JP2021084458A - Operation control device - Google Patents

Abstract

To provide an operation control device which can perform the speed control of the mobility with a simpler mechanism.SOLUTION: An operation control device 1 comprises: a rotary part 22 which is provided so as to be rotatable between the first angle and the second angle and rotates in accordance with the biasing force; a stroke sensor 31 which detects the rotation angle of the rotary part 22; a motor 11 which gives the driving to rear wheels 10b on the basis of the rotation angle of the rotary part 22 detected by the stroke sensor 31; a return spring 41 which biases the rotary part 22 to be at the first angle; and a reaction force generation spring 42 which gives the reaction force against the force of rotating to the second angle side by the rotary part 22 in a case where the rotary part 22 is at the third angle between the first angle and the second angle in accordance with the biasing force from the outside.SELECTED DRAWING: Figure 2

Description

The present invention relates to an operation control device.

A method of controlling the mobility of a vehicle or the like so as not to exceed a predetermined speed such as a legal speed is known (for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 10-159615

The conventional control method is complicated, and it has been required to enable speed control of mobility with a simpler mechanism.

An object of the present invention is to provide an operation control device capable of controlling the speed of mobility with a simpler mechanism.

The motion control device of the present invention for achieving the above object includes a rotating portion that is rotatably provided between a first angle and a second angle and that rotates according to an urging force, and the rotating portion. A first detection unit that detects the rotation angle of the above, a drive unit that gives drive to the wheels based on the rotation angle of the rotation unit detected by the first detection unit, and the rotation unit having the first angle. When the first urging portion is urged so as to be, and the rotating portion becomes a third angle between the first angle and the second angle according to the urging force from the outside, the rotating portion Is provided with a second urging portion that gives a reaction force to the force that tends to rotate to the second angle side.

Therefore, by making the speed of mobility corresponding to the rotation speed of the wheel brought about when the rotating portion is at the third angle become one assumed reference speed, the reaction by the second urging portion is achieved. By applying a force to the rotating portion, it is possible to urge the mobility user to drive the mobility at the reference speed. In addition, it is possible to encourage the mobility to not run at a speed exceeding the reference speed. As described above, according to the first embodiment, the speed control of mobility becomes possible with a simpler mechanism.

In the motion control device of the present invention, the second urging portion is an elastic member that comes into contact with the rotating portion when the rotating portion is at the third angle.

Therefore, it is possible to control the speed of mobility with a simpler mechanism than using an elastic member.

In the motion control device of the present invention, the second urging portion includes a ball screw, an electric motor, a connecting portion for connecting the ball screw and the electric motor, and a control unit for controlling the electric motor. The ball screw has a linear motion portion in which one end of the rotating portion comes into contact with the rotating portion when the rotating portion is at the third angle, and a rotation around the linear motion direction of the linear motion portion and the rotation. It has a support portion that supports the linear motion portion, and the connecting portion includes a first gear that rotates in conjunction with the rotational movement of the linear motion portion, and the first gear. It has a second gear that meshes and rotates in conjunction with the output shaft of the electric motor, and the control unit corresponds to a rotation direction when the linear motion unit is directed toward one end side based on a predetermined condition. The electric motor is operated so as to generate a rotational force.

Therefore, the mobility user can be urged by the suggestion by the reaction force by the second urging unit to drive the mobility at a speed corresponding to the speed limit. In addition, it is possible to urge the mobility not to run at a speed corresponding to the speed limit.

The motion control device of the present invention includes a second detection unit that detects the rotation speed of the wheel, and the control unit has the linear motion unit at one end when the rotation speed of the wheel is equal to or higher than a predetermined speed limit. The electric motor is operated so as to generate a rotational force corresponding to the rotational direction when moving toward the side, and the speed limit is given to the wheel by the driving unit when the rotating unit reaches the second angle. The rotation speed is less than the upper limit rotation speed of the wheel.

Therefore, it is possible to encourage the vehicle to travel at a speed lower than the performance limit at which mobility can be exhibited, which contributes to more stable operation of mobility.

In the motion control device of the present invention, the control unit produces a torque corresponding to the rotation direction when the linear motion unit is directed toward one end side so that the rotation speed of the wheel exceeds a predetermined speed limit. The electric motor is operated so as to increase.

Therefore, it is possible to encourage the mobility user to set the speed limit or the speed not significantly exceeding the speed limit.

In the motion control device of the present invention, the first urging portion is an elastic member connected to the rotating portion.

Therefore, it is possible to generate an urging force that returns the rotating portion to the first angle side, which is a simpler mechanism than using the elastic member.

