JP4957889B2 - 走行車両 - Google Patents
走行車両 Download PDFInfo
- Publication number
- JP4957889B2 JP4957889B2 JP2006232402A JP2006232402A JP4957889B2 JP 4957889 B2 JP4957889 B2 JP 4957889B2 JP 2006232402 A JP2006232402 A JP 2006232402A JP 2006232402 A JP2006232402 A JP 2006232402A JP 4957889 B2 JP4957889 B2 JP 4957889B2
- Authority
- JP
- Japan
- Prior art keywords
- weight
- balancer
- vehicle body
- posture
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
図1は本実施形態の走行車両を示す。図中、1は走行車両、2は車体、3は乗員搭載部の一例としての座席、4はフットレスト、5は転倒防止バー、6はジョイスティック、7は駆動手段の一例としてのホイールモータ、8は車輪、10はバランサである。
Claims (2)
- 車体と、
前記車体に回転可能に支持された車輪と、
前記車輪を駆動する駆動手段と、
を有する走行車両において、
前記車体の姿勢を検出する車体姿勢検出手段と、
錘を移動させることで前記車体の姿勢を制御するバランサと、
前記車体姿勢検出手段の検出した車体姿勢に基づき、前記バランサを制御すると共に、前記バランサが故障した場合、前記駆動手段のみで車体の姿勢を制御する車体姿勢制御手段と、
前記バランサが故障した場合、前記バランサの前記錘の位置を固定する錘位置固定手段と、
前記錘の位置を検出する錘位置検出手段と、
前記車体姿勢制御手段は、前記錘位置検出手段の検出した前記錘の位置から、前記走行車両の新たな重心の位置を算出する重心算出手段と、
を備え、
前記重心算出手段の算出結果に基づき、前記駆動手段を制御する
ことを特徴とする請求項1に記載の走行車両。 - 前記バランサが故障した場合、前記錘が移動可能か否かを判断する錘移動判断手段と、前記錘移動判断手段により移動可能と判断された場合、前記錘を予め決められた所定位置に移動させた後、前記錘固定手段により固定することを特徴とする請求項1に記載の走行車両。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006232402A JP4957889B2 (ja) | 2006-08-29 | 2006-08-29 | 走行車両 |
US12/439,314 US20100161206A1 (en) | 2006-08-29 | 2007-08-24 | Traveling vehicle |
CN2007800322395A CN101511667B (zh) | 2006-08-29 | 2007-08-24 | 行驶车辆 |
PCT/JP2007/066433 WO2008026511A1 (fr) | 2006-08-29 | 2007-08-24 | Véhicule de déplacement |
EP07792962A EP2058216A1 (en) | 2006-08-29 | 2007-08-24 | Traveling vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006232402A JP4957889B2 (ja) | 2006-08-29 | 2006-08-29 | 走行車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008055951A JP2008055951A (ja) | 2008-03-13 |
JP4957889B2 true JP4957889B2 (ja) | 2012-06-20 |
Family
ID=39135794
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006232402A Expired - Fee Related JP4957889B2 (ja) | 2006-08-29 | 2006-08-29 | 走行車両 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20100161206A1 (ja) |
EP (1) | EP2058216A1 (ja) |
JP (1) | JP4957889B2 (ja) |
CN (1) | CN101511667B (ja) |
WO (1) | WO2008026511A1 (ja) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4947415B2 (ja) * | 2007-03-27 | 2012-06-06 | 株式会社エクォス・リサーチ | 車両 |
CN102173304A (zh) * | 2007-03-27 | 2011-09-07 | 爱考斯研究株式会社 | 车辆 |
JP4947414B2 (ja) * | 2007-03-27 | 2012-06-06 | 株式会社エクォス・リサーチ | 車両 |
JP5182123B2 (ja) * | 2009-01-28 | 2013-04-10 | 株式会社エクォス・リサーチ | 車両 |
JP6432060B2 (ja) * | 2014-10-20 | 2018-12-05 | 株式会社ケーイーアール | 二輪ビークルならびにその制御方法および操作制御方法 |
CN105799835A (zh) * | 2016-04-18 | 2016-07-27 | 金勇� | 供残疾人使用的新型平衡车 |
CN106379457B (zh) * | 2016-09-20 | 2019-09-10 | 北京小米移动软件有限公司 | 平衡车校准方法及装置 |
US10293676B2 (en) | 2016-10-18 | 2019-05-21 | Piaggio Fast Forward, Inc. | Vehicle having non-axial drive |
