JP7220810B2 - 電動歩行補助車 - Google Patents
電動歩行補助車 Download PDFInfo
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- JP7220810B2 JP7220810B2 JP2021567477A JP2021567477A JP7220810B2 JP 7220810 B2 JP7220810 B2 JP 7220810B2 JP 2021567477 A JP2021567477 A JP 2021567477A JP 2021567477 A JP2021567477 A JP 2021567477A JP 7220810 B2 JP7220810 B2 JP 7220810B2
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- A—HUMAN NECESSITIES
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
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- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
- B60L58/21—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules having the same nominal voltage
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/1207—Driving means with electric or magnetic drive
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2200/00—Type of vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2240/00—Control parameters of input or output; Target parameters
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- 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
- B60L2240/00—Control parameters of input or output; Target parameters
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- 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
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- B60L2240/00—Control parameters of input or output; Target parameters
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- B60L2240/00—Control parameters of input or output; Target parameters
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- B60L2250/00—Driver interactions
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Description
T=Ap-B 式(1)
ここで、式(1)中、A及びBは0よりも大きい値を示す。Aは電動発電機101のトルク定数及び蓄電装置102の端子間電圧が増加するにつれて大きくなり、電動発電機101のインピーダンスが増加するにつれて小さくなる。また、Bは電動発電機101のトルク定数及び蓄電装置102の端子間電圧が増加するにつれて大きくなり、走行速度及び電動発電機101のインピーダンスが増加するにつれて小さくなる。
p=(T+B)/A 式(2)
ブレーキ制御部123は、式(2)に基づいて、特定のブレーキトルクTを出す際に必要なデューティ比pを求めることができる。
p=T/A 式(3)
Claims (14)
- 車体に設けられた車輪と、
前記車輪の回転に応じて回生電力を発生する発電機構と、
前記発電機構が発生させた回生電力によって前記車輪に制動力を付与するブレーキを制御する制御装置と、
を含み、
前記制御装置は、前記車体の走行速度が所定の上限速度よりも大きい場合、前記走行速度を抑制して所定の走行速度にするよう第1回生ブレーキを作動させ、前記走行速度が前記所定の上限速度以下の場合、前記第1回生ブレーキよりも制動力が小さい第2回生ブレーキを作動させ、
前記制御装置は前記発電機構による回生ブレーキを常時作動する電動歩行補助車。 - 前記回生電力は使用者が本電動歩行補助車を能動的に動かしているときに発生するものである請求項1に記載の電動歩行補助車。
- 前記制御装置は本電動歩行補助車の走行状態を推定する走行状態推定部を含み、前記制御装置は前記走行状態推定部の推定結果に基づいて前記発電機構による回生ブレーキを作動する請求項1又は2に記載の電動歩行補助車。
- 前記制御装置は、高抵抗走行状態、上り坂走行状態、片傾斜走行状態及び極低速走行状態の少なくとも1つに該当する旨の前記走行状態推定部の推定結果に応じて、前記回生ブレーキの制動力を減少させる請求項3に記載の電動歩行補助車。
- 前記回生電力を蓄電する蓄電装置を含む請求項1乃至4のいずれか1項に記載の電動歩行補助車。
- PWM制御により前記発電機構に供給する電圧を調整可能なスイッチング素子と、
前記発電機構と前記蓄電装置との間に電気的に直列接続され且つ前記発電機構の抵抗よりも大きい電源接続抵抗と、を含み、
前記制御装置は、前記電動歩行補助車の走行速度に基づいて、前記PWM制御のデューティ比を設定する請求項5に記載の電動歩行補助車。 - 前記蓄電装置に並列接続されたツェナーダイオードを含む請求項6に記載の電動歩行補助車。
- PWM制御により前記発電機構に供給される電圧を調整可能なスイッチング素子部を含み、
前記制御装置は、前記電動歩行補助車の走行速度と前記蓄電装置の電圧とに基づいて前記PWM制御のデューティ比を設定する請求項5に記載の電動歩行補助車。 - 前記制御装置は前記走行速度が所定の速度範囲内のときに前記蓄電装置の電圧の減少量が第1閾値よりも大きくなった場合に前記デューティ比を小さくする請求項8に記載の電動歩行補助車。
