JP2003320935A - Electric-motor vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electric-motor vehicle capable of generating power for assisting hand-pushing operation from the start of hand-pushing traveling, and having a hand-pushing mode which permits the lighter hand-pushing traveling in a uphill and the safer hand-pushing traveling in a downhill. <P>SOLUTION: This railcar has a traveling mode for traveling by an acceleration operation of a user and the hand-pushing mode for traveling by hand- pushing of the user, and also has a hand-pushing mode selecting means (hand- pushing selecting switch 25) for selecting the hand-pushing mode and a control means (micro computer 30) for controlling so as to generate assistant power by a motor when selecting the hand-pushing mode by the hand-pushing mode selecting means. For example, hand-pushing detection means (a pushing detection part 23a and a pulling detection part 23b) for detecting a hand-pushing direction are provided, and the control means controls so as to generate the assistant power corresponding to the direction detected by the hand-pushing detection means. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving mode in which a user operates an accelerator, such as an electric three-wheeled vehicle or an electric four-wheeled vehicle used by an elderly person or a disabled person, and a user's accelerator operation. The present invention relates to an electric vehicle having a hand-pushing mode capable of traveling by hand-pushing, and particularly to improvement of the hand-pushing mode.

[0002]

2. Description of the Related Art Conventionally, in this type of electric vehicle, generally, if a switch for manual pushing operation is set to "manual pushing", the braking force by an electromagnetic brake or the like is released and the electric vehicle can be pushed manually. I was doing.

In this case, it can be easily pushed by hand on flat ground, but it is very heavy because the vehicle body weight is close to 100 kg on the uphill, and there is a risk that it will run on its own on the downhill.

As an improvement of such a hand-pushing mode, the applicant of the present application has disclosed the Japanese Patent Laid-Open No. 2000-166025 (B6).
0L 15/00), when the mode switching means is set to the manual pushing mode, the vehicle body is stopped by the vehicle body stopping means, and when the accelerator means is operated in this state, the vehicle body is stopped. The safety is improved by releasing the means and when the speed detected by the speed detecting means in the manual pushing mode exceeds a predetermined upper limit speed or a speed limit, the vehicle body stopping means and the braking means are operated. Is proposing what was planned.

[0005]

However, in the above, no measures are taken to reduce the hand-pushing force on the uphill, and even if the speed of the hand-pushing on the downhill does not reach the upper limit speed or the speed limit, the function is achieved. Not because it wasn't enough.

Therefore, the present invention has been made in order to solve such a problem, and can generate power for assisting the manual pushing operation from the start of the manual pushing traveling, which is light on the uphill and safer on the downhill. It is an object of the present invention to provide an electric vehicle having a hand-pushing mode that enables traveling.

[0007]

In order to achieve the above object, the present invention has a traveling mode in which the vehicle is operated by an accelerator operation by the user and a manual pushing mode in which the vehicle can be operated by the manual pushing of the user. It is characterized by comprising a manual pushing mode selecting means for selecting the manual pushing mode and a control means for controlling the motor so as to generate auxiliary power when the manual pushing mode is selected by the manual pushing mode selecting means.

Specifically, a hand-pushing detecting means for detecting a hand-pushing direction is provided, and the control means controls to generate auxiliary power according to the direction detected by the hand-pushing detecting means. It is a thing.

Further, a hand push detecting means for detecting the hand push direction and magnitude is provided, and the control means controls to generate auxiliary power according to the direction and magnitude detected by the hand push detecting means. It is a feature.

The hand-push detection means is provided on a seat back or a handle.

Further, a tilt angle detecting means for detecting a tilt angle of the traveling road is provided, and the control means controls to generate auxiliary power according to the tilt angle detected by the tilt angle detecting means. It is what

[0012] Specifically, as an auxiliary power corresponding to the inclination angle, a driving force is added on an uphill and a braking force is added on a downhill.

Further, the control means is characterized in that the auxiliary power corresponding to the tilt angle is varied according to the change of the tilt angle.

Specifically, a hand-pushing detecting means for detecting a hand-pushing direction and a tilt-angle detecting means for detecting a tilting angle of a traveling path are provided, and the control means has a hand-pushing direction detected by each of the detecting means. And controlling to generate auxiliary power according to the inclination angle.

Further, a hand-pushing detecting means for detecting a hand-pushing direction and a size and a tilt-angle detecting means for detecting a tilting angle of a traveling path are provided, and the control means has a hand-pushing direction detected by the respective detecting means. And controlling to generate auxiliary power according to the size and the inclination angle.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

1 to 4 are external views of an electric four-wheel vehicle according to an embodiment of the present invention. FIG. 1 is a top view, FIG. 2 is a side view, FIG. 3 is a front view, and FIG. It is a figure.

