JP6497369B2 - 走行装置 - Google Patents
走行装置 Download PDFInfo
- Publication number
- JP6497369B2 JP6497369B2 JP2016178983A JP2016178983A JP6497369B2 JP 6497369 B2 JP6497369 B2 JP 6497369B2 JP 2016178983 A JP2016178983 A JP 2016178983A JP 2016178983 A JP2016178983 A JP 2016178983A JP 6497369 B2 JP6497369 B2 JP 6497369B2
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- Japan
- Prior art keywords
- failure
- length
- rear wheel
- control unit
- speed
- 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.)
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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
- 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
- B62K5/027—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
- 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
- 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
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
-
- 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
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
- B62K23/04—Twist grips
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L3/00—Brake-actuating mechanisms; Arrangements thereof
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/412—Speed sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/413—Rotation sensors
-
- 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)
- Motorcycle And Bicycle Frame (AREA)
- Body Structure For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
Claims (7)
- 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、
前記ユーザが前記前輪支持部材と前記後輪支持部材の相対位置を変化させることにより、前記前輪と前記後輪のホイールベース長を調整する調整機構と、
前記ホイールベース長に対応付けられた目標速度に基づいて前記駆動部を制御する制御部と、
前記走行装置の故障を検知する故障検知部と
を備え、
前記制御部は、前記故障検知部が故障を検知した場合に、前記ホイールベース長に対応付けられた目標速度に基づく制御を停止すると共に、前記ホイールベース長を伸長させるための制御を実行する走行装置。 - 前記制御部は、前記故障検知部が故障を検知した場合に、前記駆動部への電力の供給または駆動信号の供給を遮断する請求項1に記載の走行装置。
- 前記制御部は、前記故障検知部が故障を検知した場合に、前記駆動部を制御して前記走行装置の速度を漸減させる請求項1に記載の走行装置。
- 前記後輪の回転を制動する後輪制動部材を備え、
前記制御部は、前記故障検知部が故障を検知した場合に、前記ホイールベース長を伸長させるための制御として、前記後輪制動部材に前記後輪の回転を制動させる請求項1から3のいずれか1項に記載の走行装置。 - 前記調整機構は、アクチュエータの駆動力によって前記ホイールベース長を伸長させる伸長駆動部を含み、
前記制御部は、前記故障検知部が故障を検知した場合に、前記ホイールベース長を伸長させるための制御として、前記伸長駆動部に前記ホイールベース長を伸長させる請求項1から3のいずれか1項に記載の走行装置。 - 係止部が解放されたときに前記ホイールベース長を押し広げるように前記前輪支持部材と前記後輪支持部材の間に設けられた弾性部材を備え、
前記制御部は、前記故障検知部が故障を検知した場合に、前記ホイールベース長を伸長させるための制御として、前記弾性部材の前記係止部を解放する請求項1から3のいずれか1項に記載の走行装置。 - 前記目標速度は、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から6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 |
---|---|---|---|
JP2016178983A JP6497369B2 (ja) | 2016-09-13 | 2016-09-13 | 走行装置 |
US15/695,068 US10343740B2 (en) | 2016-09-13 | 2017-09-05 | Traveling apparatus |
CN201710813224.8A CN107813891B (zh) | 2016-09-13 | 2017-09-11 | 行驶装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016178983A JP6497369B2 (ja) | 2016-09-13 | 2016-09-13 | 走行装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018043607A JP2018043607A (ja) | 2018-03-22 |
JP6497369B2 true JP6497369B2 (ja) | 2019-04-10 |
Family
ID=61558608
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016178983A Active JP6497369B2 (ja) | 2016-09-13 | 2016-09-13 | 走行装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10343740B2 (ja) |
JP (1) | JP6497369B2 (ja) |
CN (1) | CN107813891B (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9643679B2 (en) | 2015-02-11 | 2017-05-09 | Razor Usa Llc | Scooter with rotational connection |
