JP2017226289A - Electric motor car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric motor car capable of suppressing impairing usability when a forward direction and a backward direction of a direct advancing direction is switched the other way around.SOLUTION: An electric motor car having multiple kinds of use forms with a forward direction and a backward direction of a direct advancing direction switched the other way around, comprises: motors 25 in a pair for rotationally driving respective driven wheels 11 arranged vehicle-width-wise spaced apart in a pair; a throttle 21 for an operation signal Mt regarding a moving speed; a turn operation amount sensor 22 for inputting a detection signal Mh, indicating an amount that a handle bar held by a user is turned; a use form selection switch 23 for inputting an operation signal Mu regarding selection of the kinds of use forms; a forward/backward advancing direction selection switch 24 for inputting an operation signal Ms regarding selection of a direct advancing direction corresponding to the use form; and an ECU20 for individually controlling rotational directions and rotational speeds of the respective motors 25, according to the detection signal Mh, and the operation signals Mt, Mu, Ms.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an electric vehicle having a plurality of types of usage modes in which forward and reverse in a straight direction are interchanged with each other.

  Conventionally, as an electric vehicle, for example, an electric wheelchair combined with an electric vehicle described in Patent Document 1 is known. The electric wheelchair combined with an electric vehicle includes an electric wheelchair portion having drive wheels on the left and right sides of a frame surrounding the seat, and a steering unit having a steering wheel attached to the front end of the electric wheelchair and steerable by a handle. In addition, the electric wheelchair combined with an electric vehicle inputs a steering angle sensor for detecting a steering angle of a steered wheel (a steering wheel), a throttle for inputting an operation signal for moving speed, and an operation signal for intention to move backward. And a pair of motors that respectively drive both drive wheels. The electric wheelchair also serves as an electric vehicle according to the control means according to the detection signal input from the steering angle sensor, the operation signal from the throttle, and the operation signal from the reverse button. Are controlled individually.

  Specifically, when the reverse button is not pressed and the steered wheels are directed straight, the control means determines the rotation ratio of the left and right motors as 50:50. Alternatively, when the steered wheel is cut in either the left or right direction, the control means turns left and right in proportion to the radius from the turning center so as to turn at a radius corresponding to the direction and angle of the steering angle. Obtain the motor rotation ratio. The control means then rotates the left and right motors so that the ratio of the rotation speeds of the left and right motors is the rotation ratio described above and the average of both is the rotation speed according to the operation signal (throttle opening) from the throttle. The respective speeds are determined, and the left and right motors are rotated (forward rotation) at the determined rotational speed.

  On the other hand, when the reverse button is pressed and the steered wheel is directed straight, the control means determines the rotation ratio of the left and right motors to be 50:50. Alternatively, when the steered wheel is cut in either the left or right direction, the control means turns left and right in proportion to the radius from the turning center so as to turn at a radius corresponding to the direction and angle of the steering angle. Obtain the motor rotation ratio. Then, the control means determines the rotation speeds of the left and right motors so that the ratio of the rotation speeds of the left and right motors is the aforementioned rotation ratio and the average of both is a predetermined low speed rotation speed. The left and right motors are rotated (reversed) at the rotation speed.

JP 2014-12499 A

  By the way, in patent document 1, the rotation direction and rotation speed of each motor are individually controlled on the assumption that the forward movement and the reverse movement in the straight direction are clearly distinguished. On the other hand, there is also known an electric vehicle having a plurality of types of usage modes in which forward and reverse in the straight direction are interchanged. If the control of Patent Document 1 is applied to such an electric vehicle as it is, for example, when the original reverse movement is switched to the forward movement and the movement is restricted, the usability is impaired.

  The objective of this invention is providing the electric vehicle which can suppress that a usability is impaired when exchanging and moving forward and reverse in the straight direction.

  An electric vehicle that solves the above problems is an electric vehicle having a plurality of types of usage in which forward and reverse in the straight direction are interchanged with each other, and a pair of drive wheels disposed at intervals in the vehicle width direction, A pair of motors that respectively rotate and drive both drive wheels, a handle that can be rotated by a user, a moving speed operation input unit that inputs an operation signal about the moving speed, and rotation of the handle A rotation operation amount sensor for inputting a detection signal representing an operation amount, a use form selection means for inputting an operation signal for selecting the type of use form, and the straight traveling direction corresponding to the use form Forward / reverse selection means for inputting an operation signal for selection of forward and reverse, an operation signal from the moving speed operation input unit, a detection signal from the rotation operation amount sensor, Operation signal from the use mode selection means, and and a control unit for individually controlling the rotational direction and the rotational speed of the respective motors in response to the operation signal from the forward-backward selecting means.