The electric four-wheeled vehicle of this embodiment is provided with a pair of drive wheels (rear wheels) 2 which are rotatably driven by a motor, which will be described later, on both sides of the rear portion of the vehicle body 1, and a pair of front wheels on both sides of the front portion. 3 is provided.

The front wheel 3 is connected to a handle shaft 5 covered with a front cover 4, and a loop-shaped handle 6 is attached to the upper end of the handle shaft 5. By operating the handle 6 to the left and right, the front wheels 3 move in the left and right directions, and the traveling direction can be changed. A storage basket 7 that can store shopping bags and the like is attached to the front surface of the front cover 4, winker lamps 8 are provided on both lower sides of the storage basket 7, and headlights 9 are provided on the front side.

Between the drive wheel (rear wheel) 2 and the front wheel 3,
Floor part 10 for the user to put his / her feet on
Is provided. A cover 11 for accommodating a battery, a motor, and the like, which will be described later, is provided behind the floor portion 10, and a seat 1 for a user to ride on the cover 11.
2 is attached, and this seat 12 has a backrest 13
And an armrest 14 are provided.

Further, a recess (not shown) is formed on the front upper portion of the cover 11 below the seat 12, and a manual push select switch (to be described later) for selecting a manual push mode is provided therein. It is covered with a switch cover to prevent accidental operation so that it can be opened and closed.

On the other hand, an operation display panel 15 is provided at the center of the handle 6, and this operation display panel 1
5, a battery lamp 16 for displaying the remaining amount of the battery, a dial type speed control knob 17 for adjusting the upper limit speed, a forward / backward changeover switch 1 for switching between forward and reverse.
8, a winker switch 19 for blinking the winker lamps 8 provided on both sides of the lower portion of the front cover 4, a push-type horn switch 20, and the like are provided. In addition, the rearview mirror 2 is provided on both sides of the front part of the handle 6.
1 is attached.

On both sides of the operation display panel 15, an accelerator lever 22 which is connected by a shaft and operates integrally is attached. When the accelerator lever 22 is pressed from above, a forward / backward traveling changeover switch 18 is operated. Further, the vehicle advances at a speed corresponding to the amount of pressing of the accelerator lever 22.

In the present embodiment, the backrest 1
A push detecting portion 23a is provided on the rear surface side of the upper part of 3 and the rear surface side of the front grip portion 6a of the handle 6, and a pull detecting portion 23b is provided on the front side of the upper part of the backrest 13 and the front side of the front grip portion 6a of the handle 6. Is provided. As the push detection unit 23a and the pull detection unit 23b, a push direction switch and a pull direction switch that detect only a push direction or a pull direction, or a push direction of the manual push operation using a pressure-sensitive rubber or the like is used. A pushing force sensor for detecting the size and a pulling force sensor for detecting the pulling direction and the size can be provided.

An inclination sensor 24 for detecting the inclination angle of the traveling path is attached to the side surface of the cover 11 below the seat 12. This tilt sensor 24 is shown in FIGS.
As shown in FIG. 5, for example, a structure in which the pendulum 24b is attached to the shaft of the potentiometer 24a can be used, and from the state of the tilt angle of 0 ° shown in FIG. 5 to the tilt angle of 15 ° shown in FIGS. In the -15 ° state, the tilt angle can be detected from the angle of the pendulum 24b that rotates with respect to the potentiometer 24a.

FIG. 8 is a block diagram showing the control unit and its peripheral circuits according to the present embodiment.

A microcomputer 30 (hereinafter abbreviated as "microcomputer") that constitutes the control means of the present invention uses the push detection unit 23 according to the present embodiment as its input.
Outputs of the a and pull detection units 23b, the inclination sensor 24, and the manual push selection switch 25 are input, and a motor rotation pulse signal S1 and the like for detecting the rotation of the motor 31 in each of forward and reverse directions is also input. Although not shown in FIG. 8, signals from various switches of the operation display panel 15 and signals indicating the operation amount of the accelerator lever 22 are also input.

Further, the output of the microcomputer 30 is to drive the motor 31 (dynamic braking) to drive the motor 31 (dynamic braking).
The motor drive signal S2 for controlling the circuit 32, the motor power generation braking signal S3, the electromagnetic brake signal S4 for controlling the brake drive circuit 34 for driving the electromagnetic brake 33, etc. are output.