US10173738B2 (en) | 2016-10-18 | 2019-01-08 | Piaggio Fast Forward, Inc. | Vehicle having stabilization system |
US11370497B2 (en) | 2016-10-18 | 2022-06-28 | Piaggio Fast Forward, Inc. | Vehicle having non-axial drive and stabilization system |
IT201700114497A1 (it) | 2017-10-11 | 2019-04-11 | Piaggio Fast Forward Inc | Veicolo a due ruote con sistema di stabilizzazione lineare |
CA3098000C (en) | 2018-05-01 | 2021-12-07 | Piaggio Fast Forward, Inc. | Method for determining self-driving vehicle behavior models, a self-driving vehicle, and a method of navigating a self-driving vehicle |
KR20210078498A (ko) | 2018-10-22 | 2021-06-28 | 피아지오 패스트 포워드 인코포레이티드 | 변위 장치 조립체와 이를 구비하는 모바일 캐리어 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6561294B1 (en) * | 1995-02-03 | 2003-05-13 | Deka Products Limited Partnership | Balancing vehicle with passive pivotable support |
EP1123235B1 (en) * | 1998-10-21 | 2004-11-24 | Deka Products Limited Partnership | Fault tolerant architecture for a personal vehicle |
US6233104B1 (en) * | 1999-04-19 | 2001-05-15 | Agilent Technologies, Inc. | System and method for interfacing data stored on a magnetic strip |
CN2545073Y (zh) * | 2001-12-22 | 2003-04-16 | 陈永康 | 两轮车 |
US7152882B2 (en) * | 2002-03-28 | 2006-12-26 | Sanyo Electric Co., Ltd. | Mobile carriage |
DE10243516A1 (de) * | 2002-09-19 | 2004-04-01 | Robert Bosch Gmbh | Vorrichtung zur Bestimmung einer Gesamtmasse eines Fahrzeugs |
JP2004129435A (ja) | 2002-10-04 | 2004-04-22 | Sony Corp | 搬送装置、制御方法、及び駆動機構 |
CN100361862C (zh) * | 2002-11-20 | 2008-01-16 | 中国科学技术大学 | 自平衡两轮电动车 |
JP2004243845A (ja) * | 2003-02-13 | 2004-09-02 | Toyota Motor Corp | 移動車 |
JP2004276727A (ja) * | 2003-03-14 | 2004-10-07 | Matsushita Electric Works Ltd | 人用移動機器とその制動方法 |
US8016060B2 (en) * | 2005-03-11 | 2011-09-13 | Equos Research Co., Ltd. | Vehicle |
CN101541629A (zh) * | 2006-11-30 | 2009-09-23 | 爱考斯研究株式会社 | 行驶车辆 |
US20100017107A1 (en) * | 2006-12-27 | 2010-01-21 | Kabushikikaisha Equos Research | Traveling vehicle |
-
2006
- 2006-08-29 JP JP2006232402A patent/JP4957889B2/ja not_active Expired - Fee Related
-
2007
- 2007-08-24 WO PCT/JP2007/066433 patent/WO2008026511A1/ja active Application Filing
- 2007-08-24 CN CN2007800322395A patent/CN101511667B/zh not_active Expired - Fee Related
- 2007-08-24 EP EP07792962A patent/EP2058216A1/en not_active Withdrawn
- 2007-08-24 US US12/439,314 patent/US20100161206A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
EP2058216A1 (en) | 2009-05-13 |
US20100161206A1 (en) | 2010-06-24 |
CN101511667A (zh) | 2009-08-19 |
JP2008055951A (ja) | 2008-03-13 |
WO2008026511A1 (fr) | 2008-03-06 |
CN101511667B (zh) | 2011-09-21 |
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