JP6707402B2 - 倒立振子型車両 - Google Patents
倒立振子型車両 Download PDFInfo
- Publication number
- JP6707402B2 JP6707402B2 JP2016115366A JP2016115366A JP6707402B2 JP 6707402 B2 JP6707402 B2 JP 6707402B2 JP 2016115366 A JP2016115366 A JP 2016115366A JP 2016115366 A JP2016115366 A JP 2016115366A JP 6707402 B2 JP6707402 B2 JP 6707402B2
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- JP
- Japan
- Prior art keywords
- inverted pendulum
- vehicle body
- posture
- pendulum type
- type 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.)
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- 230000007704 transition Effects 0.000 claims description 6
- 239000003086 colorant Substances 0.000 claims description 2
- 238000004092 self-diagnosis Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000004397 blinking Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Images
Classifications
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- 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
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/02—Articulated stands, e.g. in the shape of hinged arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/08—Pedal supports
-
- 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
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
- B62J25/04—Floor-type foot rests
-
- 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
- B62J45/415—Inclination sensors
- B62J45/4152—Inclination sensors for sensing longitudinal inclination of the cycle
-
- 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
- B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
- B62J6/05—Direction indicators
- B62J6/055—Electrical means, e.g. lamps
-
- 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
- B62K1/00—Unicycles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/14—Vehicles with one wheel only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/16—Single-axle vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Motorcycle And Bicycle Frame (AREA)
Description
11 車輪
12 アウタシェル(車体)
14 サドル
16 ステップ
18 スタンド
30 表示装置
32 表示部
34 発光部
35 発光部
36 表示制御装置
40 電源スイッチ
42 スタンドスイッチ
44 着座スイッチ
46 倒立振子制御装置
48 ジャイロセンサ
50 自己診断装置
Claims (9)
- 使用者が着座するサドルを有し、倒立振子制御が停止されてスタンドによって車体が傾斜した姿勢に駐機する駐機状態と、倒立振子制御によって前記車体が起立した姿勢を維持する自立状態とを取ることができる倒立振子型車両であって、
前記駐機状態と前記自立状態との遷移に応じて前記車体を前記駐機状態から前記自立状態に起立させる操作或いは前記自立状態から前記駐機状態に傾斜させる操作を誘導する表示を行う表示装置を有する倒立振子型車両。 - 前記表示装置は、前記駐機状態時には、前記車体が起立姿勢になるまで前記車体を起立させる方向を示す表示を行う請求項1に記載の倒立振子型車両。
- 電源スイッチがオフからオンに変化した直後に倒立振子制御の初期化が開始され、
前記表示装置は、前記初期化が完了した時点で、前記車体を起立させる方向を示す表示を開始する請求項2に記載の倒立振子型車両。 - 前記表示装置は、前記初期化が正常に完了しない場合或いは前記初期化が完了する以前に前記車体が起立された場合には、前記車体を傾斜させる方向を示す表示を行う請求項3に記載の倒立振子型車両。
- 前記表示装置は、倒立振子制御下で使用者が降車した時には、前記車体が傾斜姿勢になるまで前記車体を傾斜させる方向を示す表示を行う請求項1〜3の何れか一項に記載の倒立振子型車両。
- 前記倒立振子制御は、電源スイッチがオフからオンに変化し、前記車体が傾斜姿勢から起立姿勢に起こされることにより開始され、
前記表示装置は、前記電源スイッチがオンで且つ前記車体が起立姿勢である時に前記倒立振子制御が行われない場合には、前記車体を傾斜させる方向を示す表示を行う請求項1〜5の何れか一項に記載の倒立振子型車両。 - 前記表示装置は前記車体が傾斜した姿勢と前記車体が起立した姿勢との間に前記車体を動かす方向に沿って配置された複数の発光部を有し、複数の発光部を順次点灯或いは点滅させる方向によって前記車体を起立させる操作或いは傾斜させる操作を誘導する請求項1〜6の何れか一項に記載の倒立振子型車両。