  According to this configuration, in any of the plurality of types of usage, the control unit causes the operation signal from the movement speed operation input unit, the detection signal from the rotation operation amount sensor, and the forward / The rotation direction and rotation speed of each motor are individually controlled in accordance with an operation signal from the reverse selection means. Accordingly, in any of the plurality of types of usage, the rotational speed of each motor, that is, the rotational speed of each drive wheel is individually controlled in accordance with an operation signal from the moving speed operation input unit at the time of forward movement, for example. it can. Thereby, the moving speed of the said electric vehicle at the time of advance can be ensured suitably, and usability can be improved more.

  Regarding the electric vehicle, the plurality of types of usage include a sitting state in which a user sits on a seat and grips the handle, and a loading platform state in which the user descends from the seat to the ground and grips the handle. preferable.

  According to this configuration, the user can use in the sitting state where the user sits on the seat and holds the handle. In addition, the user can use the vehicle as a cart that loads and transports luggage in the cargo bed state where the user gets down from the seat to the ground and holds the handle.

  In the electric vehicle, it is preferable that the movement speed operation input unit is a throttle rotatably provided on the handle, and inputs an operation signal regarding the movement speed according to a rotation angle.

  According to this configuration, by adjusting the rotation angle of the throttle provided on the handle, the control unit can easily adjust the rotation speed of each motor, and thus the movement speed of the electric vehicle, Can be improved.

In the electric vehicle, it is preferable that the movement speed operation input unit is a lever that is tiltable in the straight traveling direction, and inputs an operation signal regarding the movement speed according to an inclination angle.
According to this configuration, by adjusting the inclination angle of the lever, the control unit can easily adjust the rotation speed of each motor, and thus the movement speed of the electric vehicle, and the operability can be further improved.

  INDUSTRIAL APPLICABILITY The present invention has an effect that it is possible to prevent usability from being impaired when moving by moving forward and backward in the straight direction.

The perspective view which shows the structure about one Embodiment of an electric vehicle. The side view which shows the structure and user's attitude | position in ride mode about the electric vehicle of the embodiment. The side view which shows the structure in a cart mode and the attitude | position of a user about the electric vehicle of the embodiment. The block diagram which shows the electric constitution about the electric vehicle of the embodiment. (A), (b) is a schematic diagram explaining the relationship of the advancing direction and rotation ratio in a ride mode about the electric vehicle of the embodiment. (A), (b) is a schematic diagram explaining the relationship between the advancing direction and rotation ratio in cart mode about the electric vehicle of the embodiment. The flowchart which shows the control aspect about the electric vehicle of the embodiment. The front view which shows the structure about the deformation | transformation form of an electric vehicle.

Hereinafter, an embodiment of an electric vehicle will be described.
As shown in FIG. 1, the electric vehicle 10 includes a drive wheel 11 and a driven wheel 12 that are arranged at intervals in the straight traveling direction. The drive wheels 11 are provided as a pair symmetrically (laterally symmetric) in the direction with a space in the vehicle width direction. The electric vehicle 10 includes a frame 13 that is disposed between the drive wheels 11 and the driven wheels 12 and rotatably supports the drive wheels 11 and the driven wheels 12. The frame 13 can turn in the straight direction by rotating both the drive wheels 11 at different rotational speeds.

  The frame 13 has a substantially cylindrical holder portion 13 a extending in the vehicle width direction along the axial direction of the drive wheels 11. Further, the frame 13 has a substantially cross-plate-shaped luggage storage portion 13b extending from the holder portion 13a in the rectilinear direction approaching the driven wheel 12 substantially parallel to the ground. Each of the pair of protrusions in the vehicle width direction forming the luggage storage portion 13b forms a footrest portion 13d.

  Furthermore, the frame 13 has a support portion 13c that is connected to the tip of the luggage storage portion 13b and curves upward as it goes in the straight direction away from the holder portion 13a. The frame 13 rotatably supports the driven wheel 12 via a bearing member 14 provided at the distal end portion of the support portion 13c, and the bearing member 14 rotates around an axis extending in the vertical direction, so that the straight direction Can be turned.