According to the motion control device of the present invention, the speed control of mobility becomes possible with a simpler mechanism.

FIG. 1 is a perspective view showing a schematic configuration example of mobility to which the motion control device of the first embodiment is applied. FIG. 2 is a schematic view showing a main configuration of the motion control device according to the first embodiment. FIG. 3 is a schematic view showing a main configuration of the motion control device according to the first embodiment. FIG. 4 is a schematic view showing a main configuration of the motion control device according to the first embodiment. FIG. 5 shows the degree of stepping on the rotating portion and the first urging portion or the first urging portion and the second urging portion with respect to the rotation operation of the rotating portion from the first angle to the second angle side by the stepping. It is a graph which shows an example of the relationship with the reaction force to the rotating operation which the urging part gives to a rotating part. FIG. 6 is a schematic view showing a main configuration of the motion control device according to the second embodiment. FIG. 7 is a schematic view showing a main configuration of the motion control device according to the second embodiment. FIG. 8 is a schematic view showing a main configuration of the motion control device according to the second embodiment. FIG. 9 shows the degree of stepping on the rotating portion and the rotation motion given to the rotating portion in response to the rotating motion of the rotating portion from the first angle to the second angle side due to the stepping. It is a graph which shows an example of the relationship with a reaction force.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The requirements of each embodiment described below can be combined as appropriate. In addition, some components may not be used.

(Embodiment 1)
FIG. 1 is a perspective view showing a schematic configuration example of a mobility 10 to which the motion control device of the first embodiment is applied. The mobility 10 travels by rotating at least one of the front wheels 10a and the rear wheels 10b (for example, the rear wheels 10b) by a prime mover. The prime mover of the embodiment is an electric engine including a motor 11 (see FIG. 2 and the like) which is an electric motor, but may be an internal combustion engine such as a reciprocating engine, or a so-called combination of an internal combustion engine and an electric engine. It may have a hybrid configuration, or any other drive system that can be used for mobility can be appropriately adopted. The prime mover is built in the housing 10c of the mobility 10.

2, 3 and 4 are schematic views showing the main configuration of the motion control device 1 according to the first embodiment. The operation control device 1 includes an accelerator pedal 21, a rotating unit 22, a stroke sensor 31, an ECU (Electronic Control Unit) 32, a return spring 41, a reaction force generating spring 42, and the like.

The accelerator pedal 21 is provided at a position (for example, in front of the seat 10d shown in FIG. 1) in which the user's leg F, which is the user (passenger) of the mobility 10, can step on the mobility 10.

The rotating portion 22 is a member provided with an accelerator pedal 21 at one end and rotatably provided with a rotating shaft 22b between the one end and the other end 22a as a fulcrum. The rotating unit 22 rotates in response to an urging force such as a user stepping on the accelerator pedal 21.

The stroke sensor 31 functions as a detection unit that detects the rotation angle of the rotation unit 22. For example, the stroke sensor 31 is provided at the position of the rotating shaft 22b so as to detect the rotating angle of the rotating portion 22 by detecting the rotating angle of the rotating shaft 22b. The specific mode of the stroke sensor 31 is not limited to this, and the specific position and detection method can be appropriately changed as long as the rotation angle of the rotating portion 22 can be detected.

The ECU 32 controls the operation of the motor 11 based on the rotation angle of the rotating portion 22 detected by the stroke sensor 31. The ECU 32 and the motor 11 cooperate with each other to function as a driving unit that gives a drive to the wheels (for example, the rear wheel 10b) of the mobility 10 based on the rotation angle of the rotating unit 22 detected by the stroke sensor 31.

The return spring 41 applies an urging force to the rotating portion 22 so that the rotating portion 22 has a first rotation angle (first angle). That is, in the first embodiment, the return spring 41 functions as the first urging unit.

The first angle is, for example, as shown in FIG. 2, the rotation angle of the rotating portion 22 when the leg F is not depressed on the accelerator pedal 21. When the leg F is stepped on the accelerator pedal 21 with an urging force exceeding the urging force of the return spring 41, the other end 22a is rotated in a direction opposite to the urging force of the return spring 41. The rotation angle of the portion 22 changes. Here, the rotation angle that the rotating portion 22 can take when the other end 22a is rotated in a direction contrary to the urging force of the return spring 41, and the limit rotation angle in the opposite direction is set to the second rotation. Let it be the moving angle (second angle).

The reaction force generating spring 42 exerts a reaction force against a force that the rotating portion 22 tries to rotate toward the second angle when the rotating portion 22 becomes a third angle between the first angle and the second angle. It functions as a second urging unit to give.

