JP5366285B2 - 個人用バランス乗物 - Google Patents
個人用バランス乗物 Download PDFInfo
- Publication number
- JP5366285B2 JP5366285B2 JP2001543388A JP2001543388A JP5366285B2 JP 5366285 B2 JP5366285 B2 JP 5366285B2 JP 2001543388 A JP2001543388 A JP 2001543388A JP 2001543388 A JP2001543388 A JP 2001543388A JP 5366285 B2 JP5366285 B2 JP 5366285B2
- Authority
- JP
- Japan
- Prior art keywords
- support platform
- vehicle
- ground
- module
- grounding
- 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 - Lifetime
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D51/00—Motor vehicles characterised by the driver not being seated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/107—Arrangements for adjusting the seat positioning the whole seat forward or rearward
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D39/00—Vehicle bodies not otherwise provided for, e.g. safety vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
-
- 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
- B62K2204/00—Adaptations for driving cycles by electric motor
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Handcart (AREA)
- Elimination Of Static Electricity (AREA)
- Gyroscopes (AREA)
- Eye Examination Apparatus (AREA)
- Separation Of Suspended Particles By Flocculating Agents (AREA)
- Automatic Cycles, And Cycles In General (AREA)
- Solid-Sorbent Or Filter-Aiding Compositions (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Description
T = K1 (Z(inc) + Z(inc)0) + K2 + K3 (X+X0) + K4
利得K1、K2、K3、およびK4は重力などのシステムの物理パラメータその他の効果に依存し、一方、オフセットZ(inc)0とX0は乗物のスピードを制限するようなシステムの運転モードによって特定することができ、あるいは、代替的に、ユーザ入力装置を用いてユーザによって設定することができる。図5の簡易化された制御アルゴリズムは、対象の体の動き、あるいは他の人又は物との接触により表面上の基準点に対するシステムの質量中心の変化などの障害が存在するとき、乗物全体のバランスを維持し、かつまた、乗物の表面上の基準点への近接も維持する。乗物の移動を持続するために、例えば、K3はゼロにセットされ、またはX(若しくは、X0)は絶えずリセットされる。K3は、前後運動の傾き制御を可能にするためにゼロへにセットされる。ジョイスティックなどの外部入力装置が使用されているならば、その入力装置は、必要な位置X0をリセットするのに使用できる。
Claims (10)
- イレギュラーであるかもしれない表面の上方で人間である対象を輸送する乗物であって、
a.前後平面及び横平面を定めるプラットフォームであって、前記対象を支持する支持プラットフォームと、
b.前記支持プラットフォームをピボットを介して少なくとも一部の方向に傾斜自在に支持する接地モジュールであって、横方向に配列された接地要素に加えて1又はそれ以上の追加の接地要素を備え、この追加の接地要素は前記接地要素の車軸とは別の車軸を持つ接地モジュールと、
c.前記接地モジュールと前記支持プラットフォームの少なくとも一方に設けられ前記接地モジュールを前記表面の上方で移動させる動力駆動装置と、
d.前記動力駆動装置を作動させる制御ループであって、少なくとも、前記接地モジュールに対する前記支持プラットフォームの移動に基づいて、前記接地モジュールの特定の加速を生じさせるように前記動力駆動装置を作動させる制御ループと、
を含み、
前記接地モジュールに対する前記支持プラットフォームの傾斜は、前記接地モジュールに対する前記支持プラットフォームの傾斜角の測定により決定する乗物。 - 前記接地モジュールに対する前記支持プラットフォームの移動は、力変換器により決定する請求項1の乗物。
- 前記接地モジュールに対する前記支持プラットフォームの運動を制限するロック機構をさらに含んでなる請求項1の乗物。
- 前記支持プラットフォームの運動を制限するロック機構は、前記制御ループへの動力を遮断した際に、作動される請求項3の乗物。
- 前記支持プラットフォームの前記接地モジュールに対する傾斜は、垂直と、前方運動とに制限される請求項1の乗物。
- 前記支持プラットフォームの旋回は、運行ストッパと柔軟部材とのうちの一方により制限される請求項1の乗物。
- 前記支持プラットフォームは、前記接地モジュールに対して少なくとも前記横平面の一部で旋回自在である請求項1の乗物。
- 旋回の方向と速度との少なくとも一方は、前記支持プラットフォームの前記横方向傾斜に基づいている請求項1の乗物
- 前記支持プラットフォームに設けたハンドルをさらに含んでなる請求項1の乗物。
