JP2008168869A - 乗用型芝刈車両 - Google Patents
乗用型芝刈車両 Download PDFInfo
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- B60L7/00—Electrodynamic brake systems for vehicles in general
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- B60L2220/00—Electrical machine types; Structures or applications thereof
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- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
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- B60L2220/00—Electrical machine types; Structures or applications thereof
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- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/50—Structural details of electrical machines
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- B60L2240/00—Control parameters of input or output; Target parameters
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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- B60L2240/423—Torque
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- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
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Abstract
【解決手段】乗用型芝刈車両10において、車輪40,42には、それぞれ車軸電動回転機50,52が接続され、キャスタ輪44,46には、それぞれ操向輪用電動回転機54,56が接続される。制御部100は、2レバー式操作子70の操作量に応じた旋回指示入力を取得し、その指示内容から左右車輪の速度指示を取得し、取得された左右車輪速度から旋回中心位置を求めて取得し、旋回中心位置と左右車輪速度とに基づいてキャスタ輪速度を求めて取得し、左右車輪速度とキャスタ輪速度とに基づいて各電動回転機に対する制御信号を生成し車輪40,42とキャスタ輪44,46とを旋回中心位置の周りに旋回させる。
【選択図】図8
Description
ぞれ独立に走行駆動される。これにより、主駆動輪のみによって走行駆動される場合に比較し、十分な走行駆動力を有することができる。
Claims (9)
- それぞれ独立に走行駆動される主駆動輪である左右車輪と、
左右車輪の駆動とは独立に走行駆動される操向輪である少なくとも1つのキャスタ輪と、
芝刈のために駆動される芝刈用ブレードまたは芝刈用リールと、
を備えることを特徴とする乗用型芝刈車両。 - 請求項1に記載の乗用型芝刈車両において、
旋回操作子による旋回指示入力に応じ、左右車輪の各走行駆動とキャスタ輪の走行駆動とを制御する制御部を備え、旋回指示に対応する旋回中心位置の周りに左右車輪とキャスタ輪とを旋回させることを特徴とする乗用型芝刈車両。 - 請求項2に記載の乗用型芝刈車両において、
旋回操作子は、ステアリング角度を旋回指示入力とするハンドル式あるいはモノレバー式のステアリング操作子であり、
制御部は、
ステアリング操作子の旋回指示入力に対応して、旋回中心位置を求め、旋回中心位置に対応する左右車輪のそれぞれの走行速度である左右車輪速度を求めて取得する手段と、
取得された旋回中心位置と左右車輪速度とに基づいてキャスタ輪の走行速度であるキャスタ輪速度を求めて取得する手段と、
取得された左右車輪速度に応じて左右車輪を走行駆動し、取得されたキャスタ輪速度に応じてキャスタ輪を走行駆動し、それぞれを旋回中心位置の周りに旋回させる駆動手段と、
を含むことを特徴とする乗用型芝刈車両。 - 請求項2に記載の乗用型芝刈車両において、
旋回操作子は、左右車輪速度を旋回指示入力とする2レバー式の操作子であり、
制御部は、
2レバー式操作子の旋回指示入力に対応して、旋回中心位置を求め、旋回中心位置に対応する左右車輪のそれぞれの走行速度である左右車輪速度を求めて取得する手段と、
取得された旋回中心位置と左右車輪速度とに基づいてキャスタ輪の走行速度であるキャスタ輪速度を求めて取得する手段と、
指示入力された左右車輪速度に応じて左右車輪を走行駆動し、取得されたキャスタ輪速度に応じてキャスタ輪を走行駆動して、それぞれを旋回中心位置の周りに旋回させる駆動手段と、
を含むことを特徴とする乗用型芝刈車両。 - 請求項3または請求項4に記載の乗用型芝刈車両において、
制御部は、
左右車輪速度に基づいて、左右車輪の中間位置における平均走行速度を求めて取得する手段を含み、
取得された平均走行速度で車両を走行させながら、取得された旋回中心位置の周りに左右車輪とキャスタ輪とを旋回させることを特徴とする乗用型芝刈車両。 - 請求項3または請求項4に記載の乗用型芝刈車両において、
制御部は、
左右車輪速度について、一方側の車輪の速度がゼロである場合は、一方側の車輪の接地位置を旋回中心位置として、その周りに他方側の車輪とキャスタ輪とを旋回させることを特徴とする乗用型芝刈車両。 - 請求項3または請求項4に記載の乗用型芝刈車両において、
制御部は、
左右車輪速度について、一方側の車輪速度と他方側の車輪速度とが、互いに逆方向である場合は、左右車輪の間の位置を旋回中心位置として、その周りに左右車輪とキャスタ輪とを旋回させることを特徴とする乗用型芝刈車両。 - 請求項1から請求項7のいずれか1に記載の乗用型芝刈車両において、
キャスタ輪は、操向角度について自由回転可能であって、左右車輪の走行に対応して操向角度が定まることを特徴とする乗用型芝刈車両。 - 請求項1から請求項8のいずれか1に記載の乗用型芝刈車両において、
左右車輪を走行駆動する車軸電動回転機と、
キャスタ輪を走行駆動する操向輪用電動回転機と、
を備えることを特徴とする乗用型芝刈車両。
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007006219A JP2008168869A (ja) | 2007-01-15 | 2007-01-15 | 乗用型芝刈車両 |
DE602008001256T DE602008001256D1 (de) | 2007-01-15 | 2008-01-14 | Rasenmäher |
EP10001421A EP2186392B1 (en) | 2007-01-15 | 2008-01-14 | Riding lawn mower |
EP08000570A EP1943894B1 (en) | 2007-01-15 | 2008-01-14 | Riding lawn mower |
US12/014,579 US8544570B2 (en) | 2007-01-15 | 2008-01-15 | Riding lawn mower |
US13/338,464 US8657041B2 (en) | 2007-01-15 | 2011-12-28 | Control system for a lawnmower vehicle having a plurality of electric motors |
US13/414,984 US20120159916A1 (en) | 2007-01-15 | 2012-03-08 | Control sysytem for motor-driven lawnmower vehicle |