Specifically, as shown in FIG. 2 and the like, the return spring 41 and the reaction force generating spring 42 are arranged so as to face each other with the other end 22a interposed therebetween. The return spring 41 is a tension spring having one end fixed to the housing 10c and the other end fixed to the other end 22a. When the accelerator pedal 21 is not depressed by the leg F, the tensile force of the return spring 41 acts on the other end 22a, so that the rotating portion 22 has the first angle as shown in FIG.

The reaction force generating spring 42 is a compression spring in which one end is fixed to the housing 10c and the other end is arranged so as to face the other end 22a on the second angle side of the other end 22a. In the example shown in FIG. 2, the other end of the reaction force generating spring 42 and the other end 22a are separated from each other. Therefore, when the rotating portion 22 is at the first angle, the repulsive force due to the elasticity of the reaction force generating spring 42 does not act on the other end 22a.

When the accelerator pedal 21 is depressed by the leg F, the rotating portion 22 rotates to the second angle side as shown in FIG. Along with this, the other end 22a moves toward the reaction force generating spring 42 side. Here, when the rotating portion 22 reaches a certain angle, the other end 22a and the reaction force generating spring 42 come into contact with each other. As a result, the repulsive force due to the elasticity of the reaction force generating spring 42 can act on the other end 22a. In the first embodiment, the rotation angle of the rotating portion 22 when the other end 22a and the reaction force generating spring 42 come into contact with each other is set as the third angle.

As shown in FIG. 4, when the accelerator pedal 21 is further depressed by the leg F as compared with FIG. 3, the rotating portion 22 rotates so that the other end 22a further moves toward the reaction force generating spring 42. .. At the time of such movement, both the tensile force by the return spring 41 and the repulsive force by the reaction force generating spring 42 work so as to direct the other end 22a in the opposite direction of the movement.

FIG. 5 shows the degree of stepping on the rotating portion 22 and the return spring 41 or the return spring 41 and the reaction force generating spring with respect to the rotating operation of the rotating portion 22 from the first angle to the second angle side by the stepping. It is a graph which shows an example of the relationship with the reaction force to the rotating operation which 42 gives to a rotating part 22. FIG. 5 is a graph corresponding to the first embodiment. In FIG. 5 and FIG. 9 described later, the state in which the mobility 10 is on a flat ground and is stopped due to the accelerator pedal 21 not being depressed at all is set to 0 [km / h]. It is assumed that the mobility 10 travels on a flat ground at a speed exceeding 0 [km / h] according to the depression of the accelerator pedal 21. Further, an example of a design limit speed that the mobility 10 can realize on a flat ground according to the second angle of the rotating portion 22 is set to 60 [km / h]. Further, an example of the speed according to the third angle of the rotating portion 22 is set to 30 [km / h].

The range from the arrow P1 to the arrow P2 attached to the graph shown in FIG. 5 is given to the rotating portion 22 by the rotating angle of the rotating portion 22 and the return spring 41 in the range from the first angle to the third angle. It shows the relationship with the magnitude of the urging force. That is, as shown by the arrow P1, when the rotating portion 22 is at the first angle, the urging force against the rotating portion 22 is substantially zero or hardly occurs. On the other hand, the more the rotating portion 22 rotates from the first angle to the third angle in response to the depression of the accelerator pedal 21 by the leg F, the more the urging force (pulling force) applied to the rotating portion 22 by the return spring 41. Shows a tendency to become stronger.

The range from the arrow P2 to the arrow P3 attached to the graph shown in FIG. 5 is rotated by the rotation angle of the rotating portion 22 in the range from the third angle to the second angle, the return spring 41, and the reaction force generating spring 42. It shows the relationship with the magnitude of the urging force given to the moving part 22. That is, when the rotating portion 22 becomes the third angle, the other end 22a and the reaction force generating spring 42 come into contact with each other, and the return spring 41 and the reaction force generating spring 42 are configured to give an urging force to the rotating portion 22. Will be both. Further, the more the rotating portion 22 rotates so as to approach the second angle in response to the depression of the accelerator pedal 21 by the leg F, the stronger the urging force (pulling force) applied to the rotating portion 22 by the return spring 41. In addition, the urging force (repulsive force) applied to the rotating portion 22 by the reaction force generating spring 42 tends to be stronger.

