JP6497368B2 - 走行装置 - Google Patents
走行装置Info
- Publication number
- JP6497368B2 JP6497368B2 JP2016178982A JP2016178982A JP6497368B2 JP 6497368 B2 JP6497368 B2 JP 6497368B2 JP 2016178982 A JP2016178982 A JP 2016178982A JP 2016178982 A JP2016178982 A JP 2016178982A JP 6497368 B2 JP6497368 B2 JP 6497368B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- target speed
- traveling device
- rotation angle
- wheel
- 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.)
- Active
Links
Images
Classifications
-
- 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
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- 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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/027—Motorcycles with three wheels
-
- 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
- B62K15/00—Collapsible or foldable cycles
- B62K15/006—Collapsible or foldable cycles the frame being foldable
-
- 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
- B62K17/00—Cycles not otherwise provided for
-
- 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
- B62K3/00—Bicycles
- B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
-
- 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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/06—Frames for tricycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/40—Variable track or wheelbase vehicles
-
- 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
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
-
- 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
- B62K2202/00—Motorised scooters
-
- 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)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Description
Claims (6)
- 走行方向に対して少なくとも前輪と後輪を有し、ユーザが搭乗して走行する走行装置であって、
前記前輪を回転可能に支持する前輪支持部材と、
前記後輪を回転可能に支持する後輪支持部材と、
前記前輪および前記後輪の少なくともいずれかを駆動する駆動部と、
前記ユーザが動作する力が伝達することにより前記前輪支持部材と前記後輪支持部材の相対位置が変化して前記前輪と前記後輪のホイールベース長が調整される調整機構と、
前記ユーザから前進か後進かの指示を受け付ける指示受付部と、
前記指示受付部により前進の指示を受け付けている場合には、前記ホイールベース長が長くなるほど大きくなるように対応付けられた前進目標速度に基づいて前進するように前記駆動部を制御し、前記指示受付部により後進の指示を受け付けている場合には、前記ホイールベース長に対応付けられた後進目標速度に基づいて後進するように前記駆動部を制御する制御部と
を備える走行装置。 - 前記後進目標速度は、前記ホイールベース長が長くなるほど大きくなるように対応付けられている請求項1に記載の走行装置。
- 前記後進目標速度は、前記ホイールベース長が最短以外の場合に一定速度に対応付けられている請求項1に記載の走行装置。
- 後進する場合に前記前輪の回転を制動する制動部材を備え、
前記駆動部は、前記後輪を駆動する請求項3に記載の走行装置。 - 前記指示受付部は、前記ホイールベース長が予め定められた長さよりも短くない場合には、前記指示を受け付けない請求項1から4のいずれか1項に記載の走行装置。
- 前記指示受付部は、前記走行装置の速度が予め定められた速度よりも遅くない場合には、前記指示を受け付けない請求項1から5のいずれか1項に記載の走行装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016178982A JP6497368B2 (ja) | 2016-09-13 | 2016-09-13 | 走行装置 |
US15/686,658 US10654362B2 (en) | 2016-09-13 | 2017-08-25 | Traveling apparatus |
CN201710821943.4A CN107813892B (zh) | 2016-09-13 | 2017-09-13 | 行驶装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016178982A JP6497368B2 (ja) | 2016-09-13 | 2016-09-13 | 走行装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018043606A JP2018043606A (ja) | 2018-03-22 |
JP6497368B2 true JP6497368B2 (ja) | 2019-04-10 |
Family
ID=61559079
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016178982A Active JP6497368B2 (ja) | 2016-09-13 | 2016-09-13 | 走行装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10654362B2 (ja) |
JP (1) | JP6497368B2 (ja) |
CN (1) | CN107813892B (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008150448A1 (en) * | 2007-05-31 | 2008-12-11 | Twill Tech., Inc. | Dynamically balanced in-line wheel vehicle |
DE102018000114B4 (de) * | 2018-01-10 | 2021-01-28 | Andreas ten Haaft | Fahrzeug mehrspurig und neigbar, mit Schiebe- und Mitfahr-Eigenschaften |
Family Cites Families (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB8515992D0 (en) * | 1985-06-25 | 1985-07-31 | Hester R | Wheelchair |