  The electric vehicle 10 includes an arm portion 16 that is sandwiched between the drive wheels 11 and the holder portion 13a in the vehicle width direction so as to be rotatable around an axis extending in the direction. Both arm portions 16 constitute a stay 15. Both arm parts 16 incline so that it may mutually approach in the vehicle width direction as it goes upwards. A pair of handle stays 17 are provided at the upper ends of both arm portions 16 around an axis extending between the two arm portions 16 in the vehicle width direction and symmetrically (laterally symmetrical) in the direction in which the pair of handle stays 17 extend in the vehicle width direction. It is rotatably supported by. Both the handle stays 17 are inclined so as to approach each other in the vehicle width direction as they go upward, and their upper ends are connected in the vehicle width direction. That is, both handle stays 17 have a substantially V-shape with the upper end closed as a whole.

  A handle 18 is coupled to the upper end portions of the handle stays 17 so as to be rotatable around an axis substantially along the extending direction thereof. The handle 18 includes a substantially cylindrical shaft portion 18a having a center line extending in the axial direction, and a pair of substantially columnar grip portions 18b protruding from the upper end of the shaft portion 18a in the opposite vehicle width direction. Have. In addition, a substantially cylindrical throttle 21 as a moving speed operation input unit is mounted on one side (left side in the figure) of the gripping part 18b so as to be rotatable about an axis along the center line of the gripping part 18b. The throttle 21 is configured to be held at a predetermined initial position, and inputs an operation signal regarding a moving speed in accordance with a rotation angle from the initial position.

A substantially saddle-shaped seat 19 is supported at the upper ends of both arm portions 16 so as to be rotatable around an axis extending in the vehicle width direction while being sandwiched between both handle stays 17.
Here, the electric vehicle 10 can be switched to various types of usage with the posture according to the application by changing at least one angle of the frame 13, the handle stay 17 and the seat 19 with respect to the stay 15. It is. Hereinafter, the straight traveling direction in which the driving wheel 11 precedes the driven wheel 12 and the straight traveling direction following the driven wheel 12 will be described as “forward straight traveling direction” and “reverse straight traveling direction”, respectively.

  As shown in FIG. 2, in a ride mode (sitting state) as one type of usage, the stay 15 is inclined so as to go in the reverse straight direction as it goes upward, and the handle stay 17 goes upward. And the seat 19 extends in the reverse straight direction. In this ride mode, the user U is seated on the seat 19 in the forward straight direction and grips the handle 18, and has the posture in which the soles of both feet sandwiching the stay 15 in the vehicle width direction are placed on the both foot rests 13d. take. Thereby, the user U can move by electric power while sitting on the electric vehicle 10. Needless to say, the stay 15 is positioned on the side preceding the luggage storage portion 13b in the straight traveling direction (forward straight traveling direction) in the ride mode.

  As shown in FIG. 3, in the cart mode (loading bed state) as another type of usage, the stay 15 is inclined more gently than the ride mode, and the seat 19 is directed substantially downward along the stay 15. It extends. In the cart mode, the user U stands in the reverse linear direction at a position closer to the forward linear direction than the electric vehicle 10 and takes the posture of gripping the handle 18. As a result, the user U can move electrically with the load B placed on the load storage 13b. Needless to say, the straight traveling direction (reverse straight traveling direction) in the cart mode is set to be opposite to the straight traveling direction (forward straight traveling direction) in the ride mode.

Next, the electrical configuration of the present embodiment will be described.
As shown in FIG. 4, the electric vehicle 10 includes an ECU (electronic control unit) 20 as a control unit installed at an appropriate location. The ECU 20 is electrically connected to the throttle 21 and inputs the aforementioned operation signal Mt of the throttle 21. Further, the ECU 20 is electrically connected to a rotation operation amount sensor 22 installed at an appropriate place (for example, the shaft portion 18a) near the handle 18 or the vicinity thereof. The rotational operation amount sensor 22 is for detecting the rotational operation amount of the handle 18 and inputs a detection signal Mh indicating the rotational operation amount of the handle 18 to the ECU 20. Furthermore, the ECU 20 is electrically connected to a usage pattern selection switch 23 serving as a usage pattern selection unit installed at an appropriate location (for example, the gripping portion 18b) of the handle 18. The usage pattern selection switch 23 is used to input an operation signal Mu for selecting the type of usage pattern (ride mode or cart mode), and inputs the operation signal Mu to the ECU 20. The ECU 20 is electrically connected to a forward / reverse selection switch 24 as forward / reverse selection means installed at an appropriate location (for example, the gripping portion 18b) of the handle 18. The forward / reverse selection switch 24 is used to input an operation signal Ms for selection of forward and reverse in the straight direction corresponding to the usage pattern, and inputs the operation signal Ms to the ECU 20.

  Further, the ECU 20 is electrically connected to a pair of motors 25 housed in the holder portion 13a and rotationally driving the drive wheels 11, and individually controls the rotation direction and the rotation speed of each motor 25.

