, which also includes a case where the handles are held lightly in addition to a case where the handles are gripped tightly.
  • the control unit (16) determines that the user is not operating the electric vehicle (10).
  • the control unit (16) assumes that the acceleration is equal to the upper limit value.
  • the control unit (16) determines that the user is not operating the electric vehicle (10).
  • the control unit (16) controls the brake unit (20) to brake the wheel (13) or the endless track.
  • the control unit (16) continues to brake the wheel (13) or the endless track.
  • a speed sensor (22) for sensing a rotation speed of the wheel (13) or the endless track is further provided, and the control unit (16) calculates acceleration of the electric vehicle (10) based on a signal from the speed sensor (22).
  • an inclination sensor (23) for sensing an inclination of the electric vehicle (10) is further provided, and when the inclination sensor (23) has determined that the electric vehicle (10) is positioned on an upward inclined surface and the wheel (13) or the endless track is rotating backward, the control unit (16) determines that the user is not operating the electric vehicle (10).
  • an inclination sensor (23) for sensing an inclination of the electric vehicle (10) is further provided.
  • the wheel (13) or the endless track a left-right pair of wheels (13) or endless tracks are provided.
  • the control unit (16) determines that the user is not operating the electric vehicle (10).
  • An electric vehicle (10) is an electric vehicle (10) provided with a wheel (13) or an endless track and characterized by including a brake unit (20) for braking the wheel (13) or the endless track, an inclination sensor (23) for sensing an inclination of the electric vehicle (10), and a control unit (16) for controlling the brake unit (20) based on a determination that a user is not operating the electric vehicle (10), which is made when the inclination sensor (23) has determined that the electric vehicle (10) is positioned on an upward inclined surface and the wheel (13) or the endless track is rotating backward.
  • An electric vehicle (10) is an electric vehicle (10) provided with wheels (13) or endless tracks and characterized by including a brake unit (20) for braking the wheels (13) or endless tracks, an inclination sensor (23) for sensing an inclination of the electric vehicle (10), and a control unit (16) for controlling the brake unit (20) based on a determination that a user is not operating the electric vehicle (10), which is made when the inclination sensor (23) has determined that the electric vehicle (10) is positioned on a laterally inclined surface, and one of the wheels (13) or endless tracks which is positioned at one of an upper side and a lower side on the inclined surface is stationary or rotating forward, while the other of the wheels (13) or endless tracks which is positioned at the other of the upper side and the lower side on the inclined surface is stationary or rotating backward.
  • a method of braking an electric vehicle (10) is a method of braking an electric vehicle (10) provided with a wheel (13) or an endless track and characterized by determining, based on a change in acceleration of the electric vehicle (10), whether a user is operating the electric vehicle (10) and braking the wheel (13) or the endless track based on a result of the determination.
  • a method of braking an electric vehicle (10) is a method of braking an electric vehicle (10) provided with a wheel (13) or an endless track and characterized by braking the wheel (13) or the endless track based on a determination that a user is not operating the electric vehicle (10), which is made when the electric vehicle (10) is positioned on an upward inclined surface and the wheel (13) or the endless track is rotating backward.
  • a method of braking an electric vehicle (10) is a method of braking an electric vehicle (10) provided with a left-right pair of wheels (13) or endless tracks and characterized by braking the left-right pair of wheels (13) or endless tracks based on a determination that a user is not operating the electric vehicle (10), which is made when the electric vehicle (10) is positioned on a laterally inclined surface, and one of the left-right pair of wheels (13) or endless tracks which is positioned at one of an upper side and a lower side on the inclined surface is stationary or rotating forward, while the other of the left-right pair of wheels (13) or endless tracks which is positioned at the other of the upper side and the lower side on the inclined surface is stationary or rotating backward.
  • Fig. 1 is a view showing an electric rollator (hereinafter referred to as a power-assisted rollator) as one example of an electric vehicle.