The voltage from the battery 35 is directly supplied to the motor drive (dynamic braking) circuit 32 and the electromagnetic brake drive circuit 34 through a power switch or the like (not shown), but the microcomputer 30 is provided with a constant voltage circuit 36. Through DC
The voltage is reduced to a constant voltage such as 5V and supplied.

Next, the operation of the main part of this embodiment configured as described above will be described with reference to the flow charts shown in FIGS. Note that FIG. 9 is a main flowchart, and FIGS. 10 and 11 show the push detection unit 23 a and the pull detection unit 2.
3b is a flowchart showing a control example of the "motor drive mode" and the "motor reverse or braking mode" when the push direction switch and the pull direction switch are used for 3b, and FIGS. 12 and 13 show the push detection unit 23a and the pull detection unit 23b. It is a flow chart which shows an example of control of a "motor drive mode" and a "motor reversal or braking mode" when a pushing force sensor and a pulling force sensor are used. Note that these are also shown together in the main flowchart of FIG.

When the process shown in the flowchart of FIG. 9 starts, first, it is checked whether or not the vehicle is currently stopped based on the motor rotation pulse signal S1 shown in FIG. 8 (decision 101). If the vehicle is stopped, the accelerator "O"
N ”, that is, whether or not the accelerator lever 22 is operated is checked, and if the accelerator is“ ON ”, the mode shifts to the normal traveling mode (YES in judgment 101 → decision 10).
2 YES → process 103).

On the other hand, if the accelerator is not "ON", that is, if the accelerator lever 22 is not operated, then it is checked whether or not the manual pushing selection switch 25 is "ON" (NO in decision 102 → decision 104). . If the manual push selection switch 25 is not “ON”, the process returns to the determination 101 and the above-described processing is repeated. However, if the manual push selection switch 25 is “ON”, the manual push mode is entered (YES in decision 104 → process). 105).

When the hand push mode is entered, it is first checked whether the push direction switch is "ON" or whether the push force detected by the push force sensor is larger than the pull force detected by the pull force sensor. (Judgment 10
6). If this is not the case, then the pull direction switch
It is checked whether or not N ”, or whether the pulling force detected by the pulling force sensor is larger than the pushing force detected by the pushing force sensor (decision 107). If this is also the case, it means that the manual operation has not been performed, so it is checked whether or not the vehicle is currently stopped, and if it is stopped, the electromagnetic brake 33 is directly closed (YES in judgment 108 →
Process 111), if the vehicle is not stopped, perform deceleration stop control until the motor rotation stops (process 109 → determination 11)
(NO loop of 0), the electromagnetic brake 33 is closed (YES in determination 110 → process 111). As a result, the motor 31 is locked and the vehicle body 1 is maintained in a stopped state.
As described above, even if the hand pushing mode is selected by the hand pushing selection switch 25, the vehicle body 1 can be reliably kept in the stopped state by the electromagnetic brake 33 until the hand pushing operation is performed, so that the vehicle can travel freely even on a steep slope. You can prevent the danger.

On the other hand, in the judgment 106, if the pushing direction switch is "ON" or the pushing force detected by the pushing force sensor is larger than the pulling force detected by the pulling force sensor, the inclination sensor 24 determines that It is checked whether or not the detected tilt angle is equal to or larger than a predetermined A degree (YES in judgment 106 → judgment 112). This tilt angle A
Is set to "-5 degrees", that is, the traveling road inclination angle immediately before the vehicle body 1 starts rolling due to a natural fall on a downhill.

If the inclination angle is greater than or equal to A degrees, the vehicle body 1
Since it requires a driving force in the pushing direction in order to lightly press, the motor drive mode is entered (YES in judgment 112 → process 1).
13) If the inclination angle is not more than A degree, there is a fear that the vehicle body 1 will roll due to a natural fall on a downhill steeper than −5 degrees, and in order to safely push the vehicle body 1, a force opposite to the pushing direction is applied. Therefore, the motor reverse rotation or braking mode is entered (NO in decision 112 → process 114).

The motor drive mode when the push detector 23a is a push direction switch is controlled as shown in the flowchart of FIG.

That is, when the motor drive mode is entered, the electromagnetic brake 33 is first opened (process 201) and the braking force by the electromagnetic brake 33 is released. This allows
The user will be able to run by hand.

Then, a predetermined motor drive output amount is calculated based on the tilt amount (angle) and is output (process 20).
2). As shown in the graph of FIG. 10, the motor drive output amount is set so that the motor drive duty (%) increases as the inclination angle becomes larger than the above-described inclination angle A = −5 degrees.