- 支持プラットフォームと、前記支持プラットフォームをピボットを介して少なくとも一部の方向に傾斜自在に支持する接地モジュールを含む乗物を制御する方法であって、前記接地モジュールは横方向に配列された接地要素に加えて1又はそれ以上の追加の接地要素を備え、この追加の接地要素は前記接地要素の車軸とは別の車軸を持ち、前記乗物は、前記乗物を移動させる動力駆動装置をさらに含み、前記方法は、
a.前記接地モジュールに対する前記支持プラットフォームの傾斜角を測定し、
b.前記乗物の特定の加速を生じさせるように少なくとも前記支持プラットフォーム傾斜角に基づいて前記動力駆動装置を制御する、
ことを含んでなる方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/456,347 US6543564B1 (en) | 1994-05-27 | 1999-12-08 | Balancing personal vehicle |
US09/456,347 | 1999-12-08 | ||
PCT/US2000/042698 WO2001042077A2 (en) | 1999-12-08 | 2000-12-08 | Balancing personal vehicle |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2004500271A JP2004500271A (ja) | 2004-01-08 |
JP2004500271A5 JP2004500271A5 (ja) | 2012-09-06 |
JP5366285B2 true JP5366285B2 (ja) | 2013-12-11 |
Family
ID=23812398
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2001543388A Expired - Lifetime JP5366285B2 (ja) | 1999-12-08 | 2000-12-08 | 個人用バランス乗物 |
Country Status (10)
Country | Link |
---|---|
US (2) | US6543564B1 (ja) |
EP (1) | EP1237779B1 (ja) |
JP (1) | JP5366285B2 (ja) |
KR (1) | KR100704800B1 (ja) |
AT (1) | ATE299826T1 (ja) |
AU (1) | AU4715001A (ja) |
CA (1) | CA2393418C (ja) |
DE (1) | DE60021419T2 (ja) |
MX (1) | MXPA02005801A (ja) |
WO (1) | WO2001042077A2 (ja) |
Families Citing this family (91)
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-
1999
- 1999-12-08 US US09/456,347 patent/US6543564B1/en not_active Expired - Fee Related
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2000
- 2000-12-08 MX MXPA02005801A patent/MXPA02005801A/es active IP Right Grant
- 2000-12-08 WO PCT/US2000/042698 patent/WO2001042077A2/en active IP Right Grant
- 2000-12-08 AT AT00992888T patent/ATE299826T1/de not_active IP Right Cessation
- 2000-12-08 JP JP2001543388A patent/JP5366285B2/ja not_active Expired - Lifetime
- 2000-12-08 KR KR1020027007338A patent/KR100704800B1/ko not_active IP Right Cessation
- 2000-12-08 EP EP00992888A patent/EP1237779B1/en not_active Expired - Lifetime
- 2000-12-08 DE DE60021419T patent/DE60021419T2/de not_active Expired - Lifetime
- 2000-12-08 AU AU47150/01A patent/AU4715001A/en not_active Abandoned
- 2000-12-08 CA CA2393418A patent/CA2393418C/en not_active Expired - Lifetime
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Also Published As
Publication number | Publication date |
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DE60021419T2 (de) | 2006-04-27 |
JP2004500271A (ja) | 2004-01-08 |
US20030183435A1 (en) | 2003-10-02 |
KR20020067915A (ko) | 2002-08-24 |
US6543564B1 (en) | 2003-04-08 |
US6929080B2 (en) | 2005-08-16 |
EP1237779B1 (en) | 2005-07-20 |
EP1237779A2 (en) | 2002-09-11 |
KR100704800B1 (ko) | 2007-04-10 |
DE60021419D1 (de) | 2005-08-25 |
WO2001042077A2 (en) | 2001-06-14 |
MXPA02005801A (es) | 2003-02-27 |
CA2393418A1 (en) | 2001-06-14 |
ATE299826T1 (de) | 2005-08-15 |
AU4715001A (en) | 2001-06-18 |
WO2001042077A3 (en) | 2002-03-14 |
CA2393418C (en) | 2010-02-16 |
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