- 前記デューティ比の下限値は前記制御装置が動作する電圧よりも大きい回生電圧を前記発電機構において発生可能なように定められる請求項8又は9に記載の電動歩行補助車。
- 前記制御装置は前記走行速度が所定の速度範囲内のときに前記蓄電装置の電圧の増加量が第2閾値よりも大きくなった場合に前記デューティ比を大きくする請求項8乃至10のいずれか1項に記載の電動歩行補助車。
- 前記蓄電装置は並列接続された容量の異なる複数の蓄電部を含む請求項5に記載の電動歩行補助車。
- 前記蓄電部からの電流の逆流を抑制するように前記複数の蓄電部の各々に接続された複数のダイオードを含む請求項12に記載の電動歩行補助車。
- 前記複数のダイオードは並列接続される請求項13に記載の電動歩行補助車。
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Application Number | Priority Date | Filing Date | Title |
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JP2019235314 | 2019-12-25 | ||
JP2019235314 | 2019-12-25 | ||
PCT/JP2020/047867 WO2021132216A1 (ja) | 2019-12-25 | 2020-12-22 | 電動歩行補助車 |
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JPWO2021132216A1 JPWO2021132216A1 (ja) | 2021-07-01 |
JP7220810B2 true JP7220810B2 (ja) | 2023-02-10 |
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JP2002166456A (ja) | 2000-12-04 | 2002-06-11 | Tokimec Inc | 横型成形機 |
JP2004216997A (ja) | 2003-01-10 | 2004-08-05 | Nissan Motor Co Ltd | 車両のブレーキ制御装置 |
JP2010030539A (ja) | 2008-07-31 | 2010-02-12 | Panasonic Corp | 電動補助自転車 |
WO2014045858A1 (ja) | 2012-09-18 | 2014-03-27 | 株式会社村田製作所 | 手押し車 |
WO2014188726A1 (ja) | 2013-05-22 | 2014-11-27 | ナブテスコ株式会社 | 電動歩行補助装置、電動歩行補助装置の制御プログラムおよび電動歩行補助装置の制御方法 |
JP2015029891A (ja) | 2013-08-06 | 2015-02-16 | 学校法人 東洋大学 | 蹴りだし検出による歩行補助車両 |
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JPH08280763A (ja) | 1995-04-10 | 1996-10-29 | Isao Ueda | 電動式4輪手押し杖車 |
JPH11267162A (ja) | 1998-03-19 | 1999-10-05 | Eiji Matsuura | 歩行補助車 |
JP2001104418A (ja) * | 1999-10-04 | 2001-04-17 | Nabco Ltd | 歩行車の制動装置 |
JP2009183407A (ja) | 2008-02-05 | 2009-08-20 | Toyota Motor Corp | 歩行補助装置 |
KR101929535B1 (ko) * | 2016-11-24 | 2018-12-14 | 조선대학교산학협력단 | 전기실버카용 트랜스 엑셀 모터 구동장치 |
CN109199802B (zh) * | 2017-06-29 | 2021-04-06 | 沈阳新松机器人自动化股份有限公司 | 辅助行走车及其控制方法 |
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- 2020-12-22 EP EP20905070.7A patent/EP4082508A4/en active Pending
- 2020-12-22 CN CN202080090233.9A patent/CN114867444A/zh active Pending
- 2020-12-22 JP JP2021567477A patent/JP7220810B2/ja active Active
- 2020-12-22 WO PCT/JP2020/047867 patent/WO2021132216A1/ja active Application Filing
Patent Citations (6)
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JP2002166456A (ja) | 2000-12-04 | 2002-06-11 | Tokimec Inc | 横型成形機 |
JP2004216997A (ja) | 2003-01-10 | 2004-08-05 | Nissan Motor Co Ltd | 車両のブレーキ制御装置 |
JP2010030539A (ja) | 2008-07-31 | 2010-02-12 | Panasonic Corp | 電動補助自転車 |
WO2014045858A1 (ja) | 2012-09-18 | 2014-03-27 | 株式会社村田製作所 | 手押し車 |
WO2014188726A1 (ja) | 2013-05-22 | 2014-11-27 | ナブテスコ株式会社 | 電動歩行補助装置、電動歩行補助装置の制御プログラムおよび電動歩行補助装置の制御方法 |
JP2015029891A (ja) | 2013-08-06 | 2015-02-16 | 学校法人 東洋大学 | 蹴りだし検出による歩行補助車両 |
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EP4082508A4 (en) | 2024-01-24 |
EP4082508A1 (en) | 2022-11-02 |
JPWO2021132216A1 (ja) | 2021-07-01 |
WO2021132216A1 (ja) | 2021-07-01 |
CN114867444A (zh) | 2022-08-05 |
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