After performing the motor drive output according to the tilt angle as described above, it is checked whether or not the motor 31 is rotating in the pushing direction based on the motor rotation pulse signal S1 shown in FIG. Decision 203).

When the motor 31 is not rotating in the pushing direction, the motor driving output is insufficient. Therefore, it is corrected so that the motor driving output is increased until the motor 31 rotates in the pushing direction (determination 203). NO → Process 20
4). This correction is made while the push direction switch is "ON".
It is repeated (YES in judgment 205 → loop of judgment 203). Then, if the pushing direction switch is not "ON", this motor drive mode is ended (decision 205).
NO).

By controlling in this way, the user can carry out the hand-push running with a light force even on an uphill. In particular, in the present embodiment, since the correction as described above is performed, the hand-push running with a very light force is possible. Will be able to do.

On the other hand, when the push detection unit 23a is a push direction switch, the motor reverse rotation or braking mode (process 11 in FIG. 9).
4) is controlled as in the flow chart shown in FIG.

That is, when the motor reverse rotation or the braking mode is entered, the electromagnetic brake 33 is first opened (process 301) as described above, and the braking force by the electromagnetic brake 33 is released. As a result, the user can perform the hand-pushed traveling.

Then, a predetermined motor braking output amount is calculated based on the inclination amount (angle) and is output (process 30).
2). As the motor braking output amount, as shown in the graph of FIG. 11, the motor generation braking duty (%) is initially set as the inclination angle becomes smaller (the downward inclination becomes larger) than the above-described inclination angle A = −5 degrees. It is set to be large and the motor power generation braking duty (%) is 100%.
Is reached, the motor reverse rotation drive duty (%) is set to increase instead of the motor power generation braking.

After performing the motor braking output according to the inclination angle as described above, it is checked whether or not the motor 31 is rotating in the pushing direction based on the motor rotation pulse signal S1 shown in FIG. Decision 303).

When the motor 31 is not rotating in the pushing direction, the motor braking output is too large. Therefore, the motor reverse rotation output or the dynamic braking amount is corrected until the motor 31 rotates in the pushing direction. Yes (decision 303
No → process 304). This correction is repeatedly performed while the push-direction switch is "ON" (YE of judgment 305).
S → loop of decision 303). Then, if the pushing direction switch is not "ON", the motor reverse rotation or the braking mode is ended (NO in decision 305).

By controlling in this way, the user can safely perform manual push running even on a downhill. In particular, in the present embodiment, since the correction as described above is performed, a force opposite to the pushing direction is applied. You will be able to safely perform hand-driving on a downhill with a light force without applying a force.

The motor drive mode (process 113 in FIG. 9) in the case where the push detection unit 23a is a push force sensor is as shown in FIG.
It is controlled as in the flow chart shown in FIG.

That is, when the motor drive mode is entered, the electromagnetic brake 33 is first "opened" as described above (process 40).
1) Release the braking force of the electromagnetic brake 33. As a result, the user can perform the hand-pushed traveling.

Then, a predetermined motor drive output amount is calculated based on the pushing force amount and the inclination amount (angle), and is output (process 402). As the motor drive output amount, a value A preset according to the amount of pushing force (here, three steps of large, medium and small) and a value B preset according to the same inclination amount (angle) as described above are added. Therefore, as shown in the graph of FIG. 12, the motor drive duty (%) is set to increase as the tilt angle increases for each large, medium, and small amount of pushing force.

After the motor drive output corresponding to the pushing force amount and the tilt angle as described above is performed, the motor 31 is moved in the pushing direction based on the motor rotation pulse signal S1 shown in FIG.
It is checked whether or not is rotating (decision 403).

When the motor 31 is not rotating in the pushing direction, the motor driving output is insufficient. Therefore, the motor driving output is corrected until the motor 31 rotates in the pushing direction (decision 403). NO → Process 40
4). This correction is repeatedly performed while the pushing force detected by the pushing force sensor is larger than the pulling force detected by the pulling force sensor (pushing force> pulling force) (decision 40).
5 YES → judgment 403 loop). And push force>
If the attractive force is lost, this motor drive mode is terminated (NO in decision 405).

By controlling in this way, if the pushing force is increased in addition to the above-described inclination angle, the motor driving force is also increased. Therefore, the user can carry out the hand pushing traveling even on an uphill with a light force in consideration of the pushing force. In particular, since the above-described correction is performed in the present embodiment, it is possible to perform the hand-push traveling with an extremely light force.