  • Fig. 1 is a schematic perspective view showing one example of an external appearance of a power-assisted rollator 10 according to the embodiment.
  • the power-assisted rollator 10 includes a frame 11, a pair of front wheels 12 and a pair of rear wheels (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 has a motor 20 coupled thereto for assisting movement of the each of the pair of rear wheels 13 corresponding thereto.
  • a battery 21 and a control unit 16 are mounted to the frame 11. Furthermore, the control unit 16 has a speed sensor (sensing unit) 22 and an inclination sensor 23.
  • the frame 11 has a left-right pair of pipe frames 31. On front ends of the left-right pair of pipe frames 31, there are provided the pair of front wheels 12, respectively.
  • the pair of front wheels 12 are each provided so as to be rotatable in a front-rear direction and swivelable also about vertical axes. In this case, the pair of front wheels 12 are universal wheels that can be freely turned around.
  • the terms "front/forward”, “rear/backward”, “left”, and “right” refer to “front/forward”, “rear/backward”, “left”, and “right” with respect to a traveling direction of the power-assisted rollator 10, respectively.
  • the power-assisted rollator 10 is easily movable forward and backward and, moreover, can be easily moved in a left-right direction or turned around.
  • the pair of handles 14 On upper ends of the left-right pair of pipe frames 31, there are provided the pair of handles 14 to be operated by a user.
  • the embodiment will be described for a case where the pair of handles 14 are gripped with hands of a user, for example.
  • the pair of handles 14 are coupled to each other via a bar handle 17 extending horizontally. Furthermore, the pair of handles 14 and the bar handle 17 constitute a substantial U-shape.
  • the pair of handles 14 are provided further with a horseshoe-shaped portion 27 that can support elbows of a user.
  • the horseshoe-shaped portion 27 has openings in which the handles 14 can be inserted respectively for mounting.
  • a configuration of the handles 14 is not limited thereto, and, for example, it may also be possible that an individual handle 14 is provided on each of the left-right pair of pipe frames 31.
  • the power-assisted rollator 10 has no grip sensor, strain sensor, proximity sensor, pressure sensor or the like that directly detects whether a user grips the pair of handles 14.
  • a seat 37 on which a user can sit as necessary.
  • the battery 21 supplies power to the elements of the power-assisted rollator 10 such as the motors 20 and the control unit 16.
  • the battery 21 is provided below the seat 37 positioned between the pair of pipe frames 31.
  • the motors 20 are provided inside the rear wheels 13, respectively.
  • the motors 20 can be any motors such as servomotors, stepper motors, AC motors, and DC motors.
  • a speed reducer may be integrated with the motors.
  • the motors 20 assist movement of the rear wheels 13 and also serve as power-generating brakes. That is, in the embodiment, the motors 20 serve as drive units for driving the rear wheels 13 and as brake units for braking the rear wheels 13. When the motors 20 brake the rear wheels 13, the motors 20 serve as power generators while braking the rear wheels 13 with resistance forces thereof. When the motors 20 serve as brake units, the motors 20 may be used as reverse brakes for reversely driving the motors 20 or as short-circuit brakes for causing interphase short circuit in the motors 20. Alternatively, it may also be possible that the motors 20 serve only as drive units for driving the rear wheels 13, and the brake units for braking the rear wheels 13 are provided separately from the motors 20.
  • Such brake units are, for example, electromagnetic brakes or mechanical brakes. It may also be possible that when the power-assisted rollator 10 is positioned on an inclined surface (an upward, downward, or laterally inclined surface), the motors 20 are used as reverse brakes, while when the power-assisted rollator 10 is positioned on a flat surface (a surface perpendicular to a vertical direction), the motors 20 are used as power-generating brakes. That is, it is necessary that when a user has let go of the handles 14 or the like on an inclined surface, the power-assisted rollator 10 become stationary on the spot. For this reason, preferably, the motors 20 are used as reverse brakes.