In this way, when the accelerator pedal 21 is stepped on by the leg F so that the rotating portion 22 moves from the first angle to the second angle, the accelerator pedal 21 is stepped on via the rotating portion 22 and the accelerator pedal 21 according to the degree of depression. The urging force transmitted to the leg F as a reaction force becomes stronger. Here, when the rotating portion 22 has a third angle, the reaction force generating spring 42 in addition to the return spring 41 also applies an urging force to the rotating portion 22. As a result, the reaction force against the depression of the accelerator pedal 21 that tries to rotate the rotating portion 22 to the second angle side beyond the third angle can be dramatically increased. Therefore, it is possible to urge the user who depresses the accelerator pedal 21 to suppress further depressing to rotate the rotating portion 22 to the second angle side beyond the third angle. That is, by setting the traveling speed of the mobility 10 corresponding to the third angle on a flat ground as one reference speed (for example, 30 [km / h]) assumed in the operation of the mobility 10, the reference is given to the user. It is possible to encourage the mobility 10 to travel at such a speed. In addition, it is possible to urge the mobility 10 not to travel at a speed exceeding the reference speed.

As described above, according to the first embodiment, the rotating portion (for example, the rotating portion 22) that is rotatably provided between the first angle and the second angle and rotates according to the urging force, and the rotating portion 22. A first detection unit (stroke sensor 31) that detects the rotation angle of the wheel, and a drive unit (for example, rear wheel 10b) that gives drive to the wheels (for example, rear wheel 10b) based on the rotation angle of the rotation unit detected by the first detection unit. The motor 11) and the first urging portion (for example, the return spring 41) that urges the rotating portion to have the first angle, and the accelerator pedal 21 is stepped on by the leg F, for example, to rotate according to an external urging force. A second urging portion (for example, a reaction force) that gives a reaction force to a force that the rotating portion tries to rotate to the second angle side when the moving portion becomes a third angle between the first angle and the second angle. It is provided with a generation spring 42). As a result, the speed of mobility (for example, mobility 10) corresponding to the rotation speed of the wheel brought about when the rotating portion is at the third angle is one assumed reference speed (for example, 30 [km / h]). By setting the above, the reaction force generated by the second urging portion is applied to the rotating portion, so that the mobility user can be urged to travel the mobility at the reference speed. In addition, it is possible to encourage the mobility to not run at a speed exceeding the reference speed. As described above, according to the first embodiment, the speed control of mobility becomes possible with a simpler mechanism.

Further, the second urging portion (for example, the reaction force generating spring 42) is an elastic member that comes into contact with the rotating portion when the rotating portion (for example, the rotating portion 22) has a third angle. This makes it possible to control the speed of mobility with a simpler mechanism than using the elastic member.

Further, the first urging portion (for example, the return spring 41) is an elastic member connected to the rotating portion (for example, the rotating portion 22). As a result, it is possible to generate an urging force that returns the rotating portion of the mechanism, which is simpler than using the elastic member, to the first angle side. Therefore, it is possible to control the speed of mobility with a simpler mechanism.

(Embodiment 2)
Next, the second embodiment different from the first embodiment will be described with reference to FIGS. 6 to 9. Regarding the description of the second embodiment, the same reference numerals are given to the same configurations as those of the first embodiment, and the description thereof will be omitted.

6, 7 and 8 are schematic views showing a main configuration of the motion control device 1A according to the second embodiment. The motion control device 1A includes a second urging portion provided at a position facing the return spring 41 with the other end 22a interposed therebetween, instead of the reaction force generating spring 42 in the motion control device 1. The second urging portion includes a ball screw 43 and an electric motor 44.

The ball screw 43 has a linear motion portion 43a, a support portion 43b, and a first gear 43c. One end of the linear motion portion 43a comes into contact with the other end 22a when the rotating portion 22 is at a third angle. The support portion 43b supports the linear motion portion 43a. The linear motion portion 43a is supported by the support portion 43b so as to be able to rotate around the linear motion direction and the linear motion accompanied by the rotation. The linear motion direction is the direction in which the return spring 41 and the ball screw 43 face each other.

The first gear 43c rotates in conjunction with the rotational movement of the linear motion portion 43a. Specifically, the first gear 43c is, for example, a gear that is provided in the support portion 43b and meshes with a gear (not shown) that rotates in conjunction with the rotation of the linear motion portion 43a.

The electric motor 44 is provided with a second gear 44b on the output shaft 44a. The second gear 44b meshes with the first gear 43c and rotates in conjunction with the output shaft 44a.