On the other hand, when the push detector 23a is a push force sensor, the motor reverse rotation or braking mode (process 114 in FIG. 9).
Are controlled as in the flowchart shown in FIG.

That is, when the motor reverse rotation or the braking mode is entered, the electromagnetic brake 33 is first opened as described above (step 501), and the braking force by the electromagnetic brake 33 is released. As a result, the user can perform the hand-pushed traveling.

Then, the amount of motor braking output determined in advance by the amount of pushing force and the amount of inclination (angle) is calculated and output (process 502). This motor braking output amount is shown in FIG.
As shown in the graph of 3, the motor power generation braking duty (%) is initially set to increase as the inclination angle becomes smaller (the downward slope becomes larger) for each large, medium and small of the pushing force. (%) Is 1
When it reaches 00%, the motor reverse rotation drive duty (%) is set to increase instead of the motor power generation braking. In this case, as the pushing force increases, the motor power generation braking duty and the motor reverse rotation driving duty that oppose each other are set to be smaller.

After the motor braking output according to the pushing force amount and the tilt angle as described above is performed, the motor 31 is moved in the pushing direction based on the motor rotation pulse signal S1 shown in FIG.
It is checked whether or not is rotating (decision 503).

When the motor 31 is not rotating in the pushing direction, the motor braking output is too large. Therefore, the motor reverse rotation output or the dynamic braking amount is corrected until the motor 31 rotates in the pushing direction. Yes (decision 503)
No → process 504). This correction is repeatedly performed while the pushing force detected by the pushing force sensor is larger than the pulling force detected by the pulling force sensor (pushing force> pulling force) (YES in determination 505 → loop of determination 503).
Then, when the pushing force> the pulling force is not satisfied, the motor reverse rotation or the braking mode is ended (NO in the determination 505).

By controlling in this way, the motor braking force decreases as the pushing force increases with respect to the above-mentioned inclination angle, so that the user does not feel resistance to the pushing force even on a downhill and is safe. Since the vehicle can be manually pushed, and in particular, the correction described above is performed in the present embodiment, it is possible to safely perform the manually pushed downhill driving without applying a force opposite to the pushing direction. become able to.

On the other hand, if the pulling direction switch is "ON" or the pulling force detected by the pulling force sensor is larger than the pushing force detected by the pushing force sensor in the judgment 107 of FIG. It is checked whether or not the inclination angle detected by the sensor 24 is equal to or larger than a predetermined A degree (YES in judgment 107 → judgment 115).

If the inclination angle is greater than or equal to A degrees, the vehicle body 1
In order to pull the vehicle safely, a force opposite to the pulling direction (reverse traveling in this case in the traveling direction) is required. Therefore, the motor reverses or brakes to rotate the motor in the opposite direction to the pulling direction (traveling direction) of the vehicle body 1. If the inclination angle is not equal to or more than the A degree, the mode shifts to the mode (YES in judgment 115 → process 114), and in order to pull the vehicle body 1 lightly in the reverse direction on the downhill, in the pulling direction (in the traveling direction, in this case, reverse) Since it requires a driving force to drive,
The mode shifts to a motor drive mode in which the motor is normally rotated with respect to the direction in which the vehicle body 1 is pulled (travel direction) (NO in judgment 115 →
Process 113).

The motor drive mode in which the motor is normally rotated with respect to the direction in which the vehicle body is pulled (moving direction) is controlled as shown in the flowchart of FIG.

That is, when the motor drive mode is entered, the electromagnetic brake 33 is first opened as described above (step 201), and the braking force of the electromagnetic brake 33 is released. As a result, the user can manually push in the pulling direction.

Then, the motor drive output (reverse rotation output in this case) determined in advance by the tilt amount (angle) is calculated and output (process 202). This motor drive output amount is set to be the opposite of the graph shown in FIG. 10 so that the motor drive duty (%) increases as the inclination angle decreases.

After performing the motor drive output according to the inclination angle as described above, it is checked whether or not the motor 31 is rotating in the pulling direction based on the motor rotation pulse signal S1 shown in FIG. 8 ( Decision 203).

If the motor 31 is not rotating in the pulling direction, the motor drive (reverse rotation drive) output is insufficient, so increase the motor drive output amount until the motor 31 rotates in the pulling direction. Correct (N of judgment 203)
O → Process 204). This correction is repeatedly performed while the pulling direction switch is "ON" (YES in judgment 205).
→ loop of decision 203). Then, if the pulling direction switch is not "ON", the motor drive mode is ended (NO in decision 205).