  • the motors 20 are used as power-generating brakes so that power consumption is suppressed.
  • the rear wheels 13 have the motors 20 mounted thereto, respectively, there is no limitation thereto. It may also be possible that only the pair of front wheels 12 have the motors 20 mounted thereto, respectively, or that all of the pair of front wheels 12 and the pair of rear wheels 13 have the motors 20 mounted thereto, respectively.
  • the control unit 16 controls the entirety of the power-assisted rollator 10 including the motors 20 and so on. In this case, the control unit 16 is provided adjacently to the battery 21. A detail of how control is performed by the control unit 16 will be described later.
  • the speed sensor (sensing unit) 22 senses the number of rotations or a rotation speed of the rear wheels 13 and transmits a signal representing the number of rotations or the rotation speed to the control unit 16. In this case, based on the signal from the speed sensor 22, the control unit 16 differentiates the rotation speed of the rear wheels 13 to calculate rotational acceleration of the rear wheels 13.
  • the speed sensor 22 may be installed inside each of the pair of rear wheels 13 of the power-assisted rollator 10. Alternatively, similarly to the motors 20, the speed sensor 22 may be installed only inside each of the pair of front wheels 12 or inside all of the pair of front wheels 12 and the pair of rear wheels 13.
  • the speed sensor 22 calculates the number of rotations or a speed of the wheels or a speed of the power-assisted rollator 10 by using a Hall element installed in each of the motors 20.
  • the number of rotations or the speed of the wheels or the speed of the power-assisted rollator 10 can 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 can be calculated from the angular velocities.
  • the speed sensor 22 is installed in each of the pair of front wheels 12 and/or the pair of rear wheels 13, it may also be possible that the speed sensor 22 is mounted in any other component such as the frame 11 and the pair of handles 14. Alternatively, it may also be possible that the speed sensor 22 is disposed adjacently to the control unit 16.
  • the sensing unit is constituted by an acceleration sensor.
  • the acceleration sensor directly senses acceleration of the power-assisted rollator 10 and transmits a signal representing the acceleration to the control unit 16.
  • the control unit 16 is configured to calculate a speed by integrating the acceleration.
  • the sensing unit is constituted by a global positioning system (GPS) device.
  • GPS global positioning system
  • the GPS device detects a position of the power-assisted rollator 10 without using rotational acceleration of the rear wheels 13.
  • the control unit 16 can be configured to differentiate positional information from the GPS device to calculate a speed of the power-assisted rollator 10, and differentiate the positional information from the GPS device twice to calculate acceleration.
  • the inclination sensor 23 senses an inclination of the power-assisted rollator 10, i.e., for example, whether the power-assisted rollator 10 is on a flat surface or an inclined surface, and transmits to the control unit 16 a signal related to the inclination of the power-assisted rollator 10 in the front-rear direction and/or the left-right direction.
  • the inclination sensor 23 is constituted by an acceleration sensor having two or more axes.
  • the inclination sensor 23 is provided adjacently to the control unit 16.
  • the inclination sensor 23 may be provided in an upper portion of the power-assisted rollator 10. It may also be possible that the inclination sensor 23 is constituted by a gyrosensor, instead of an acceleration sensor, for sensing an attitude of the power-assisted rollator 10.
  • the control unit 16 determines whether a user is operating the handles 14 or the like of the power-assisted rollator 10. Further, when it is determined that a user is not operating the power-assisted rollator 10 and has let go of the handles 14 (a both hands-off state), the control unit 16 controls the motors 20 (brake units) to brake the rear wheels 13.
  • the control unit 16 controls the motors 20 (brake units) to brake the rear wheels 13. The following describes, as an example, a case where based on a signal sent from the speed sensor 22, the control unit 16 calculates rotational acceleration of the rear wheels 13, and based on a change in the rotational acceleration, the control unit 16 determines whether a user is operating the power-assisted rollator 10.