The first gear 43c and the second gear 44b function as a connecting portion for connecting the ball screw 43 and the electric motor 44. The first gear 43c and the motor 44 illustrated in FIGS. 6 to 8 are exposed to the outside, but the present invention is not limited thereto. The first gear 43c and the electric motor 44 may be provided in a housing such as a gearbox. The gearbox may have a configuration integrated with the support portion 43b. Further, the first gear 43c may be a gear having the linear motion portion 43a as the central axis.

Further, in the second embodiment, the reaction force generating spring 42A is arranged so as to face the return spring 41 with the other end 22a and the ball screw 43 interposed therebetween. The reaction force generating spring 42A is a compression spring having one end fixed to the housing 10c and the other end fixed to the other end of the linear motion portion 43a. The reaction force generating spring 42A generates a repulsive force that urges the linear motion portion 43a toward the return spring 41 side. The reaction force generating spring 42A returns the linear motion portion 43a to the predetermined initial position when the linear motion portion 43a moves to the reaction force generating spring 42A side from the predetermined initial position by the linear motion due to the repulsive force. Encourage. The predetermined initial position is, for example, the position of the linear motion portion 43a shown in FIG. Specifically, the predetermined initial position of the linear motion portion 43a is, for example, the position closest to the return spring 41 in the range supported by the support portion 43b. When the rotation angle of the rotating portion 22 is the first angle, that is, when the leg F does not step on the accelerator pedal 21, as shown in FIG. 6, the linear moving portion at a predetermined initial position. One end of 43a and the other end 22a do not come into contact with each other.

When the accelerator pedal 21 is depressed by the leg F from the state shown in FIG. 6, the rotating portion 22 rotates to the second angle side as shown in FIG. Along with this, the other end 22a moves toward the ball screw 43 side. Here, when the rotating portion 22 reaches a certain angle, the other end 22a and the linear moving portion 43a come into contact with each other. During such movement, the tensile force of the return spring 41 acts to direct the other end 22a in the opposite direction of the movement. In the second embodiment, the rotation angle of the rotating portion 22 when the other end 22a and the linear motion portion 43a come into contact with each other is set as the third angle.

When the accelerator pedal 21 is further depressed by the leg F while the other end 22a and the linear motion portion 43a are in contact with each other, the rotating portion 22 rotates to the second angle side as shown in FIG. As a result, a force that tends to move the linear motion portion 43a linearly to the other end side acts via the other end 22a. As a result, the linear motion portion 43a linearly moves to the other end side with rotation about the linear motion direction as the central axis. At the time of such movement, both the tensile force of the return spring 41 and the repulsive force of the reaction force generating spring 42A acting via the linear motion portion 43a act so as to direct the other end 22a in the opposite direction of the movement. .. Further, the force for rotation of the output shaft 44a generated by the first gear 43c rotating in conjunction with the linear motion portion 43a meshing with the second gear 44b is used as the reaction force of the movement of the other end 22a. work. Here, the rotational force that rotates the output shaft 44a in the direction opposite to the rotation direction of the output shaft 44a generated in conjunction with the linear movement of the linear movement portion 43a to the other end side, that is, the linear movement portion 43a is on one end side. When the electric motor 44 applies a rotational force corresponding to the rotational direction when heading to the output shaft 44a, the rotational force acts as a further reaction force of the movement of the other end 22a.

In addition to the functions described in the first embodiment, the ECU 32 of the second embodiment further functions as a second detection unit that detects the rotational speed of the wheels (for example, the rear wheel 10b) and a control unit that controls the electric motor 44.

The specific configuration for the ECU 32 to function as the second detection unit is arbitrary, but for example, when the rotation speed of the motor 11 is fed back, the rotation speed of the rear wheels 10b and the rotation speed of the rear wheels 10b can be changed. A configuration is conceivable in which the speed of the corresponding mobility 10 (for example, the speed [km / h]) can be obtained. Further, the ECU 32 acquires the output of an encoder (not shown) provided on the shaft (or the output shaft of the motor 11) that rotatably supports the rear wheel 10b and detects the rotation speed, and the rear wheel 10b is based on the output. The rotation speed and the speed of the mobility 10 corresponding to the rotation speed of the rear wheel 10b (for example, the speed [km / h]) may be obtained. In this case, the encoder substantially functions as a second detection unit. That is, the second detection unit may have a configuration separate from that of the ECU 32.

The ECU 32 of the second embodiment operates the electric motor 44 so as to generate a rotational force corresponding to the rotational direction when the linear motion portion 43a is directed toward one end side based on a predetermined condition. Specifically, the ECU 32 of the second embodiment is an electric motor so as to generate a rotational force corresponding to the rotational direction when the linear motion portion 43a is directed to one end side when the rotational speed of the rear wheels 10b is equal to or higher than a predetermined speed limit. Operate 44. The speed limit is a rotation speed less than the upper limit rotation speed (for example, 60 [km / h]) given to the rear wheels 10b by the motor 11 when the rotation unit 22 is at the second angle. More specifically, the speed limit is, for example, 30 [km / h].