JPH01106717A (ja) | 1987-10-20 | 1989-04-24 | Daihatsu Motor Co Ltd | ホイールベース可変式リヤサスペンション |
US5372211A (en) * | 1992-10-01 | 1994-12-13 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method for surmounting an obstacle by a robot vehicle |
US6915878B2 (en) * | 1994-05-27 | 2005-07-12 | Deka Products Limited Partnership | Self-balancing ladder and camera dolly |
US5515934A (en) * | 1994-10-17 | 1996-05-14 | Davis; Stuart D. | Agile versatile mobile robot body |
US6112843A (en) * | 1996-11-07 | 2000-09-05 | California Institute Of Technology | High mobility vehicle |
DE19733033A1 (de) * | 1997-07-31 | 1999-02-18 | Daimler Benz Ag | Einsitziges Motorfahrzeug |
WO2000054719A1 (en) * | 1999-03-15 | 2000-09-21 | Deka Products Limited Partnership | Control system and method for wheelchair |
AUPR798001A0 (en) * | 2001-09-27 | 2001-10-25 | Baribunma Holdings Pty Limited | Adjustable wheelchair |
US7900725B2 (en) * | 2002-06-11 | 2011-03-08 | Segway Inc. | Vehicle control by pitch modulation |
JP2005161999A (ja) * | 2003-12-02 | 2005-06-23 | Yamaha Motor Co Ltd | 自動二輪車 |
JP4333398B2 (ja) | 2004-02-17 | 2009-09-16 | トヨタ車体株式会社 | ホイールベース可変式車輌 |
JP4650327B2 (ja) * | 2005-04-14 | 2011-03-16 | トヨタ自動車株式会社 | 同軸二輪車 |
US20060254841A1 (en) * | 2005-05-16 | 2006-11-16 | Strong Russell W | Vehicle with adjustable axle system for actively maintaining stability |
US20060254840A1 (en) * | 2005-05-16 | 2006-11-16 | Strong Russell W | Vehicle for traveling over uneven terrain |
WO2007079346A2 (en) * | 2005-12-30 | 2007-07-12 | Olsen Christopher J | Articulated wheel assemblies and vehicles therewith |
ES2433468T3 (es) * | 2006-04-26 | 2013-12-11 | Vectrix International Limited | Vehículo con sistema de inclinación bloqueable |
JP5519093B2 (ja) * | 2006-08-03 | 2014-06-11 | トヨタ自動車株式会社 | 走行装置及び走行装置の制動制御方法 |
JP2010167809A (ja) | 2009-01-20 | 2010-08-05 | Aisin Seiki Co Ltd | 車両及び姿勢制御システム |
JP5316640B2 (ja) | 2009-06-17 | 2013-10-16 | トヨタ自動車株式会社 | 走行支援装置 |
WO2011106772A1 (en) * | 2010-02-26 | 2011-09-01 | Segway Inc. | Apparatus and methods for control of a vehicle |
JP2012076671A (ja) * | 2010-10-05 | 2012-04-19 | Aisin Seiki Co Ltd | 乗用車両 |
US20120138375A1 (en) * | 2010-12-03 | 2012-06-07 | Vectrix International Limited | Regenerative braking system for an electric vehicle and method of use |
US8662228B2 (en) * | 2011-01-19 | 2014-03-04 | Green Lite Motors Corporation | Free-to-lean three-wheeled passenger vehicle, power plant controller and body therefor |
AT511702B1 (de) * | 2011-12-22 | 2013-02-15 | Design & Engineering Company | Tretroller |
KR101377986B1 (ko) * | 2012-07-06 | 2014-03-25 | 주식회사 로보쓰리 | 조향핸들 정위치 복원형 셀프 밸런싱 스쿠터 |
USD726592S1 (en) * | 2013-08-21 | 2015-04-14 | ShenZhen Acetech Technology Co., Ltd. | Electric vehicle |
US9873476B2 (en) * | 2015-05-29 | 2018-01-23 | Urban626, Llc | Foldable electric vehicle |
CN204775679U (zh) * | 2015-06-25 | 2015-11-18 | 浙江雅迪机车有限公司 | 电动车的辅助行驶装置 |
US10052247B2 (en) * | 2015-08-24 | 2018-08-21 | Dream Roller Mobility, LLC | Wheelchair with four wheel independent suspension and modular seating |
EP3487753A1 (en) * | 2016-07-20 | 2019-05-29 | Urban626, LLC | Convertible scooter |
-
2016
- 2016-09-13 JP JP2016178982A patent/JP6497368B2/ja active Active
-
2017
- 2017-08-25 US US15/686,658 patent/US10654362B2/en active Active
- 2017-09-13 CN CN201710821943.4A patent/CN107813892B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US10654362B2 (en) | 2020-05-19 |
JP2018043606A (ja) | 2018-03-22 |
CN107813892A (zh) | 2018-03-20 |
US20180072155A1 (en) | 2018-03-15 |
CN107813892B (zh) | 2020-03-10 |
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