JP2015158917A - 手押し車 - Google Patents
手押し車 Download PDFInfo
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- JP2015158917A JP2015158917A JP2015041487A JP2015041487A JP2015158917A JP 2015158917 A JP2015158917 A JP 2015158917A JP 2015041487 A JP2015041487 A JP 2015041487A JP 2015041487 A JP2015041487 A JP 2015041487A JP 2015158917 A JP2015158917 A JP 2015158917A
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- control mode
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- wheel
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- 238000001514 detection method Methods 0.000 claims description 15
- 238000010586 diagram Methods 0.000 description 11
- 230000005484 gravity Effects 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 210000000245 forearm Anatomy 0.000 description 2
- 208000031872 Body Remains Diseases 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/10—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/16—Single-axle vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
- B60L2240/463—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
【解決手段】タイヤ角速度制御器211は、主輪11の回転角速度0の目標値と、主輪用ロータリエンコーダ26から出力される信号の微分値である主輪11の回転角速度と、の差分値を入力する。タイヤ角速度制御器211は、この差分値が0となるような本体部10の傾斜角度を算出する。第2の制御モードでは、この算出した傾斜角度が、目標傾斜角度として、傾斜角センサ20から入力された現時点の本体部10の傾斜角度と、の差分値が本体部傾斜角度制御器212に入力される。よって、仮に坂道における重力トルクが働いて、主輪11が回転したとしても、当該回転角の変化が0となるように主輪11にトルクが印加されるため、同軸二輪車1は、第2の制御モードに切り替わった時点の位置にとどまることになる。
【選択図】 図4
Description
11…主輪
12…支持部
13…補助輪
15…ハンドル
16…グリップ部
20…傾斜角センサ
21…制御部
22…ROM
23…RAM
24…ジャイロセンサ
25…主輪駆動部
26…主輪用ロータリエンコーダ
27…支持部用ロータリエンコーダ
29…手動ブレーキ
211…タイヤ角速度制御器
212…本体部傾斜角度制御器
213…本体部傾斜角速度制御器
Claims (4)
- 車輪と、
該車輪をピッチ方向に回転可能に支持する本体部と、
前記車輪を駆動、制御する駆動制御部と、
前記本体部のピッチ方向の角度変化を検知する角度変化検知手段と、
前記車輪の回転角を検知する回転角検知手段と、
グリップ部が取り付けられたハンドルと、
人体の手または腕が前記グリップ部に接触しているか否かを検知する接触検知手段と、
を備えた手押し車であって、
前記駆動制御部は、前記角度変化検知手段の出力に基づいて、前記本体部の角度変化が0となるように、かつ前記本体部の鉛直方向に対する角度が第1の角度になるように、前記車輪の回転を制御する第1の制御モードと、
前記回転角検知手段の出力に基づいて、前記車輪の回転角の変化が0となるように前記車輪の回転を制御する第2の制御モードと、
を有し、
前記第1の制御モードと前記第2の制御モードとを切り替える切替手段を備え、
前記切替手段は、前記接触検知手段によって人体の手または腕が前記グリップ部に接触していないことを検知した場合に、前記第1の制御モードから前記第2の制御モードへ切り替え、
前記接触検知手段によって人体の手または腕が前記グリップ部に接触していることを検知し、さらに前記本体部の傾斜角が所定範囲内にある場合に前記第2の制御モードから前記第1の制御モードへ切り替えることを特徴とする手押し車。 - 前記切替手段は、前記接触検知手段によって人体の手または腕が前記グリップ部に接触していることを検知した場合に、前記第2の制御モードから前記第1の制御モードへ切り替えることを特徴とする請求項1に記載の手押し車。
- 地面斜度を検知する斜度検知手段を備え、
前記第2の制御モードにおいて、さらに、前記斜度検知手段により検知した地面斜度による重力トルクを補償するトルクを印加する請求項1または請求項2に記載の手押し車。 - 地面斜度を検知する斜度検知手段を備え、
前記第2の制御モードにおいて、さらに、前記斜度検知手段により検知した地面斜度による重力トルクを補償する前記本体部の鉛直方向に対する角度を算出し、前記第1の角度を補正することを特徴とする請求項1または請求項2に記載の手押し車。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015041487A JP5958581B2 (ja) | 2012-09-18 | 2015-03-03 | 手押し車 |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012204012 | 2012-09-18 | ||
JP2012204012 | 2012-09-18 | ||
JP2015041487A JP5958581B2 (ja) | 2012-09-18 | 2015-03-03 | 手押し車 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014536646A Division JP5708894B2 (ja) | 2012-09-18 | 2013-07-19 | 手押し車 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015158917A true JP2015158917A (ja) | 2015-09-03 |
