JPH11313857A - Small riding vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve maintenance and running characteristics by using outer rotor motors as motors for driving two running wheels independently, engaging a fitted part of running wheel with an engaging part disposed at the rotor of each motor, and connecting it thereto by a connection member so as to be detachable. SOLUTION: In the case where this small riding vehicle is applied to a bendable wheelchair, to both side surfaces of a riding vehicle frame 2, tires 10 are respectively fitted. The tire 10 is integrally constructed with a brushless direct drive motor 4 of an outer rotor permanent magnet type. Below a wheelchair seat, a storage battery is disposed so that it may be installed in a battery case integrated with a controller so as to be removable and it can supply a current to the motor 4. To the motor 4, an outer wheel fitting part for mounting it, is attached, by which the outer wheel integrated with the tire 10 is fixed by fitting. The motor 4 is connected to the tire 10 by threadedly fitting a bolt to be inserted in each of bolt fitting holes formed on the part 6 into a nut 6 disposed at a corresponding position of the wheel 14.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a small vehicle having a chair mount provided with at least two running wheels, each of which can be driven by an electric motor, and more particularly to a motorized wheelchair and a vehicle having the same maintainability and running performance. And / or improvement of the method of use.

[0002]

2. Description of the Related Art Small vehicles that are driven by a motor and have rechargeable batteries are known, and wheelchairs driven by a motor are also known. Conventionally, unlike a manual wheelchair, an electric wheelchair has not been finished in a shape that can be carried in a trunk of an automobile. Furthermore, the electric motor is generally arranged at a position protruding from the running shaft surface to the inside of the chair mount, is manufactured in a structure in which the mount is not foldable, and is fixed to the mount by a specially designed running wheel support mount. . In order to eliminate such inconvenience, a wheelchair having a structure that can be easily disassembled into individual parts during transportation is introduced in US Pat. No. 5,246,082.

[0003]

However, in the conventional electric wheelchair, the wheel portion of the wheel and the inner motor housing are integrally formed. For this reason, if the running tire portion of the outer wheel becomes dirty with mud or the like or the pneumatic tire gets punctured during outdoor use, the entire wheel must be replaced. There was a problem that the work was very complicated, and the contents of the work were different for each model of each manufacturer. Also, in the case of an electric wheelchair in which the above-mentioned wheels are integrated with the electric driving unit and housed therein, when the user prepares spare tires and the like, it is necessary to purchase a plurality of expensive wheels, and the economic burden on the user increases sharply. There was also a problem of doing. Further, in a small vehicle having a structure in which the electric drive unit is disposed inside the wheel, the output torque of the motor has conventionally been small. Therefore, generally, the output of the wheel is increased by using a speed reducer such as a planetary gear or a spur gear. Was. In order to rotate the electric wheel manually, an extra force obtained by multiplying the motor static friction torque by the gear ratio is required, and since the reduction gear is rotated from the opposite direction, the loss torque increases. The joint was arranged between the reduction gear and the wheel, and the wheel was separated and rotated by hand. Therefore, the torque generated by the electric motor is reduced by the transmission loss at the speed reducer and the joint, which causes a reduction in drive efficiency and an increase in battery capacity. In addition, noise from the speed reducer or the motor brush of a DC motor that is normally used is a cause of late-night indoor noise for a sleeping person and radio wave noise to a television / radio. Furthermore, the backlash of the speed reducer and the play of the joint are combined, and the running characteristics of the traveling vehicle during traveling are particularly large in a small vehicle having a large wheel diameter because the backlash of the traveling vehicle is 3 to 6 degrees or more and the response to the driving command is poor. The passengers of a small vehicle may become unstable due to traveling in narrow indoor passages with a traveling width of 90 cm or less, or changing the traveling direction in narrow spaces such as toilets and elevators.
There was also a problem that it was difficult alone. Further, when the joint is released in the middle of the slope, there is a danger that the wheels are idle and braking cannot be applied. Also,
When traveling on a one-way road surface or on a gravel road, if the output torque of the motor is small or the drive system is rattled, the vehicle body will shake irregularly to the left and right, making it difficult to maneuver and very poor ride comfort. And the small output torque makes it impossible to overcome small obstacles,
A wheelchair using a motor with a large output had a strong impact during acceleration and deceleration, making it difficult for anyone to drive easily. SUMMARY OF THE INVENTION The present invention has been made in view of the above situation, and an object of the present invention is to provide a small vehicle having a gantry having at least two traveling wheels that can be driven by an electric motor, in which the electric motor is provided with a gearless and clutchless motor. In addition, it is composed of an outer rotor type direct drive motor, which accurately controls the position and traveling direction of a small vehicle, and makes it possible to attach and detach both between the motor and the traveling wheel to improve maintainability and traveling performance of the vehicle. It is an object of the present invention to provide a vehicle with enhanced safety.