JP6497369B2 (ja) * | 2016-09-13 | 2019-04-10 | トヨタ自動車株式会社 | 走行装置 |
US11370497B2 (en) | 2016-10-18 | 2022-06-28 | Piaggio Fast Forward, Inc. | Vehicle having non-axial drive and stabilization system |
USD826087S1 (en) * | 2017-09-04 | 2018-08-21 | Toyota Jidosha Kabushiki Kaisha | Personal transportation vehicle |
USD855116S1 (en) | 2017-09-12 | 2019-07-30 | Razor Usa Llc | Personal mobility vehicle |
IT201700114497A1 (it) | 2017-10-11 | 2019-04-11 | Piaggio Fast Forward Inc | Veicolo a due ruote con sistema di stabilizzazione lineare |
DE102018000114B4 (de) * | 2018-01-10 | 2021-01-28 | Andreas ten Haaft | Fahrzeug mehrspurig und neigbar, mit Schiebe- und Mitfahr-Eigenschaften |
USD885987S1 (en) | 2018-04-17 | 2020-06-02 | Razor Usa Llc | Personal mobility vehicle |
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 |
WO2019220802A1 (ja) * | 2018-05-16 | 2019-11-21 | 三菱電機株式会社 | 移動台車 |
KR20210078498A (ko) * | 2018-10-22 | 2021-06-28 | 피아지오 패스트 포워드 인코포레이티드 | 변위 장치 조립체와 이를 구비하는 모바일 캐리어 |
JP6915179B1 (ja) * | 2020-05-01 | 2021-08-04 | 本田技研工業株式会社 | 車両 |
CN117015498A (zh) * | 2021-03-12 | 2023-11-07 | 本田技研工业株式会社 | 车辆 |
CN113998037B (zh) * | 2021-10-14 | 2023-07-25 | 株式会社Iat | 一种自行车的自动减速方法、装置及系统 |
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US6581714B1 (en) * | 1993-02-24 | 2003-06-24 | Deka Products Limited Partnership | Steering control of a personal transporter |
US6288505B1 (en) * | 2000-10-13 | 2001-09-11 | Deka Products Limited Partnership | Motor amplifier and control for a personal transporter |
WO2002030730A2 (en) * | 2000-10-13 | 2002-04-18 | Deka Products Limited Partnership | Control of a personal transporter |
US6538411B1 (en) * | 2000-10-13 | 2003-03-25 | Deka Products Limited Partnership | Deceleration control of a personal transporter |
US6408240B1 (en) * | 2000-10-13 | 2002-06-18 | Deka Products Limited Partnership | Traction control for a personal transporter |
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CN102803030B (zh) | 2009-06-17 | 2014-12-31 | 丰田自动车株式会社 | 行驶支援装置 |
JP5206615B2 (ja) * | 2009-07-29 | 2013-06-12 | トヨタ自動車株式会社 | 同軸二輪車 |
JP5213841B2 (ja) * | 2009-12-22 | 2013-06-19 | 三菱電機株式会社 | 列車ダイヤ調整方法および装置 |
FR2976548B1 (fr) * | 2011-06-17 | 2013-06-07 | Univ Paris Sud 11 | Gyropode "hubless" de structure simplifiee |
KR101377986B1 (ko) * | 2012-07-06 | 2014-03-25 | 주식회사 로보쓰리 | 조향핸들 정위치 복원형 셀프 밸런싱 스쿠터 |
JP6032119B2 (ja) * | 2013-05-07 | 2016-11-24 | トヨタ自動車株式会社 | 倒立移動体及びその制御方法 |
CN103963889B (zh) * | 2014-05-23 | 2016-05-11 | 湖南丰茂植保机械有限公司 | 一种自动喷药车 |
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CN105539658B (zh) * | 2015-12-24 | 2018-03-30 | 鲍炜 | 一种安全的两轮自平衡车 |
US9862434B2 (en) * | 2016-01-21 | 2018-01-09 | Sol Boards, Inc. | Standing electric vehicle for golf course travel |
JP6497369B2 (ja) * | 2016-09-13 | 2019-04-10 | トヨタ自動車株式会社 | 走行装置 |
-
2016
- 2016-09-13 JP JP2016178983A patent/JP6497369B2/ja active Active
-
2017
- 2017-09-05 US US15/695,068 patent/US10343740B2/en not_active Expired - Fee Related
- 2017-09-11 CN CN201710813224.8A patent/CN107813891B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN107813891B (zh) | 2019-10-01 |
JP2018043607A (ja) | 2018-03-22 |
US10343740B2 (en) | 2019-07-09 |
US20180072366A1 (en) | 2018-03-15 |
CN107813891A (zh) | 2018-03-20 |
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