JP6187049B2 - 歩行アシスト移動体 - Google Patents
歩行アシスト移動体 Download PDFInfo
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- JP6187049B2 JP6187049B2 JP2013180574A JP2013180574A JP6187049B2 JP 6187049 B2 JP6187049 B2 JP 6187049B2 JP 2013180574 A JP2013180574 A JP 2013180574A JP 2013180574 A JP2013180574 A JP 2013180574A JP 6187049 B2 JP6187049 B2 JP 6187049B2
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- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
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- B60L2220/00—Electrical machine types; Structures or applications thereof
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Description
図1〜図8を参照して、本発明の第1実施形態による歩行アシスト移動体100の構成について説明する。なお、以下の説明において、ユーザの進行方向前方(矢印X1方向)を前方、進行方向後方(矢印X2方向)を後方、進行方向に対して右側(矢印Y1方向)を右側、進行方向に対して左側(矢印Y2方向)を左側、鉛直方向上側(矢印Z1方向)を上側、地面側(矢印Z2方向)を下側として説明する。
次に、図9〜図15を参照して、第2実施形態による歩行アシスト移動体101の構成ついて説明する。第2実施形態では、旋回検出部として角速度センサ6が設けられていた、第1実施形態の歩行アシスト移動体100と異なり、旋回検出部として加速度センサ6aが設けられている。
次に、図16〜図20を参照して、第3実施形態による歩行アシスト移動体102の構成ついて説明する。第3実施形態では、駆動輪23および24のうち、駆動輪23または24のどちらか一方が空転する状態を検知するように構成されている歩行アシスト移動体100と異なり、駆動輪23および24のすべての駆動輪23および24が空転している状態をさらに検知するように構成されている。
次に、図22〜図24を参照して、第4実施形態による歩行アシスト移動体103の構成ついて説明する。第4実施形態では、第1旋回角速度ω3のみを直接的に検出する角速度センサ6が設けられていた、第1実施形態の歩行アシスト移動体100と異なり、第1旋回角速度ω3に加えて、歩行アシスト移動体103の進行方向に沿った軸を中心に回転する方向である横転方向の角速度ω7も直接的に検出するように構成されている。
5、5a、5b、5c CPU(制御部)
6、6c 角速度センサ(旋回検出部)
6a、6b 加速度センサ(旋回検出部)
21、22 キャスター(自在輪)
23、24 駆動輪
31 圧力センサ(アシスト力調整度合検出部)
41、42 ホールセンサ(駆動輪回転速度検出部)
100、101、102、103 歩行アシスト移動体
A1、A3 第1横方向加速度
A2、A4 第2横方向加速度
A5 第1前後方向加速度
A6 第2前後方向加速度
ω1、ω2 駆動輪回転速度
ω3、ω5 第1旋回角速度
ω4、ω6 第2旋回角速度
ω7 横転方向の角速度
Claims (7)
- ユーザの歩行をアシストする歩行アシスト移動体本体に設けられた自在輪および2つの駆動輪と、
前記2つの駆動輪のそれぞれの駆動輪回転速度を検出するための駆動輪回転速度検出部と、
少なくとも前記歩行アシスト移動体本体の旋回時の第1旋回角速度または第1横方向加速度を直接的に検出する旋回検出部と、
前記駆動輪回転速度検出部により検出された駆動輪回転速度に基づいて、少なくとも前記歩行アシスト移動体本体の第2旋回角速度または第2横方向加速度を間接的に取得するとともに、前記第1旋回角速度と前記第2旋回角速度との比較、または、前記第1横方向加速度と前記第2横方向加速度との比較に基づいて、前記2つの駆動輪の駆動を減速または停止させる第1制御を行う制御部とを備える、歩行アシスト移動体。 - ユーザによるアシスト力の調整操作の度合いを検出するアシスト力調整度合検出部をさらに備え、
前記制御部は、前記アシスト力調整度合検出部からの情報に基づいて、前記駆動輪を駆動するとともに、前記第1旋回角速度と前記第2旋回角速度との差の絶対値が所定の旋回角速度差しきい値以上になった場合、または、前記第1横方向加速度と前記第2横方向加速度との差の絶対値が、所定の横方向加速度差しきい値以上になった場合に、前記アシスト力調整度合検出部からの情報に基づかないで、前記第1制御を行うように構成されている、請求項1に記載の歩行アシスト移動体。 - 前記制御部は、前記第1旋回角速度と前記第2旋回角速度との差の絶対値が所定の旋回角速度差しきい値以上になった場合、または、前記第1横方向加速度と前記第2横方向加速度との差の絶対値が、所定の横方向加速度差しきい値以上になった場合に、前記2つの駆動輪の駆動を停止させる制御を行うように構成されている、請求項2に記載の歩行アシスト移動体。
- 前記歩行アシスト移動体本体の前後方向の加速度である第1前後方向加速度を直接的に検出する前後方向加速度検出部をさらに備え、
前記制御部は、前記駆動輪回転検出部で検出された駆動輪回転速度に基づいて、前記歩行アシスト移動体本体の第2前後方向加速度を間接的に取得するとともに、前記第1前後方向加速度と、前記第2前後方向加速度との差の絶対値が、所定の前後加速度差しきい値以上の場合に、前記アシスト力調整度合検出部からの情報に基づかないで、前記2つの駆動輪の駆動を減速または停止させる第2制御を行うように構成されている、請求項2または3に記載の歩行アシスト移動体。 - 前記制御部は、前記第1前後方向加速度と、前記第2前後方向加速度との差の絶対値が、前記所定の前後加速度差しきい値以上になった場合に、前記2つの駆動輪の駆動を停止させる制御を行うように構成されている、請求項4に記載の歩行アシスト移動体。
- 前記旋回検出部は、前記第1旋回角速度を直接的に検出する角速度検出部を含み、
前記角速度検出部は、前記第1旋回角速度に加えて、前記歩行アシスト移動体本体の進行方向に沿った軸を中心に回転する方向である横転方向の角速度も直接的に検出するように構成されており、
前記制御部は、前記第1旋回角速度と前記第2旋回角速度との比較結果と、前記横転方向の角速度とに基づいて、所定の横転角速度しきい値以上になった場合に、前記2つの駆動輪の駆動を減速または停止させる第1制御を行うように構成されている、請求項1〜5のいずれか1項に記載の歩行アシスト移動体。 - 前記アシスト力調整度合検出部は、ユーザに把持されることにより、ユーザが前記歩行アシスト移動体本体を押引する方向および押引する強度を検出する複数の圧力センサを含み、
前記制御部は、前記複数の圧力センサからの情報に基づいて、ユーザが前記歩行アシスト移動体本体を押引する方向に前記駆動輪を駆動する制御を行うように構成されているとともに、前記第1旋回角速度と前記第2旋回角速度との差の絶対値が所定の旋回角速度差しきい値以上になった場合、または、前記第1横方向加速度と前記第2横方向加速度との差の絶対値が、所定の横方向加速度差しきい値以上になった場合に、前記複数の圧力センサからの情報に基づかないで、前記第1制御を行うように構成されている、請求項2に記載の歩行アシスト移動体。
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