[0004]

SUMMARY OF THE INVENTION The present invention relates to a small vehicle having a platform with at least two running wheels, each of which can be driven by an electric motor. Composed of
Provide a locking portion for the running wheel on the rotor side of each motor,
Achieved by detachably connecting the traveling wheel and the electric motor with the traveling wheel provided with the mounting portion engaged with the retaining portion and the retaining portion by a connecting member. Is done. The invention also relates to a small vehicle having a gantry with at least two running wheels, each drivable by an electric motor. The object of the invention is to configure the electric motor as a gearless, outer rotor type direct drive electric motor. At the same time, it can also be achieved by measuring the rotor position and the number of rotations of each electric motor with a rotation position sensor that detects with a measurement accuracy of 128 pulses / revolution or more. Furthermore, the invention relates to a miniature vehicle having a platform with at least two running wheels each of which can be driven directly by an electric motor located in the region of a wheel boss,
The above object of the present invention is configured as a detachable wheel having an insertion shaft on which a traveling wheel can be detachably fixed to a gantry. The stator of each motor can be detachably fixed to the gantry via a support member, and a hollow portion is provided inside the stator of each motor, and the rotation position sensor of the motor and the drive are provided in the hollow portion. Control devices, radiators, electrical cables, electrical connectors, fittings, and / or
Alternatively, it can be achieved by disposing a brake.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a perspective view showing a case where the small vehicle of the present invention is applied to a foldable wheelchair. Since all the wheel drive units are housed inside the wheel boss without any protruding portions, the vehicle can be folded without an electric motor. As is well known from a manual wheelchair, the structure is such that the tires of the running wheels or the tires and the electric motor can be removed from the vehicle mount by a simple operation. That is, an outer rotor type permanent magnet type brushless direct drive motor 4i (hereinafter, referred to as an outer rotor type) is provided on both sides of the vehicle mount 2 formed of a hollow pipe or the like.
The subscript i is used to indicate the left and right wheels without specifying them.
= A, b are abbreviated), and a tire 10i integrated with each is mounted, and a storage battery 13 for an electric motor is provided below the seat 1.
Are housed in a battery case 11 integrated with a control device 60 (hereinafter, referred to as a control unit when the software operation of the control device is emphasized), and fixed to the gantry 2 in a detachable manner. An auxiliary wheel 20i is mounted in front of the tire 10i, and a footrest 2 is mounted in front of the auxiliary wheel 20i.
2i is foldably mounted, and an external braking unit 70i, which will be described later, is arranged in parallel with the tire 10i, and an operation box 24 equipped with a control means 25 such as a joystick is mounted on an armrest arm. It has become. The outer periphery of the electric motor 4i is provided with a wheel mounting locking portion 5i for fitting and fixing the outer wheel 14i integrated with the tire 10i,
A plurality of bolt mounting holes 6a to 6n are formed. Further, a bolt 8a constituting a connecting member is provided on the wheel 14i.
To 8n are provided with nut portions 16a to 16n. Therefore, the tire 10i can be easily attached to and detached from the electric motor 4i simply by attaching and detaching the bolts 8a to 8n.
i also has a structure detachable from the vehicle mount 2. still,
The nuts 16a to 16n are drilled on the motor locking portion 5i side, and the bolt mounting holes 6a to 6n are formed on the wheel 14i side.
May be bored. Further, the locking portion 5i may be provided on a surface of a rotor bracket 50 described later. FIG. 2A shows a tire 1 having a relatively large diameter that can be pushed by hand and is integrated with the outer wheel 14.
FIG. 2B is a longitudinal sectional view of the motor 4 with the manual rim 18 mounted side by side removed from the electric motor 4, and FIG. 2B is a longitudinal sectional view of the electric motor 4 with the tire removed.
(C) is a longitudinal sectional view showing a state where the tire 10 is mounted on the electric motor 4. FIG. 2D is a longitudinal sectional view showing a state in which a tire 10x having a relatively small diameter and a wide tire width, which enables stable running during outdoor running, is mounted on the electric motor 4, and FIG. 4) is an enlarged longitudinal sectional view of the inside of the motor 4), and FIG. 4 is a partially enlarged sectional view showing an arrangement relationship between a stator and a rotor of the outer rotor type brushless direct drive motor. From FIGS. 2C and 2D described above, in the small vehicle of the present invention, the indoor running tire 10i and the outdoor running tire 10x can be appropriately selected for the same vehicle mount 2, so that the mount and the electric motor are the same. It is possible to easily replace and use only the tire part, even if you use it, and if you drive manually in the room or stay outdoors for a long time, the driver corresponding to each driving condition It is possible to select and install an optimal tire that is easy to steer. In the small vehicle according to the present invention, the electric motor 4 has a structure that can be mounted on the gantry 2 as described later.