By controlling in this way, the user can carry out the hand-pushing in the pulling direction with a light force even on an uphill (downhill with the inclination sensor 24), and in particular, in the present embodiment, the correction as described above is performed. Since it is done, it becomes possible to carry out hand-pushing in the pulling direction with very light force.

On the other hand, the motor reverse rotation or braking mode in which the motor is reversely rotated with respect to the direction in which the vehicle body is pulled is controlled as shown in the flowchart of FIG.

That is, when the motor reverse rotation or the braking mode is entered, the electromagnetic brake 33 is first opened as described above (process 301), and the braking force by the electromagnetic brake 33 is released. As a result, the user can perform the hand-push traveling in the pulling direction.

Then, the motor braking output amount in the predetermined pulling direction is calculated based on the inclination amount (angle) and is output (process 302). As this motor braking output amount,
The graph shown in FIG. 11 is reversed to the left and right, and as the tilt angle increases, the motor power generation braking duty (%) is initially displayed.
Is set to be large, and when the motor power generation braking duty (%) reaches 100%, the motor reverse rotation drive duty (%) in the traveling direction is replaced in place of the motor power generation braking.
Is set to be large.

After performing the motor braking output according to the inclination angle as described above, it is checked whether or not the motor 31 is rotating in the pulling direction based on the motor rotation pulse signal S1 shown in FIG. Decision 303).

When the motor 31 is not rotating in the pulling direction, the motor braking output is too large. Therefore, the motor reverse rotation output (driving output) or the dynamic braking amount is lowered until the motor 31 rotates in the pulling direction. Correction is made so as to go (NO in determination 303 → process 304). This correction is repeatedly performed while the pulling direction switch is "ON" (YES in decision 305 → loop in decision 303). Then, when the pulling direction switch is not "ON", the motor reverse rotation or the braking mode is ended (NO in the determination 305).

By controlling in this manner, the user can safely carry out the hand-pushing in the pulling direction even on a downhill (uphill with the inclination sensor). Particularly, in this embodiment, the above-described correction is performed. As a result, it is possible to safely perform manual pushing in the pulling direction on a downhill with a light force without applying a force opposite to the pulling direction.

The motor drive mode (process 113 in FIG. 9) in the case where the pull detection unit 23a is a pull force sensor is as shown in FIG.
It is controlled as in the flowchart shown in FIG.

That is, when the motor drive mode is entered, the electromagnetic brake 33 is first opened as described above (process 40).
1) Release the braking force of the electromagnetic brake 33. As a result, the user can perform the hand-push traveling in the pulling direction.

Then, the motor drive output amount for the predetermined pulling direction is calculated from the pulling force amount and the tilt amount (angle), and is output (process 402). As the motor drive output amount, a value A preset according to the amount of pulling force (here, large, medium, and small levels) and the same inclination amount (angle) as described above are used.
The value B set in advance according to
The graph is reverse to the graph shown in FIG. 2 and is set such that the motor drive duty (%) with respect to the traveling direction increases as the inclination angle decreases for each large, medium, and small pulling force.

After performing the motor drive output (reverse rotation output) according to the amount of pulling force and the inclination angle as described above,
Based on the motor rotation pulse signal S1 shown in (4), it is checked whether or not the motor 31 is rotating in the pulling direction (decision 403).

When the motor 31 is not rotating in the pulling direction, the motor drive output (reverse rotation output) is insufficient, so correction is made so that the motor drive output is increased until the motor 31 rotates in the pulling direction. Yes (NO at decision 403)
→ Process 404). This correction is repeatedly performed while the pulling force detected by the pulling force sensor is larger than the pushing force detected by the pushing force sensor (pushing force <pulling force) (YES in determination 405 → loop of determination 403). If the pushing force is less than the pulling force, the motor drive mode is ended (NO in determination 405).

By controlling in this way, the motor driving force (reverse rotation force) increases as the pulling force increases with respect to the above-described tilt angle, so that the user can go uphill (downhill with the tilt sensor 24). It is possible to perform the hand-pushing movement in the pulling direction with a light force in consideration of the pulling force, and in particular, since the above-described correction is performed in the present embodiment, it is possible to perform the hand-pushing traveling in the pulling direction with an extremely light force. become.

On the other hand, when the pull detection unit 23a is a pull force sensor, the motor reverse rotation or braking mode (process 114 in FIG. 9).
Are controlled as in the flowchart shown in FIG.

That is, when the motor reverse rotation or the braking mode is entered, the electromagnetic brake 33 is first opened as in the above (step 501), and the braking force by the electromagnetic brake 33 is released. As a result, the user can perform the hand-push traveling in the pulling direction.