  In other words, the ECU 20 inputs the operation signal Mu from the usage pattern selection switch 23, and determines a straight traveling direction corresponding to forward and backward travel according to the type of usage pattern. Specifically, for example, the ECU 20 matches forward and reverse in the ride mode to the forward straight direction and the reverse straight direction, respectively. Alternatively, the ECU 20 makes the forward and backward travels in the cart mode coincide with the reverse straight traveling direction and the forward straight traveling direction, respectively.

  In addition, the ECU 20 inputs the operation signal Ms from the forward / reverse selection switch 24 to determine the rotation direction of the motors 25 so that the electric vehicle 10 moves forward or backward in the corresponding usage pattern. Therefore, for example, in the case of the same type of usage, the rotation direction of both motors 25 determined when the forward movement is selected and the rotation direction of both motors 25 determined when the reverse movement is selected. They are opposite to each other.

  Further, the ECU 20 inputs the detection signal Mh from the rotation operation amount sensor 22 to determine the rotation ratio of both the motors 25. Specifically, the ECU 20 determines that the rotation ratio of both the motors 25 is 50:50 when the handle 18 is directed straight. Alternatively, when the handle 18 is rotated in either the left or right direction, the ECU 20 sets the radius from the turning center so as to turn at a radius corresponding to the turning operation direction and the turning operation amount. The rotation ratio of both motors 25 is obtained so as to be proportional.

  In addition, the ECU 20 inputs the operation signal Mt from the throttle 21, so that the ratio of the rotation speeds of both the motors 25 becomes the rotation ratio described above, and the average of both is the rotation speed corresponding to the operation signal Mt from the throttle. Thus, the rotational speeds of both motors 25 are determined. Then, the ECU 20 rotates both the motors 25 together with the drive wheels 11 at the determined rotation speed. Needless to say, in the usage pattern selected by the usage pattern selection switch 23, the rotational directions of the motors 25 and the like match the moving direction of the electric vehicle 10 corresponding to the forward or reverse movement selected by the forward / reverse selection switch 24. .

  Next, the relationship between the traveling direction and the rotation ratio of both drive wheels 11 (motor 25) in each usage form (ride mode or cart mode) of the electric vehicle 10 will be described more specifically. In addition, the left-right direction is demonstrated as the left-right direction seen from the user U.

  First, the case where the electric vehicle 10 moves forward in the ride mode will be described. It is assumed that the rotation directions of both the drive wheels 11 and the driven wheels 12 coincide with the rotation directions when moving forward in the ride mode.

  As shown in the center of FIG. 5 (a), when the handle 18 is directed in the straight direction (forward straight direction), both drive wheels 11 (motor 25) rotate at a rotation ratio of 50:50 and The driving wheel 12 is driven and rotated in a posture that follows the bearing member 14 in the straight traveling direction. Thereby, the electric vehicle 10 goes straight.

  Further, as shown on the left side of FIG. 5A, when the handle 18 is rotated to the left, the driving wheel 11 (motor) on the right side of the rotational speed of the driving wheel 11 (motor 25) on the left side. The drive wheels 11 rotate at a rotation ratio at which the rotational speed of 25) is larger, and the driven wheels 12 are driven to rotate in a posture that follows the bearing member 14 in the turning direction. As a result, the electric vehicle 10 moves forward counterclockwise. In particular, when the rotational speed of the left drive wheel 11 (motor 25) is zero, the electric vehicle 10 turns on the spot (forward left turn) using the drive wheel 11 as a rotation axis (turning axis).

  Further, as shown on the right side of FIG. 5 (a), when the handle 18 is rotated to the right, the drive wheel 11 (motor) on the left side of the rotational speed of the right drive wheel 11 (motor 25). The drive wheels 11 rotate at a rotation ratio at which the rotational speed of 25) is larger, and the driven wheels 12 are driven to rotate in a posture that follows the bearing member 14 in the turning direction. As a result, the electric vehicle 10 moves forward clockwise. In particular, when the rotational speed of the right drive wheel 11 (motor 25) is zero, the electric vehicle 10 turns on the spot (forward right turn) using the drive wheel 11 as a rotation axis.

  Next, the case where the electric vehicle 10 moves backward in the ride mode will be described. The rotation directions of both the drive wheels 11 and the driven wheels 12 are the same as the rotation directions when the vehicle travels backward in the ride mode.

  As shown in the center of FIG. 5 (b), when the handle 18 is directed in the straight direction (forward straight direction), both drive wheels 11 (motor 25) rotate at a rotation ratio of 50:50 and The driving wheel 12 is driven and rotated in a posture that follows the bearing member 14 in the straight traveling direction. Thereby, the electric vehicle 10 goes straight (reverse).