In the ECU 32 of the second embodiment, the rotational speed of the rear wheel 10b exceeds the above-mentioned speed limit (for example, 30 [km / h]), so that the rotational force corresponding to the rotational direction when the linear moving portion 43a is directed to one end side is applied. The electric motor 44 is operated so that the generated torque is increased.

FIG. 9 shows the degree of stepping on the rotating portion 22 and the rotation given to the rotating portion 22 in response to the rotation operation of the rotating portion 22 from the first angle to the second angle side by the stepping. It is a graph which shows an example of the relationship with the reaction force to an operation. FIG. 9 is a graph corresponding to the second embodiment.

The range from the arrow P1 to the arrow P2 attached to the graph shown in FIG. 9 is given to the rotating portion 22 by the rotating angle of the rotating portion 22 and the return spring 41 in the range from the first angle to the third angle. It shows the relationship with the magnitude of the urging force. The range from the arrow P1 to the arrow P2 attached to the graph shown in FIG. 9 is the same as the description with reference to FIG. Assuming traveling on flat ground, the mobility 10 has the above-mentioned speed limit (for example, 30 [km / h]) according to the depression of the arrow P2, that is, the accelerator pedal 21 corresponding to the third angle of the rotating portion 22. The rear wheels 10b are driven so as to travel.

In the range from arrow P2 to arrow P3 attached to the graph shown in FIG. 9, the accelerator pedal 21 is depressed so that the mobility 10 runs at the above-mentioned speed limit (for example, 30 [km / h]) or higher. Show the case. As shown by the arrow P2, when the rotating portion 22 becomes the third angle, the other end 22a and the linear moving portion 43a come into contact with each other, and the urging force applied to the rotating portion 22 via the linear moving portion 43a. Is the force that rotates the rotating portion 22 toward the first angle, that is, the reaction force of stepping on the accelerator pedal 21. Here, the ECU 32 of the second embodiment uses the electric motor 44 so as to generate a rotational force corresponding to the rotational direction when the linear motion portion 43a is directed toward one end when the rotational speed of the rear wheels 10b is equal to or higher than the above-mentioned speed limit. By operating the vehicle, the reaction force of stepping on the accelerator pedal 21 can be further increased with the arrow P2 as a boundary. Further, in the ECU 32 of the second embodiment, as the rotation speed of the rear wheels 10b exceeds the above-mentioned speed limit, the torque for generating the rotational force corresponding to the rotation direction when the linear motion portion 43a is directed toward one end side increases. By operating 44, the reaction force of stepping on the accelerator pedal 21 can be further increased. The reaction force of depression on the accelerator pedal 21 controlled in this way can urge the user to drive the mobility 10 at a speed limit or a speed that does not significantly exceed the speed limit. Further, as shown in FIG. 9, the rotation corresponding to the rotation direction when the linear motion portion 43a is directed toward one end side so as not to substantially reach the upper limit rotation speed (for example, 60 [km / h]) corresponding to the arrow P3. By increasing the torque that generates the force, it is possible to prevent the mobility 10 from reaching the upper limit rotation speed.

As the rotation speed of the rear wheel 10b exceeds the above-mentioned speed limit (for example, 30 [km / h]), the torque that generates the rotational force corresponding to the rotation direction when the linear motion portion 43a heads toward one end side increases. In the control for operating the electric motor 44, the torque control may be performed more finely. In FIG. 9, as indicated by the arrow P4, the speed (for example, 40 [km / h]) between the speed limit (for example, 30 [km / h]) and the upper limit rotation speed (for example, 60 [km / h]) is set. An example is shown in which the control branch point of the magnitude of the reaction force is used. More specifically, in the range from the arrow P2 to the arrow P4 below the speed at the control branch point, the arrow P4 to the arrow P3 exceeding the speed at the control branch point with respect to the degree of increase in the load with respect to the increase in speed. The degree of increase in load with respect to the increase in speed in the range is greater. In this way, by changing the correspondence between the increase in speed and the increase in load in multiple steps in the speed range above the speed limit, "excessive increase in speed" due to the increase in reaction force to the depression of the accelerator pedal 21 "Suggestions for suppression" can be shown more prominently.