  • Fig. 2 is a flowchart for explaining one example of an operation of the control unit 16.
  • Step S11 in Fig. 2 the control unit 16 is implementing an assist control mode.
  • rotation of the rear wheels 13 of the power-assisted rollator 10 is assisted by the motors 20, and the motors 20 are driven to generate a force to offset a deficiency of an operating force of a user.
  • control unit 16 determines whether the user is operating the handles 14 or the like of the power-assisted rollator 10 (Step S12 in Fig. 2 ).
  • the control unit 16 differentiates said rotation speed to calculate a value of rotational acceleration of the rear wheels 13.
  • the thus calculated value of the rotational acceleration is an actual measured value of the rotational acceleration of the rear wheels 13 and corresponds to momentary acceleration before the rotational acceleration is subjected to signal processing.
  • a solid line indicates a change in the thus calculated value of rotational acceleration of the rear wheels 13.
  • the control unit 16 processes a signal representing the thus calculated value of the rotational acceleration of the rear wheels 13 by passing the signal through a low-pass filter and extracts only a low-frequency component of the signal of the rotational acceleration.
  • the low-frequency component thus extracted corresponds to an average or chronological change in the rotational acceleration of the rear wheels 13.
  • a broken line indicates the thus determined low-frequency component of the rotational acceleration of the rear wheels 13.
  • the control unit 16 performs signal processing by determining a moving average of a signal representing rotational acceleration of the rear wheels 13.
  • a low-frequency component of the rotational acceleration of the rear wheels 13 is calculated from a moving average of an actual measured value of the rotational acceleration.
  • the control unit 16 calculates, as a high-frequency component (vibration component) of the rotational acceleration, a mean square of a difference between the actual measured value of the rotational acceleration (the momentary acceleration, the solid line in Fig. 3 ) and the low-frequency component thereof (the average or chronological acceleration, the broken line in Fig. 3 ).
  • a high-frequency component of the rotational acceleration is determined as an absolute value of the difference between the actual measured value of the rotational acceleration and the low-frequency component thereof.
  • the control unit 16 determines, as the high-frequency component, a mean square of a difference between the actual measured value of the rotational acceleration and the low-frequency component thereof, and determines whether a value of the high-frequency component per unit time is larger than a predetermined threshold value. Then, when the value of the high-frequency component is smaller than the predetermined threshold value, the control unit 16 determines that a user is not operating the power-assisted rollator 10 and has let go of the handles 14. In this case, the control unit 16 controls the motors (brake units) 20 to serve as, for example, power-generating brakes and thus brakes the rear wheels 13 (Step S13 in Fig. 2 ).
  • the power-assisted rollator 10 can be prevented from accidentally moving when a user is not operating the power-assisted rollator 10.
  • a value of the high-frequency component temporarily becomes smaller than the predetermined threshold value due to, for example, a vibration applied to the power-assisted rollator 10 while being operated.
  • the control unit 16 determines that a user is operating the power-assisted rollator 10 and walking while gripping the handles 14. In this case, the control unit 16 continues to assist movement of the rear wheels 13 via the motors 20 without braking the rear wheels 13.
  • the control unit 16 repeats the above-described process until a main power supply of the power-assisted rollator 10 is turned off. In this manner, the control unit 16 can determine whether a user is operating the power-assisted rollator 10.
  • control unit 16 may optionally perform the following control. It may also be possible that the following control steps (1) to (4) are performed individually, or a plurality of steps among the following control steps (1) to (4) are performed in combination.
  • the control unit 16 determines whether a user is operating the power-assisted rollator 10. With this configuration, without the need to provide a grip sensor or the like on the handles 14, it can be determined whether a user is operating the power-assisted rollator 10. Thus, it is possible to prevent a trouble that the power-assisted rollator 10 accidentally moves when a user has let go of the handles 14. Furthermore, it is also possible to prevent a cost increase of the power-assisted rollator 10 caused by mounting a grip sensor on the handles 14. Moreover, since a grip sensor or the like is not provided on the handles 14, there is also no need to dispose wiring of the grip sensor or the like around the handles 14. Particularly in a case where the handles 14 are formed to be height-adjustable, it is no longer needed to lay out wiring in a movable portion used for height adjustment, and thus the movable portion can be structurally simplified.