  Further, as shown on the left side of FIG. 5B, when the handle 18 is rotated to the left, the driving wheel 11 (motor) on the right side of the rotation speed of the driving wheel 11 (motor 25) on the left side. The drive wheels 11 rotate at a rotation ratio at which the rotational speed of 25) is larger, and the driven wheels 12 are driven to rotate in a posture that follows the bearing member 14 in the turning direction. As a result, the electric vehicle 10 rotates backward counterclockwise. In particular, when the rotational speed of the left drive wheel 11 (motor 25) is zero, the electric vehicle 10 turns on the spot (reverse left turn) using the drive wheel 11 as a rotation axis.

  Further, as shown on the right side of FIG. 5B, when the handle 18 is rotated in the right direction, the driving wheel 11 (motor) on the left side of the rotational speed of the right driving wheel 11 (motor 25). The drive wheels 11 rotate at a rotation ratio at which the rotational speed of 25) is larger, and the driven wheels 12 are driven to rotate in a posture that follows the bearing member 14 in the turning direction. As a result, the electric vehicle 10 turns clockwise. In particular, when the rotational speed of the right drive wheel 11 (motor 25) is zero, the electric vehicle 10 turns on the spot (reverse right turn) using the drive wheel 11 as a rotation axis.

  Next, the case where the electric vehicle 10 moves forward in the cart mode will be described. It is assumed that the rotation directions of both the drive wheels 11 and the driven wheels 12 coincide with the rotation directions when moving forward in the cart mode.

  As shown in the center of FIG. 6 (a), when the handle 18 faces the straight direction (reverse straight direction), both drive wheels 11 (motor 25) rotate at a rotation ratio of 50:50 and The driving wheel 12 is driven and rotated in a posture that follows the bearing member 14 in the straight traveling direction. Thereby, the electric vehicle 10 goes straight.

  Further, as shown on the left side of FIG. 6A, when the handle 18 is rotated to the left, the driving wheel 11 (motor) on the right side of the rotational speed of the driving wheel 11 (motor 25) on the left side. The drive wheels 11 rotate at a rotation ratio at which the rotational speed of 25) is larger, and the driven wheels 12 are driven to rotate in a posture that follows the bearing member 14 in the turning direction. As a result, the electric vehicle 10 moves forward counterclockwise. In particular, when the rotational speed of the left drive wheel 11 (motor 25) is zero, the electric vehicle 10 turns on the spot (forward left turn) with the drive wheel 11 as a rotation axis.

  Further, as shown on the right side of FIG. 6A, when the handle 18 is rotated in the right direction, the drive wheel 11 (motor) on the left side of the rotational speed of the right drive wheel 11 (motor 25). The drive wheels 11 rotate at a rotation ratio at which the rotational speed of 25) is larger, and the driven wheels 12 are driven to rotate in a posture that follows the bearing member 14 in the turning direction. As a result, the electric vehicle 10 moves forward clockwise. In particular, when the rotational speed of the right drive wheel 11 (motor 25) is zero, the electric vehicle 10 turns on the spot (forward right turn) using the drive wheel 11 as a rotation axis.

  Next, the case where the electric vehicle 10 moves backward in the cart mode will be described. It is assumed that the rotation directions of both the drive wheels 11 and the driven wheels 12 coincide with the rotation directions when the vehicle reverses in the cart mode.

  As shown in the center of FIG. 6B, when the handle 18 is directed in the straight direction (reverse straight direction), the drive wheels 11 (motor 25) rotate at a rotation ratio of 50:50 and The driving wheel 12 is driven and rotated in a posture that follows the bearing member 14 in the straight traveling direction. Thereby, the electric vehicle 10 goes straight (reverse).

  In addition, as shown on the left side of FIG. 6B, when the handle 18 is rotated to the left, the drive wheel 11 (motor) on the left side of the rotational speed of the right drive wheel 11 (motor 25). The drive wheels 11 rotate at a rotation ratio at which the rotational speed of 25) is larger, and the driven wheels 12 are driven to rotate in a posture that follows the bearing member 14 in the turning direction. As a result, the electric vehicle 10 rotates backward counterclockwise. In particular, when the rotational speed of the right drive wheel 11 (motor 25) is zero, the electric vehicle 10 turns on the spot (reverse left turn) with the drive wheel 11 as a rotation axis.