Note that FIG. 9 illustrates a case where there is one control branch point for the degree of increase in load with respect to an increase in speed in the range from arrow P2 to arrow P3, but a plurality of such control branch points are provided. May be good.

Although the control based on the rotation speed of the rear wheels 10b (the speed of the mobility 10 per hour) corresponding to the rotation angle of the rotation unit 22 has been described above, the operation control of the electric motor 44 by the ECU 32 of the second embodiment is performed by the rotation unit. The increase / decrease in the rotation speed of the rear wheel 10b (the speed of the mobility 10) may be taken into consideration for reasons other than the rotation angle of 22. For example, when the mobility 10 travels up a slope, the degree of increase in the speed (speed) of the mobility 10 with respect to the depression of the accelerator pedal 21 tends to be smaller than that of traveling on a flat ground. An increase or decrease in the speed of the mobility 10 results in an increase or decrease in the rotational speed of the rear wheels 10b. As described above, when the increase / decrease in the rotation speed of the rear wheel 10b is affected by a reason other than the rotation angle of the rotating portion 22 in response to the depression of the accelerator pedal 21, the ECU 32 of the second embodiment rotates the rear wheel 10b. The operation of the electric motor 44 may be controlled based on the speed (the speed of the mobility 10 per hour). Specifically, even if the accelerator pedal 21 corresponding to the rotation angle of the rotating portion 22 in which one end of the linear motion portion 43a abuts on the other end 22a is depressed, the mobility 10 has a speed limit (for example, 30 [km / km /). If it is less than h]), the ECU 32 may control the electric motor 44 so as to make the reaction force applied to the rotating portion 22 via the linear moving portion 43a smaller. More specifically, in this case, the ECU 32 may operate the electric motor 44 so as to generate a rotational force corresponding to the rotational direction when, for example, the linear motion portion 43a is directed toward the other end side. As a result, the linear motion unit 43a can be operated so as to separate the linear motion unit 43a from the other end 22a, and the occurrence of an increase in the reaction force applied to the rotating unit 22 via the linear motion unit 43a can be suppressed. Therefore, it is possible to realize control that does not unnecessarily hinder the acceleration of the mobility 10 up to the speed limit (for example, 30 [km / h]).

Further, when the mobility 10 travels down a slope, the actual degree of increase in the speed (speed) of the mobility 10 with respect to the depression of the accelerator pedal 21 tends to be larger than that of traveling on a flat ground. As a result, the mobility 10 may reach the speed limit (for example, 30 [km / h]) before one end of the linear motion portion 43a comes into contact with the other end 22a in the setting assuming a flat ground. In consideration of such a case, the rotation angle of the rotating portion 22 in which one end of the linear motion portion 43a abuts on the other end 22a is set to be larger than the rotation angle of the rotating portion 22 when the speed limit is reached on flat ground. It may be set to the first angle side. As a result, even when the mobility 10 accelerates for reasons other than depressing the accelerator pedal 21, when the mobility 10 exceeds the speed limit, the load (reaction force) increases via the linear motion portion 43a. The control generated in the moving unit 22 can be applied. The positional relationship between the rotation angle of the rotating portion 22 and one end of the linear moving portion 43a is based on actual measurements, simulations, etc. based on conditions under which the mobility 10 is expected to travel (for example, a downhill inclination angle, etc.). Will be decided. By controlling the positional relationship between the rotation angle of the rotating portion 22 and one end of the linear moving portion 43a and the operation control of the motor 44 in consideration of both the downhill and the uphill described above, the actual mobility 10 can be performed more flexibly. It is possible to control the reaction force with respect to the depression of the accelerator pedal 21 corresponding to the speed of.

Further, although the ECU 32 of the second embodiment controls the operation of both the motor 11 and the electric motor 44, even if a configuration for controlling the operation of the motor 11 and a configuration for controlling the operation of the electric motor 44 are separately provided. Good.