  • control unit 16 processes a signal representing rotational acceleration of the rear wheels 13. When a high-frequency component of the rotational acceleration is smaller than a predetermined threshold value, the control unit 16 determines that a user is not operating the power-assisted rollator 10. With this configuration, without the need to provide a grip sensor or the like on the handles 14, it can be determined with high accuracy whether a user is operating the power-assisted rollator 10.
  • a signal representing the rotational acceleration is processed on an assumption that the rotational acceleration is equal to the upper limit value.
  • the control unit 16 controls the motors 20 to brake the rear wheels 13.
  • the control unit 16 is prevented from erroneously determining that the power-assisted rollator 10 is operated by a user.
  • the control unit 16 calculates rotational acceleration of the rear wheels 13. In this case, by using the speed sensor 22 provided beforehand in each of the rear wheels 13, the control unit 16 can determine whether a user is operating the power-assisted rollator 10. With this configuration, without the need to provide a grip sensor or the like on the handles 14, it can be determined whether a user is operating the power-assisted rollator 10.
  • control unit 16 controls the motors (brake units) 20 to brake the pair of rear wheels 13, there is no limitation thereto, and it may also be possible to brake the rear wheels 13 and/or the front wheels 12.
  • the embodiment has been described as including the pair of rear wheels (wheels) 13 as an example, there is no limitation thereto, and it may also be possible to use any endless track such as a loop of track shoes or a caterpillar that forms a belt surrounding a drive wheel, a track roller, and an idling wheel (idle wheel).
  • control unit 16 is implementing an assist control mode (Step S21 in Fig. 4 ). During this time, rotation of the rear wheels 13 of the power-assisted rollator 10 is assisted by the motors 20.
  • the control unit 16 determines whether the power-assisted rollator 10 is positioned on an upward inclined surface (Step S22 in Fig. 4 ). Specifically, based on a measured value obtained by the inclination sensor 23, the control unit 16 determines whether the power-assisted rollator 10 is positioned on an upward inclined surface inclined at a predetermined angle or more.
  • the control unit 16 determines whether a user is operating the handles 14 or the like of the power-assisted rollator 10 (Step S23 in Fig. 4 ).
  • the control unit 16 senses whether the rear wheels 13 have been rotating backward for a predetermined determination time or longer.
  • the power-assisted rollator 10 is positioned on an upward inclined surface, if braking of the rear wheels 13 is delayed, the power-assisted rollator 10 might run down toward a user who is behind it and scare the user.
  • the above-described determination time is set to be shorter compared with a case where it is determined whether a user is operating the handles 14 on a flat surface.
  • the control unit 16 controls the motors (brake units) 20 to serve as, for example, power-generating brakes and thus brakes the rear wheels 13 (Step S24 in Fig. 4 ).
  • the power-assisted rollator 10 can be prevented from accidentally moving when a user is not operating the power-assisted rollator 10 on an upward inclined surface.
  • control unit 16 is implementing an assist control mode (Step S31 in Fig. 6 ). In this case, rotation of the rear wheels 13 of the power-assisted rollator 10 is assisted by the motors 20.
  • the control unit 16 determines whether the power-assisted rollator 10 is positioned on a laterally inclined surface (Step S32 in Fig. 6 ). Specifically, based on a measured value obtained by the inclination sensor 23, the control unit 16 determines whether the power-assisted rollator 10 is positioned on a laterally inclined surface inclined at a predetermined angle or more.
  • control unit 16 determines whether a user is operating the handles 14 or the like of the power-assisted rollator 10 (Step S33 in Fig. 6 ).