  Further, as shown on the right side of FIG. 6B, when the handle 18 is rotated in the right direction, the drive wheel 11 (motor) on the right side of the rotation speed of the left drive wheel 11 (motor 25). The drive wheels 11 rotate at a rotation ratio at which the rotational speed of 25) is larger, and the driven wheels 12 are driven to rotate in a posture that follows the bearing member 14 in the turning direction. As a result, the electric vehicle 10 turns clockwise. In particular, when the rotational speed of the left drive wheel 11 (motor 25) is zero, the electric vehicle 10 turns on the spot (reverse right turn) using the drive wheel 11 as a rotation axis.

  From the above, it can be seen that the relationship between the rotation ratios of the two drive wheels 11 (motor 25), that is, the turning direction, is reversed in the ride mode and the cart mode in the counterclockwise counterclockwise direction. Similarly, it can be seen that the relationship between the rotation ratios of the two drive wheels 11 (motor 25), that is, the turning direction is also reversed in the ride mode and the cart mode even when the electric vehicle 10 is rotated backward.

Next, the control mode of the present embodiment will be described on behalf of an example in the ride mode. This process is started when the use mode selection switch 23 selects the ride mode.
As shown in FIG. 7, when the process proceeds to this routine, it is determined whether the forward / reverse selection switch 24 is selected to be forward or reverse (step S1). Here, when the selection of the forward / reverse selection switch 24 is determined to be forward, a rotation speed common to both motors 25 is determined based on the operation signal Mt of the throttle 21 (step S2). Subsequently, the rotation ratio of both motors 25 is determined based on the detection signal Mh of the rotation operation amount sensor 22 (step S3). Then, the rotational speeds of both motors 25 are determined so that the ratio of the rotational speeds of both motors 25 is the rotational ratio determined in step S3 and the average of both is the rotational speed determined in step S2. Step S4). Subsequently, both motors 25 are driven to rotate at the determined rotational speed (step S5).

  On the other hand, when the selection of the forward / reverse selection switch 24 is determined to be reverse in step S1, the common rotational speed is determined in the same manner (step S6), the rotational ratio is determined (step S7), and both motors 25 are The rotational speed is determined (step S8), and both motors 25 are driven to rotate at the determined rotational speed (step S9).

And after the process of step S5 or step S9, it returns to step S1 and the same process is repeated.
Note that the same processing is activated when the cart mode is selected by the usage mode selection switch 23. As described above, the definition of forward and reverse selected by the forward / reverse selection switch 24 is opposite to that of the ride mode.

Next, the effect of this embodiment will be described.
(1) In this embodiment, the ECU 20 controls the operation signal Mt from the throttle 21, the detection signal Mh from the rotation operation amount sensor 22, and the forward / reverse selection switch 24 in any of a plurality of types of usage. The rotational direction and rotational speed of each motor 25 are individually controlled in accordance with the operation signal Ms from. Therefore, in any of a plurality of types of usage, for example, the rotational speed of each motor 25, that is, the rotational speed of each drive wheel 11 can be individually controlled according to the operation signal Mt from the throttle 21 during forward travel. Thereby, the moving speed of the electric vehicle 10 at the time of advancing can be ensured suitably, and usability can be improved more.

  (2) In this embodiment, the user U can be used as an electric vehicle in a ride mode (sitting state) in which the user U sits on the seat 19 and grips the handle 18. In addition, the user U can use it as an electric carriage for carrying the luggage B on the luggage storage portion 13b in a cart mode (loading bed state) in which the user U gets down from the seat 19 to the ground and grips the handle 18. .

  (3) In this embodiment, by adjusting the rotation angle of the throttle 21 provided on the handle 18 (gripping part 18b), the ECU 20 can easily reduce the rotation speed of each motor 25 and consequently the movement speed of the electric vehicle 10. The operability can be further improved.

(4) In the present embodiment, a steering system that is steered based on the turning operation of the handle 18 can realize an easy-to-use steering system.
(5) In the present embodiment, the structure is such that steering is performed at the rotation ratio of the drive wheels 11 (motor 25), so that a steering system that is lighter, smaller, and less expensive than, for example, a mechanical steering mechanism is realized. it can.

  Then, for example, when only the handle 18 is rotated when the electric vehicle 10 is stopped (the movement speed is zero), the steering wheel 18 is turned on the spot or the electric wheel 10 is rotated slowly while the movement speed of the electric vehicle 10 is slow. It is possible to make a small turn so as to reduce the turning radius when the operation is performed.