JP5958581B2 JP5958581B2 (ja) | 2016-08-02 |
Family
ID=50341022
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014536646A Expired - Fee Related JP5708894B2 (ja) | 2012-09-18 | 2013-07-19 | 手押し車 |
JP2015041487A Expired - Fee Related JP5958581B2 (ja) | 2012-09-18 | 2015-03-03 | 手押し車 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014536646A Expired - Fee Related JP5708894B2 (ja) | 2012-09-18 | 2013-07-19 | 手押し車 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9522611B2 (ja) |
JP (2) | JP5708894B2 (ja) |
DE (1) | DE112013004517T5 (ja) |
WO (1) | WO2014045696A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015098722A1 (ja) * | 2013-12-25 | 2015-07-02 | 株式会社村田製作所 | 手押し車 |
JP6319444B2 (ja) * | 2014-07-23 | 2018-05-09 | 株式会社村田製作所 | 手押し車 |
WO2016035683A1 (ja) * | 2014-09-02 | 2016-03-10 | 株式会社村田製作所 | 手押し車 |
CN113968142B (zh) * | 2020-07-22 | 2024-03-15 | 北京新能源汽车股份有限公司 | 一种能量回收控制方法、装置及汽车 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0958462A (ja) * | 1995-08-28 | 1997-03-04 | Matsushita Electric Works Ltd | 手押し車 |
JP2007336785A (ja) * | 2006-06-19 | 2007-12-27 | Toyota Motor Corp | 走行装置及びその制御方法 |
JP2011011577A (ja) * | 2009-06-30 | 2011-01-20 | Icom Inc | 電動式手押し車 |
JP2011065231A (ja) * | 2009-09-15 | 2011-03-31 | Toyota Motor Corp | 移動体 |
WO2012114597A1 (ja) * | 2011-02-23 | 2012-08-30 | 株式会社村田製作所 | 歩行補助車 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2177425A4 (en) * | 2007-08-10 | 2014-06-18 | Equos Res Co Ltd | VEHICLE |
JP5115133B2 (ja) * | 2007-10-12 | 2013-01-09 | 株式会社エクォス・リサーチ | 車両 |
JP5208906B2 (ja) * | 2009-11-13 | 2013-06-12 | 本田技研工業株式会社 | 倒立振子型車両 |
JP2011168236A (ja) * | 2010-02-22 | 2011-09-01 | Toyota Motor Corp | 移動体 |
JP2012126224A (ja) * | 2010-12-15 | 2012-07-05 | Bosch Corp | 倒立振子型移動体 |
-
2013
- 2013-07-19 DE DE112013004517.6T patent/DE112013004517T5/de not_active Withdrawn
- 2013-07-19 JP JP2014536646A patent/JP5708894B2/ja not_active Expired - Fee Related
- 2013-07-19 WO PCT/JP2013/069588 patent/WO2014045696A1/ja active Application Filing
-
2015
- 2015-03-03 JP JP2015041487A patent/JP5958581B2/ja not_active Expired - Fee Related
- 2015-03-11 US US14/644,285 patent/US9522611B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0958462A (ja) * | 1995-08-28 | 1997-03-04 | Matsushita Electric Works Ltd | 手押し車 |
JP2007336785A (ja) * | 2006-06-19 | 2007-12-27 | Toyota Motor Corp | 走行装置及びその制御方法 |
JP2011011577A (ja) * | 2009-06-30 | 2011-01-20 | Icom Inc | 電動式手押し車 |
JP2011065231A (ja) * | 2009-09-15 | 2011-03-31 | Toyota Motor Corp | 移動体 |
WO2012114597A1 (ja) * | 2011-02-23 | 2012-08-30 | 株式会社村田製作所 | 歩行補助車 |
Also Published As
Publication number | Publication date |
---|---|
US20150183340A1 (en) | 2015-07-02 |
JPWO2014045696A1 (ja) | 2016-08-18 |
US9522611B2 (en) | 2016-12-20 |
WO2014045696A1 (ja) | 2014-03-27 |
JP5708894B2 (ja) | 2015-04-30 |
DE112013004517T5 (de) | 2015-06-03 |
JP5958581B2 (ja) | 2016-08-02 |
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