US14/012,543 US9420740B2 (en) | 2007-01-15 | 2013-08-28 | Riding lawn mower |
US14/868,854 US20160029555A1 (en) | 2007-01-15 | 2015-09-29 | Control sysytem for motor-driven lawnmower vehicle |
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JP2007006219A JP2008168869A (ja) | 2007-01-15 | 2007-01-15 | 乗用型芝刈車両 |
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EP2218630A2 (en) | 2009-02-13 | 2010-08-18 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Riding work vehicle |
WO2011002003A1 (ja) * | 2009-07-01 | 2011-01-06 | 株式会社Ecomo | 電気自動車の車両構造 |
JP2012179960A (ja) * | 2011-02-28 | 2012-09-20 | Yanmar Co Ltd | 作業車両 |
JP2013001228A (ja) * | 2011-06-15 | 2013-01-07 | Kubota Corp | 作業車 |
JP2013001230A (ja) * | 2011-06-15 | 2013-01-07 | Kubota Corp | 自走車両 |
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JP2017043317A (ja) * | 2015-08-28 | 2017-03-02 | 株式会社クボタ | 電動作業車両 |
JP2017088096A (ja) * | 2015-11-16 | 2017-05-25 | 株式会社クボタ | 電動作業車両 |
JP2017163872A (ja) * | 2016-03-15 | 2017-09-21 | 本田技研工業株式会社 | 芝刈機 |
JP2017163871A (ja) * | 2016-03-15 | 2017-09-21 | 本田技研工業株式会社 | 芝刈機 |
US10029551B2 (en) | 2015-11-16 | 2018-07-24 | Kubota Corporation | Electric work vehicle, battery pack for electric work vehicle and contactless charging system |
US10538166B2 (en) | 2016-03-29 | 2020-01-21 | Kubota Corporation | Portable charger device, contactless charger system for electric work vehicle and electric grass mower machine |
KR20210065706A (ko) * | 2019-11-27 | 2021-06-04 | 김범술 | 제초기 |
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JP2012179960A (ja) * | 2011-02-28 | 2012-09-20 | Yanmar Co Ltd | 作業車両 |
US10293853B2 (en) | 2011-06-15 | 2019-05-21 | Kubota Corporation | Vehicle having independently driven and controlled right and left drive wheels |
JP2013001230A (ja) * | 2011-06-15 | 2013-01-07 | Kubota Corp | 自走車両 |
US8838311B2 (en) | 2011-06-15 | 2014-09-16 | Kubota Corporation | Vehicle having independently driven and controlled right and left drive wheels |
US9656687B2 (en) | 2011-06-15 | 2017-05-23 | Kubota Corporation | Vehicle having independently driven and controlled right and left drive wheels |
JP2013001228A (ja) * | 2011-06-15 | 2013-01-07 | Kubota Corp | 作業車 |
JP2015024735A (ja) * | 2013-07-25 | 2015-02-05 | ホシザキ電機株式会社 | 電動式移動車 |
JP2017043317A (ja) * | 2015-08-28 | 2017-03-02 | 株式会社クボタ | 電動作業車両 |
US10112469B2 (en) | 2015-08-28 | 2018-10-30 | Kubota Corporation | Electric work vehicle |
US10029551B2 (en) | 2015-11-16 | 2018-07-24 | Kubota Corporation | Electric work vehicle, battery pack for electric work vehicle and contactless charging system |
JP2017088096A (ja) * | 2015-11-16 | 2017-05-25 | 株式会社クボタ | 電動作業車両 |
US10493835B2 (en) | 2015-11-16 | 2019-12-03 | Kubota Corporation | Electric work vehicle, battery pack for electric work vehicle and contactless charging system |
US11396225B2 (en) | 2015-11-16 | 2022-07-26 | Kubota Corporation | Electric work vehicle, battery pack for electric work vehicle and contactless charging system |
JP2017163871A (ja) * | 2016-03-15 | 2017-09-21 | 本田技研工業株式会社 | 芝刈機 |
JP2017163872A (ja) * | 2016-03-15 | 2017-09-21 | 本田技研工業株式会社 | 芝刈機 |
US10538166B2 (en) | 2016-03-29 | 2020-01-21 | Kubota Corporation | Portable charger device, contactless charger system for electric work vehicle and electric grass mower machine |
KR20210065706A (ko) * | 2019-11-27 | 2021-06-04 | 김범술 | 제초기 |
KR102444231B1 (ko) * | 2019-11-27 | 2022-09-19 | 김범술 | 제초기 |
CN114275037A (zh) * | 2022-01-07 | 2022-04-05 | 江铃汽车股份有限公司 | 一种纯电动全驱汽车转向辅助扭矩控制方法 |
CN114275037B (zh) * | 2022-01-07 | 2023-03-21 | 江铃汽车股份有限公司 | 一种纯电动全驱汽车转向辅助扭矩控制方法 |
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