  Further, since the turning radius of the electric vehicle 10 is not mechanically determined by the amount of rotation of the handle 18, for example, when the handle 18 is largely rotated while the electric vehicle 10 is moving at a high speed. It is also possible not to make a small turn. Alternatively, according to the preference of the user U, the turning radius of the electric vehicle 10 with respect to the turning operation amount of the handle 18 can be adjusted (so-called handling customization).

  (6) In the present embodiment, the degree of turning of the electric vehicle 10 is adjusted by the amount of turning operation of the handle 18, so that the operation is mastered compared to an input device that gives a 360 ° direction instruction such as a joystick. The time required to do this can be shortened. Further, by adjusting the moving speed and turning degree of the electric vehicle 10 by the amount of turning operation of the throttle 21 and the amount of turning operation of the handle 18, for example, the moving speed is changed while changing the turning degree of the electric vehicle 10. You can easily perform detailed operations such as changing.

In addition, you may change the said embodiment as follows.
As shown in FIG. 8, instead of the throttle 21, for example, a lever 31 as a moving speed operation input unit supported by the handle 18 so as to be tiltable in a straight traveling direction may be employed. The lever 31 is configured to be held at a predetermined initial position, and inputs an operation signal regarding a moving speed in accordance with an inclination angle from the initial position. In this case, by adjusting the inclination angle of the lever 31, the ECU 20 can easily adjust the rotational speed of each motor 25 and thus the moving speed of the electric vehicle 10, thereby further improving the operability.

  An operation signal indicating the tilt of the lever 31 from the initial position in the forward straight direction and the reverse straight direction may be used as an operation signal for selecting one of the forward and reverse directions. In this case, since the lever 31 can be used as the forward / reverse selection switch 24, the number of parts and the cost can be reduced. In particular, by selecting the type of usage pattern by the usage pattern selection switch 23 and associating it with the tilting direction of the lever 31 and diverting it as the forward / reverse selection switch 24, the user U can adjust to the intended forward / backward movement. It is only necessary to tilt the lever 31, and there is no need to separately perform an appropriate switching operation, and the operability can be further improved.

  In the above embodiment, when the handle 18 is rotated by a predetermined angle or more without the throttle 21 being operated, both drive wheels 11 (motors 25) are rotated in mutually different directions at the same rotational speed. It may be. In this case, the electric vehicle 10 turns on the spot with the center of both drive wheels 11 as the rotation axis (swivel axis). Needless to say, the relationship between the operation direction of the handle 18 and the turning direction of the electric vehicle 10 is the same as in the above-described embodiment (see FIGS. 5 and 6). However, the turn of the electric vehicle 10 in this case is a turn that does not involve forward or reverse (left turn or right turn), that is, a so-called super-trust turn.

In the embodiment, the electric vehicle 10 is steered by adjusting the rotation ratio of the drive wheels 11 (motor 25), but may be performed by adjusting the torque difference.
In the above-described embodiment, when the ECU 20 is in the ride mode, the operation signal that represents the selection of the backward movement than when the operation signal Ms that represents the selection of the forward movement is input from the forward / reverse selection switch 24 (steps S2 to S5). When Ms is input (steps S <b> 6 to S <b> 9), control may be performed so that the rotation speed of each motor 25 becomes slower. Similarly, when the ECU 20 is in the cart mode, when the operation signal Ms representing the selection of the backward movement is input from the forward / reverse selection switch 24, the operation signal Ms indicating the selection of the backward movement is input. The motor 25 may be controlled so that the rotation speed is slow. In this case, when an operation signal Ms indicating selection of reverse is input from the forward / reverse selection switch 24, the ECU 20 can relatively slow down the rotational speed of each motor 25 and consequently the moving speed of the electric vehicle 10, thereby improving operability. Can be improved more.

  In the above-described embodiment, the ECU 20 receives the operation signal Mu indicating the selection of the cart mode from the use mode selection switch 23 when the operation signal Mu indicating the selection of the ride mode is input. You may control so that the rotational speed of the motor 25 becomes slow. In this case, when the operation signal Mu indicating the selection of the cart mode is input from the usage pattern selection switch 23, the ECU 20 can relatively slow down the rotation speed of each motor 25 and consequently the movement speed of the electric vehicle 10, for example, The operability can be further improved by matching the moving speed to the walking speed of the user U.

  In the above-described embodiment, the operation signal indicating the directing and pushing of the throttle 21 from the initial position may be used as an operation signal for selecting one of the forward and reverse directions. In this case, since the throttle 21 can be used as the forward / reverse selection switch 24, the number of parts and the cost can be reduced. In particular, the user U can match the intended forward / backward movement by using the forward / backward selection switch 24 in association with the selection of the type of usage mode by the usage pattern selection switch 23 and the rotation direction of the throttle 21. Therefore, it is only necessary to rotate (pull and push) the throttle 21, and there is no need to separately perform an appropriate switching operation, and the operability can be further improved.