  • the control unit 16 senses whether each of the left and right rear wheels 13 is rotating forward or backward or is stationary. In this case, the speed sensor 22 measures the respective values of a rotation speed of the left and right rear wheels 13 independently of each other and transmits each of the respective values of the rotation speed in the form of a signal to the control unit 16.
  • both of the rear wheels 13 are stationary or rotate forward.
  • one of the rear wheels 13 which is positioned at an upper side is stationary or rotates forward, while the other of the rear wheels 13 which is positioned at a lower side is stationary or rotates backward (see Fig. 7 ). This is because the power-assisted rollator 10 moves downward, starting from the front wheels 12, which are universal wheels.
  • the control unit 16 controls the motors (brake units) 20 to serve as, for example, power-generating brakes and thus brakes the rear wheels 13 (Step S34 in Fig. 6 ).
  • the power-assisted rollator 10 can be prevented from accidentally moving when a user is not operating the power-assisted rollator 10 on a laterally inclined surface.
  • the power-assisted rollator 10 is positioned on a laterally inclined surface, if braking of the rear wheels 13 is delayed, the power-assisted rollator 10 starts to rotate, causing the rotatable wheels (front wheels 12) to tilt.
  • a holding force generated thereby might not be sufficient to hold the power-assisted rollator 10, which, therefore, continues to tilt.
  • the above-described determination time is set to be shorter compared with a case where it is determined whether a user is operating the handles 14 on a flat surface.
  • the rear wheels 13 can be braked at early timing before the power-assisted rollator 10 starts to rotate on a laterally inclined surface.
  • the control unit 16 may release braking of the rear wheels 13.
  • the rear wheels 13 are formed to be universal wheels and rotation of the front wheels 12 is sensed, the rear wheels 13, which are the universal wheels, move downward.
  • the front wheels 12 which is positioned at an upper side is stationary or rotates backward, while the other of the front wheels 12 which is positioned at a lower side is stationary or rotates forward.
  • the control unit 16 determines that a user is not operating the power-assisted rollator 10, and thus brakes the rear wheels 13.
  • rotation of the front wheels 12 and/or the rear wheels 13 is sensed, it is also possible to perform similar control by using an inclination sensor such as the inclination sensor 23 or a gyrosensor to sense a rotational movement of a vehicle body of the power-assisted rollator 10.
  • an inclination sensor such as the inclination sensor 23 or a gyrosensor to sense a rotational movement of a vehicle body of the power-assisted rollator 10.

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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)
  • Rehabilitation Tools (AREA)
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EP17195658.4A 2016-10-11 2017-10-10 Véhicule électrique et son procédé de freinage Active EP3308761B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016200320A JP7083593B2 (ja) 2016-10-11 2016-10-11 電動車両および電動車両の制動方法

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EP3308761A1 true EP3308761A1 (fr) 2018-04-18
EP3308761B1 EP3308761B1 (fr) 2019-06-05

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
EP4029487A1 (fr) * 2021-01-14 2022-07-20 Suzuki Motor Corporation Véhicule électrique d'assistance à la marche

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Publication number Priority date Publication date Assignee Title
EP4049646A1 (fr) * 2019-10-24 2022-08-31 Nabtesco Corporation Véhicule électrique, procédé de commande correspondant et programme de commande correspondant

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US20090045021A1 (en) * 2007-08-17 2009-02-19 Eli Einbinder Electronically controlled brakes for walkers
US20140365033A1 (en) * 2013-06-07 2014-12-11 Funai Electric Co., Ltd. Manually propelled vehicle
WO2015085403A1 (fr) * 2013-12-12 2015-06-18 Human Care Canada Inc. Systèmes et procédés pour une inhibition assistée par mouvement
EP3075369A1 (fr) * 2015-03-30 2016-10-05 Nabtesco Corporation Dispositif électrique d'assistance à la marche

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