Then, a predetermined motor braking output amount is calculated from the pulling force amount and the inclination amount (angle), and is output (step 502). This motor braking output amount is shown in FIG.
The graph shown in Fig. 3 is reversed, and the motor power generation braking duty (%) is initially set to increase as the inclination angle increases for each large, medium, and small pulling force.
When the motor power generation braking duty (%) reaches 100%, the motor reverse rotation drive duty (%) with respect to the traveling direction is set to be large instead of the motor power generation braking.

After performing the motor braking output according to the amount of pushing force and the inclination angle as described above, the motor 31 is moved in the pulling direction based on the motor rotation pulse signal S1 shown in FIG.
It is checked whether or not is rotating (decision 503).

When the motor 31 is not rotating in the pulling direction, the motor braking output is too large, so the motor reverse rotation output or the dynamic braking amount with respect to the traveling direction is decreased until the motor 31 rotates in the pulling direction. Correction (NO in determination 503 → process 504). This correction is
While the pulling force detected by the pulling force sensor is larger than the pushing force detected by the pushing force sensor (pushing force <pulling force), the process is repeatedly performed (YES in determination 505 → determination 5).
03 loop). When the pushing force is less than the pulling force, the motor reverse rotation or the braking mode is ended (determination 5).
05 NO).

By controlling in this way, the motor braking force decreases as the pulling force increases with respect to the above-described tilt angle, so that the user can resist the pulling force even on a downhill (uphill with the tilt sensor 24). It is possible to carry out a manual push traveling in a safe pulling direction without feeling the force, and in particular, since the correction as described above is performed in the present embodiment, a force opposite to the pulling direction is not applied and a safe force can be achieved with a light force. You will be able to perform hand-pushing in the pulling direction on a downhill.

By controlling as described above,
It is possible to generate power to assist the manual pushing operation from the start of the manual pushing traveling, which makes it possible to carry out the manual pushing traveling lightly on the uphill and safer on the downhill regardless of pushing and pulling.

Further, normally, by providing the push detection portion 23a and the pull detection portion 23b on the backrest 13 of the seat 12 and the handle 6 which are positions to be touched by the user during the manual pushing operation, an easy and stable manual pushing operation is possible. Become.

The push detection unit 23a and the pull detection unit 23
Even if b is provided only on one of the backrest 13 and the handle 6 of the seat 12, the seat 1 is normally pushed by hand.
Since one hand rests on the backrest 13 of the second hand and the handle 6 is grasped by the other hand, the direction and size of the manual pushing operation can be easily detected. This makes it possible to handle the case where the handle 6 is pushed by both hands and the case where the backrest 13 is held by both hands and pulled backward, so that the direction and size of the hand pushing operation can be detected more reliably. .

Although the tilt sensor 24 is provided on the side surface of the vehicle body 1 in the above-described embodiment, the cover 11 of the vehicle body 1 is used.
It may be provided inside or on the back side.

[0090]

As described above, according to the present invention, there is provided a running mode in which the user operates the accelerator, and a manual mode in which the user can manually push, and a manual mode selecting means for selecting the manual mode. By providing the control means for controlling the auxiliary power to be generated by the motor when the manual pushing mode is selected by the manual pushing mode selecting means, it is possible to generate the power for assisting the manual pushing operation from the start of the manual pushing traveling, and lightly uphill. ,
It is possible to realize a control that enables safer hand-held driving on a downhill.

Specifically, a hand-pushing detecting means for detecting a hand-pushing direction is provided, and the control means controls so as to generate auxiliary power in accordance with the direction detected by the hand-pushing detecting means. Can be realized.

Further, by providing a hand push detecting means for detecting the hand push direction and size, the control means controls to generate auxiliary power in accordance with the direction and magnitude detected by the hand push detecting means. The effects described above can be realized more efficiently.

Since the hand-push detecting means is provided on the seat back or the handle, either one of them can be held by the hand of the seat and the handle can be gripped by the other hand during normal hand-pushing. The direction and size of the manual pushing operation can be easily detected.
In addition, since it is provided on both sides, it can handle when holding the handle with both hands and pushing it, or when holding the backrest with both hands and pulling it back, so the direction and size of the hand pushing operation can be detected more reliably. can do.

Further, an inclination angle detecting means for detecting the inclination angle of the traveling road is provided, and the control means controls to generate the auxiliary power according to the inclination angle detected by the inclination angle detecting means, so Lighter on the slope and safer downhill driving can be easily achieved.