  -In above-mentioned embodiment, you may rotate this handle | steering-wheel 180 degree so that how to grasp the handle | steering-wheel 18 by the user U does not change between ride mode and cart mode. In this case, the user U can recognize the usage pattern (ride mode or cart mode) of the electric vehicle 10 by confirming the posture of the handle 18. In addition, since the so-called user interface is shared such that the throttle 21 is always arranged on the same side regardless of the usage form of the electric vehicle 10, a sense of incongruity in operation can be suppressed.

  Note that a detection signal from the rotation operation amount sensor 22 representing 180 ° rotation of the handle 18 may be used as an operation signal for selecting the type of usage. In this case, since the rotation operation amount sensor 22 can be used as the usage pattern selection switch 23, the number of parts and the cost can be reduced. In addition, the user U only needs to rotate the handle 18 by 180 ° in accordance with the intended usage, and there is no need to separately perform an appropriate switching operation, so that the operability can be further improved.

  -In the said embodiment, in each usage form (ride mode or cart mode) of the electric vehicle 10, the relationship between the traveling direction and the rotation ratio (see FIGS. 5 and 6) can be changed according to the preference of the user U. May be. The ECU 20 may perform the change and the storage according to the preference of the user U.

-In the said embodiment, you may install a user interface separately according to each usage pattern of the electric vehicle 10. FIG.
In the embodiment, the cart mode electric vehicle 10 may be used as a walker.

Next, the technical idea that can be grasped from the above embodiment and other examples will be described below.
(B) In the above electric vehicle,
When the operation signal indicating the selection of the reverse is input from the forward / reverse selection means, the control unit is slower in the rotation speed of each motor than when the operation signal indicating the selection of the reverse is input. An electric vehicle that is controlled to become.

  According to this configuration, when an operation signal indicating reverse selection is input from the forward / reverse selection unit, the control unit relatively slows down the rotational speed of each motor, and consequently the moving speed of the electric vehicle. And operability can be further improved.

(B) In the above electric vehicle,
When the operation signal indicating the selection of the loading platform state is input from the usage pattern selection means, the rotation speed of each motor is greater than when the operation signal indicating the selection of the sitting state is input from the usage pattern selection unit. An electric vehicle that controls to slow down.

  According to this configuration, when an operation signal indicating selection of the loading platform state is input from the usage pattern selection means, the rotation speed of each motor, and consequently the moving speed of the electric vehicle, is relatively slowed down by the control unit. For example, operability can be further improved by matching the moving speed to the walking speed of the user.

  U ... user, Mh ... detection signal, Ms, Mt, Mu ... operation signal, 10 ... electric vehicle, 11 ... drive wheel, 18 ... handle, 19 ... seat, 21 ... throttle, 22 ... rotational operation amount sensor, 23 ... use form selection switch (use form selection means), 24 ... forward / reverse selection switch (forward / reverse selection means), 25 ... motor, 31 ... lever.

Claims (4)

An electric vehicle having a plurality of types of usage in which forward and reverse in a straight direction are interchanged with each other,
A pair of drive wheels arranged at intervals in the vehicle width direction;
A pair of motors for rotationally driving the drive wheels,
A handle that can be rotated by a user,
A movement speed operation input unit for inputting an operation signal about the movement speed;
A rotation operation amount sensor for inputting a detection signal indicating the rotation operation amount of the handle;
Usage pattern selection means for inputting an operation signal for selecting the type of usage pattern;
Forward / reverse selection means for inputting an operation signal for selection of forward and reverse in the straight direction corresponding to the use mode;
In response to an operation signal from the movement speed operation input unit, a detection signal from the rotation operation amount sensor, an operation signal from the usage pattern selection unit, and an operation signal from the forward / reverse selection unit, An electric vehicle comprising: a control unit that individually controls a rotation direction and a rotation speed. The electric vehicle according to claim 1,
The plural types of usage forms include an electric vehicle in which a user sits on a seat and grips the handle, and a loading state in which the user descends from the seat to the ground and grips the handle. In the electric vehicle according to claim 1 or 2,
The moving speed operation input unit is a throttle that is rotatably provided on the handle, and inputs an operation signal regarding the moving speed according to a rotation angle. In the electric vehicle according to claim 1 or 2,
The moving speed operation input unit is an electric vehicle that is a lever that can be tilted in the straight traveling direction and that inputs an operation signal for the moving speed according to an inclination angle.

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