JP4691912B2 - 不安定走行装置 - Google Patents
不安定走行装置 Download PDFInfo
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- JP4691912B2 JP4691912B2 JP2004178997A JP2004178997A JP4691912B2 JP 4691912 B2 JP4691912 B2 JP 4691912B2 JP 2004178997 A JP2004178997 A JP 2004178997A JP 2004178997 A JP2004178997 A JP 2004178997A JP 4691912 B2 JP4691912 B2 JP 4691912B2
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
- A63C17/014—Wheel arrangements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
- A63C17/06—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type
- A63C17/08—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type single-wheel type with single axis
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
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- 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
- B60L15/2009—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 for braking
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- 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
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- 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
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- 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
- B60L2200/24—Personal mobility 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/18—Acceleration lateral
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- 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
- B60L2250/00—Driver interactions
- B60L2250/22—Driver interactions by presence detection
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- 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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- 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
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- 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
- Y02T10/72—Electric energy management in electromobility
Description
図35において、まず、ステップS10にて、運転操作者が乗り易い左右どちらか一方に不安定走行装置1を傾斜させ、対応する乗り易い側の補助輪50L(又は50R)を路面90に接触させて一対の搭乗デッキ6L,6Rを安定化させる。次に、ステップS11に移行して、車両本体3に搭載しているヘルメット80に設置されている主電源スイッチ84を手動操作でオンする。
例えば、前記実施例においては、左右の車輪2L,2Rを回転駆動するために、それぞれに1台ずつ車輪駆動ユニット4L,4Rを設け、各車輪2L,2Rを個別に回転駆動する構成としたが、車輪駆動ユニットを1台にて構成して、1台の車輪駆動ユニットで2個の車輪2L,2Rを回転駆動する構成としてもよい。また、前記実施例では、2個の車輪2L,2Rを平行に配置した例について説明したが、3個又は4個以上の車輪を平行に配置する構成とすることもできる。
Claims (11)
- 平行に配置された2輪又は3輪以上の車輪と、
前記2輪又は3輪以上の車輪の回転により走行する車両本体と、
前記車両本体に取り付けられると共に前記2輪又は3輪以上の車輪を回転駆動する1又は2以上の車輪駆動手段と、
前記2輪又は3輪以上の車輪の車軸方向と直交する走行方向に延在され且つ前記車両本体に回動自在に支持されるシャーシ軸と、
前記シャーシ軸に固定されると共に運転操作者の左右の足が個別に置かれ、前記車両本体を挟んで前記シャーシ軸の軸方向の両側に重量バランスを保持して左右対称に設けた一対の搭乗デッキと、
前記運転操作者の重心移動に基づく前記一対の搭乗デッキの前記走行方向の傾き角度を検出するピッチ角検出手段と、
前記運転操作者の重心移動に基づく前記一対の搭乗デッキの前記車軸方向の傾き角度を検出するロール角検出手段と、
前記ピッチ角検出手段及び前記ロール角検出手段により検出される前記一対の搭乗デッキの姿勢に応じて前記1又は2以上の車輪駆動手段に制御信号を出力して走行状態を制御する車両制御手段と、を設けたことを特徴とする不安定走行装置。 - 前記ピッチ角検出手段は、前記車両本体の傾き角度を検出するジャイロセンサからなることを特徴とする請求項1に記載の不安定走行装置。
- 前記ロール角検出手段は、前記シャーシ軸の回転角度を検出する回転角検出器からなることを特徴とする請求項1に記載の不安定走行装置。
- 前記一対の搭乗デッキには、前記運転操作者の左右の足から付加される荷重をそれぞれ検出して重心の移動を検出する一対の荷重センサを設けたことを特徴とする請求項1に記載の不安定走行装置。
- 前記一対の荷重センサは、前記シャーシ軸を挟んで両側に配置された一対の荷重検出部をそれぞれ有することを特徴とする請求項4に記載の不安定走行装置。
- 前記一対の搭乗デッキの下部には、当該一対の搭乗デッキの前記走行方向の傾き角度を制限する補助輪をそれぞれ設けたことを特徴とする請求項1に記載の不安定走行装置。
- 前記補助輪は、路面に接触して回転する際の摩擦力により制動力を生じさせる制動車輪であることを特徴とする請求項6に記載の不安定走行装置。
- 前記補助輪は、走行方向の回転を阻止して当該走行方向と反対側の回転のみを許容する一方向クラッチを有する制動車輪であることを特徴とする請求項6に記載の不安定走行装置。
- 前記補助輪には、所定以上の荷重が負荷されたときに前記1又は2以上の車輪駆動手段の駆動を停止する駆動停止スイッチを設けたことを特徴とする請求項6に記載の不安定走行装置。
- 前記車両制御手段は、前記ピッチ角検出手段から供給される検出信号に基づき前記1又は2以上の車輪駆動手段に制御信号を出力して運転操作者の重心移動量に応じて走行速度を制御することを特徴とする請求項1に記載の不安定走行装置。
- 前記車両制御手段は、前記ロール角検出手段から供給される検出信号に基づき前記1又は2以上の車輪駆動手段に制御信号を出力して運転操作者の重心移動量に応じて旋回速度を制御することを特徴とする請求項1に記載の不安定走行装置。
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JP2004178997A JP4691912B2 (ja) | 2004-06-16 | 2004-06-16 | 不安定走行装置 |
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JP2004178997A JP4691912B2 (ja) | 2004-06-16 | 2004-06-16 | 不安定走行装置 |
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JP2006001384A JP2006001384A (ja) | 2006-01-05 |
JP4691912B2 true JP4691912B2 (ja) | 2011-06-01 |
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Cited By (9)
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