Specifically, as the auxiliary power corresponding to the inclination angle, a driving force may be applied on an uphill and a braking force may be applied on a downhill.

Further, the control means can flexibly respond to the change of the tilt angle by varying the auxiliary power corresponding to the tilt angle according to the change of the tilt angle.

Specifically, a hand pushing detecting means for detecting the hand pushing direction and a tilt angle detecting means for detecting the tilt angle of the traveling path are provided, and the control means is provided with the hand pushing direction detected by each of the detecting means. By controlling to generate auxiliary power in accordance with the inclination angle, stable, light uphill driving and safer downhill driving can be realized.

Further, a hand pushing detecting means for detecting a hand pushing direction and a size and a tilt angle detecting means for detecting a tilt angle of a traveling path are provided, and the control means is provided with a hand pushing direction detected by each of the detecting means. Also, by controlling so as to generate the auxiliary power according to the size and the inclination angle, it is possible to realize more stable, lighter driving on the uphill and safer hand driving on the downhill.

[Brief description of drawings]

FIG. 1 is a top view of an electric four-wheel vehicle according to an embodiment of the present invention.

FIG. 2 is a side view of the same.

FIG. 3 is likewise a front view.

FIG. 4 is a rear view of the same.

FIG. 5 is a diagram showing the configuration and operation of the tilt sensor according to the present embodiment, and is a state explanatory view when the tilt angle is 0 °.

FIG. 6 is a state explanatory view when the tilt angle is 15 °.

FIG. 7 is an explanatory view of a state when the tilt angle is −15 °.

FIG. 8 is a block configuration diagram showing a control unit of the present embodiment and its peripheral circuits.

FIG. 9 is a main flowchart showing an operation of a main part of this embodiment.

10 is a flowchart showing a control example of a motor drive mode in the flowchart of FIG.

FIG. 11 is a flowchart showing a control example of motor reverse rotation or braking mode.

FIG. 12 is a flowchart showing another example of control in the motor drive mode.

FIG. 13 is a flowchart showing another example of control in the motor reverse rotation or braking mode.

[Explanation of symbols]

1 car body 2 drive wheels (rear wheels) 3 front wheels 6 handles 12 sheets 13 backrest 15 Operation display panel 22 accelerator lever 23a Push detection unit 23b Pull detection unit 24 Tilt sensor 25 Manual push select switch 30 microcomputer 31 motor 32 Motor drive (dynamic braking) circuit 33 Electromagnetic brake 34 Electromagnetic brake drive circuit 35 battery

Claims (9)

[Claims] 1. A hand-operated mode having a travel mode in which the user operates the accelerator and a hand-operated mode in which the user can travel by pushing the hand, and a hand-operated mode selecting means for selecting the hand-operated mode and a hand-operated push by the hand-operated mode selecting means. An electric vehicle comprising control means for controlling the motor to generate auxiliary power when a mode is selected. 2. A hand push detecting means for detecting a hand push direction is provided, and the control means controls to generate auxiliary power according to the direction detected by the hand push detecting means. The electric car described. 3. A hand push detecting means for detecting the hand push direction and magnitude is provided, and the control means controls to generate auxiliary power according to the direction and magnitude detected by the hand push detecting means. The electric vehicle according to claim 1, which is characterized in that. 4. The electric vehicle according to claim 2, wherein the hand-push detection means is provided on a seat back or a handle. 5. A tilt angle detecting means for detecting a tilt angle of a traveling road is provided, and the control means controls to generate auxiliary power according to the tilt angle detected by the tilt angle detecting means. The electric vehicle according to claim 1. 6. The auxiliary power according to the tilt angle,
The electric vehicle according to claim 5, wherein a driving force is applied when the vehicle is traveling uphill and a braking force is applied when the vehicle is traveling downhill. 7. The electric vehicle according to claim 5, wherein the control means varies the auxiliary power according to the inclination angle according to a change in the inclination angle. 8. A hand pushing detecting means for detecting a hand pushing direction and a tilt angle detecting means for detecting a tilt angle of a traveling road are provided, and the control means detects a hand pushing direction and a tilt angle detected by each of the detecting means. The electric vehicle according to claim 1, wherein the electric vehicle is controlled so as to generate auxiliary power according to. 9. A hand-pushing detecting means for detecting a hand-pushing direction and a size, and an inclination-angle detecting means for detecting an inclination angle of a traveling path are provided, and the control means has a hand-pushing direction detected by each of the detecting means. The electric vehicle according to claim 1, wherein the electric vehicle is controlled to generate auxiliary power according to the size and the inclination angle.