- 前記表示装置は前記車体が傾斜した姿勢と前記車体が起立した姿勢との間に前記車体を動かす方向に沿って延在する帯状の発光部を有し、前記発光部の発光の進行方向によって前記車体を起立させる操作或いは傾斜させる操作を誘導する請求項1〜6の何れか一項に記載の倒立振子型車両。
- 前記複数の発光部は互いに異なる色彩によって点灯するものを含んでいる請求項7又は8に記載の倒立振子型車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016115366A JP6707402B2 (ja) | 2016-06-09 | 2016-06-09 | 倒立振子型車両 |
US15/614,965 US10137956B2 (en) | 2016-06-09 | 2017-06-06 | Inverted pendulum vehicle |
CN201710426204.5A CN107487405B (zh) | 2016-06-09 | 2017-06-08 | 倒立摆车 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016115366A JP6707402B2 (ja) | 2016-06-09 | 2016-06-09 | 倒立振子型車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017218073A JP2017218073A (ja) | 2017-12-14 |
JP6707402B2 true JP6707402B2 (ja) | 2020-06-10 |
Family
ID=60573689
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016115366A Active JP6707402B2 (ja) | 2016-06-09 | 2016-06-09 | 倒立振子型車両 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10137956B2 (ja) |
JP (1) | JP6707402B2 (ja) |
CN (1) | CN107487405B (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6924605B2 (ja) * | 2017-04-20 | 2021-08-25 | 本田技研工業株式会社 | 倒立振子型車両 |
JP1625171S (ja) * | 2018-05-30 | 2019-02-25 | 補助輪付き電動一輪車 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4883284A (en) * | 1987-12-25 | 1989-11-28 | Honda Giken Kogyo Kabushiki Kaisha | Position detecting device for a motorcycle side stand |
JP3656167B2 (ja) * | 1995-05-29 | 2005-06-08 | カヤバ工業株式会社 | フロントフォーク |
EP2128012A4 (en) * | 2007-03-27 | 2012-04-11 | Equos Res Co Ltd | VEHICLE |
US8513917B2 (en) * | 2009-09-18 | 2013-08-20 | Honda Motor Co., Ltd. | Recharging system for a rechargeable battery of an inverted pendulum type vehicle |
WO2011033590A1 (ja) * | 2009-09-18 | 2011-03-24 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
JP2011183864A (ja) * | 2010-03-05 | 2011-09-22 | Toyota Motor Corp | 移動体 |
JP2014151721A (ja) * | 2013-02-06 | 2014-08-25 | Toyo Parts Kk | ホイールウォーカー |
JP6081271B2 (ja) | 2013-03-29 | 2017-02-15 | 本田技研工業株式会社 | 倒立振子型車両 |
JP6062784B2 (ja) * | 2013-03-29 | 2017-01-18 | 本田技研工業株式会社 | 倒立振子型車両 |
WO2014182527A1 (en) * | 2013-05-06 | 2014-11-13 | Future Motion, Inc. | Self-stabilizing skateboard |
JP6099483B2 (ja) | 2013-05-31 | 2017-03-22 | 本田技研工業株式会社 | 倒立振子型車両 |
JP6099484B2 (ja) | 2013-05-31 | 2017-03-22 | 本田技研工業株式会社 | 倒立振子型車両 |
JP5764194B2 (ja) * | 2013-12-26 | 2015-08-12 | 株式会社シマノ | 無線鍵システム |
CN105116817A (zh) * | 2015-06-26 | 2015-12-02 | 小米科技有限责任公司 | 平衡车管理方法及装置 |
CN105329347A (zh) * | 2015-10-28 | 2016-02-17 | 无锡康斯坦特动力科技有限公司 | 自照明式独轮平衡车 |
CN107444557B (zh) * | 2017-03-31 | 2021-01-26 | 深圳信隆健康产业发展股份有限公司 | 一种平衡车及其控制方法 |
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2016
- 2016-06-09 JP JP2016115366A patent/JP6707402B2/ja active Active
-
2017
- 2017-06-06 US US15/614,965 patent/US10137956B2/en active Active
- 2017-06-08 CN CN201710426204.5A patent/CN107487405B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN107487405B (zh) | 2019-08-20 |
US20170355414A1 (en) | 2017-12-14 |
JP2017218073A (ja) | 2017-12-14 |
CN107487405A (zh) | 2017-12-19 |
US10137956B2 (en) | 2018-11-27 |
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