As described above, according to the second embodiment, the second urging portion controls the ball screw (for example, the ball screw 43), the electric motor (for example, the electric motor 44), the connecting portion for connecting the ball screw and the electric motor, and the electric motor. It has a control unit (for example, ECU 32). The ball screw has a linear movement portion (for example, a linear movement portion 43a) whose one end contacts the rotating portion when the rotating portion (for example, the rotating portion 22) has a third angle, and a linear movement direction of the linear movement portion. It has a support portion (for example, a support portion 43b) that supports the linear motion portion so as to be able to rotate around the central axis and linear motion accompanied by the rotation. The connecting portion rotates in conjunction with the first gear (for example, the first gear 43c) that rotates in conjunction with the rotational movement of the linear motion portion and the output shaft (for example, the output shaft 44a) of the electric motor that meshes with the first gear. It has a second gear (for example, a second gear 44b). Based on a predetermined condition, the control unit operates the electric motor so as to generate a rotational force corresponding to the rotation direction when the linear motion unit moves toward one end side. As a result, for example, when the rotational speed of the wheels (for example, the rear wheel 10b) is equal to or higher than a predetermined speed limit, the electric motor is operated so as to generate a rotational force corresponding to the rotational direction when the linear moving portion is directed toward one end side. , The mobility user can be urged by the suggestion by the reaction force by the second urging unit to drive the mobility at a speed corresponding to the speed limit. In addition, it is possible to urge the mobility not to run at a speed corresponding to the speed limit. As described above, according to the second embodiment, the speed control of mobility becomes possible with a simpler mechanism.

Further, the speed limit is less than the upper limit rotation speed of the wheels given to the wheels (for example, the rear wheel 10b) by the driving unit (for example, the motor 11) when the rotating portion (for example, the rotating portion 22) becomes the second angle. The rotation speed. As a result, it is possible to encourage the vehicle to travel at a speed lower than the performance limit at which mobility can be exhibited, which contributes to more stable operation of mobility.

Further, the control unit exerts a rotational force corresponding to the rotation direction when the linear motion unit (for example, the linear motion unit 43a) is directed toward one end side so that the rotation speed of the wheel (for example, the rear wheel 10b) exceeds a predetermined speed limit. Operate the motor so that the torque generated is increased. This can encourage the user to set the speed limit or a speed that does not significantly exceed the speed limit.

The mobility 10 described with reference to FIG. 1 is so-called three-wheeled mobility, but this is an example of a form of mobility and is not limited to this. Mobility may be a two-wheeled vehicle or a vehicle having four or more wheels. Mobility is a vehicle that humans use when moving, and it suffices to have a prime mover that bears the driving force for movement.

1,1A Operation control device 10b Rear wheel 11 Motor 22 Rotating part 31 Stroke sensor 32 ECU
41 Return spring 42 Reaction force generation spring 42
43 Ball screw 43a Linear part 43b Support part 43c First gear 44 Motor 44a Output shaft 44b Second gear

Claims (6)

A rotating part that is rotatably provided between the first angle and the second angle and rotates according to the urging force.
A first detection unit that detects the rotation angle of the rotation unit, and
A drive unit that gives drive to the wheels based on the rotation angle of the rotating unit detected by the first detection unit, and
A first urging portion that urges the rotating portion to have the first angle, and a first urging portion.
A force that causes the rotating portion to rotate toward the second angle when the rotating portion becomes a third angle between the first angle and the second angle in response to an external urging force. An operation control device including a second urging unit that gives a reaction force to the vehicle. The motion control device according to claim 1, wherein the second urging portion is an elastic member that comes into contact with the rotating portion when the rotating portion is at the third angle. The second urging unit
With a ball screw
With an electric motor
A connecting portion that connects the ball screw and the electric motor,
It has a control unit that controls the electric motor, and has a control unit.
The ball screw
When the rotating portion has the third angle, one end of the rotating portion comes into contact with the rotating portion, and a linear moving portion.
It has a support portion that supports the linear movement portion so that the rotation of the linear movement portion about the linear movement direction and the linear movement accompanied by the rotation can be performed.
The connecting part
The first gear that rotates in conjunction with the rotational movement of the linear motion unit,
It has a second gear that meshes with the first gear and rotates in conjunction with the output shaft of the motor.
The operation control device according to claim 1, wherein the control unit operates the electric motor so as to generate a rotational force corresponding to a rotation direction when the linear motion unit is directed toward one end side based on a predetermined condition. A second detection unit that detects the rotational speed of the wheel is provided.
The control unit operates the electric motor so as to generate a rotational force corresponding to the rotation direction when the linear motion unit is directed toward one end side when the rotation speed of the wheel is equal to or higher than a predetermined speed limit.
The motion control device according to claim 3, wherein the speed limit is a rotation speed less than the upper limit rotation speed of the wheel given to the wheel by the drive unit when the rotation unit reaches the second angle. The control unit operates the electric motor so that as the rotation speed of the wheels exceeds a predetermined speed limit, the torque that generates a rotational force corresponding to the rotation direction when the linear motion unit is directed toward one end side increases. The operation control device according to claim 4. The operation control device according to any one of claims 1 to 5, wherein the first urging portion is an elastic member connected to the rotating portion.

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