Next, a more detailed structure of the drive unit including the electric motor 4 of the present invention will be described with reference to FIGS. 2B and 3. All the drive units project inside the axle boss 4 of the traveling wheel. The wheel boss 4 constitutes an outer rotor portion of the electric motor 4, and the outer periphery or the rotor bracket 50 is provided with the above-mentioned wheel mounting locking portion 5, and a central hollow portion 59 is provided. Are supported by a stator support of the electric motor via a hollow shaft 52 embedded in the motor and ball bearings 48a / 48b. An insertion shaft 30 for mounting the gantry is embedded in the rotation center of the fixing bracket 45 in the fixed portion of the drive unit, and this insertion shaft can be inserted into the adapter sleeve 3. Mounted on The plug-in shaft 30 is connected to the adapter sleeve 3 via a push rod 34 passing through the hollow shaft 52.
The engagement can be released by a well-known spring mechanism that can be moved from the main body. A rare-earth permanent magnet 40 such as a samarium-cobalt magnet or a neodymium-boron magnet is disposed on an inner wall of the wheel boss 4 via a yoke 42, and a stator 44 of the electric motor 4 is opposed to the magnet 40 via a gap. Are arranged to form a predetermined magnetic path, and the concentric arrangement thereof is shown in the cross-sectional view of FIG. In the drive unit of the present invention, the size and weight of the drive unit are reduced, and at the same time, a reduction gear is not used at all in order to improve the driving characteristics of the vehicle. The necessary large torque is generated. That is, in order to directly obtain a large driving force only by the electric motor without using the gears, it is necessary to increase the number of magnets 40 shown in FIG. 4, that is, the number of poles, and to increase the electromagnetic force by using a strong magnet. There is. For example, in order to travel over a step of 45 mm or more when traveling outdoors while a person weighing 75 kg rides on a vehicle having a vehicle weight of about 45 kg, the number of magnetic poles is preferably 12 or more according to experiments, as shown in FIG. As described above, it was found that a multi-pole structure having 16 or more poles can be used sufficiently. Further, as shown in FIG. 4, in the outer rotor type electric motor, the portion contributing to the torque generation of the stator 44 is only the space in the vicinity of the magnet 40, so that the rotation center portion 59 of the stator can have a hollow structure. In this hollow portion, the above-described ball bearing 48, the rotational position sensor 54 of the electric motor, and in some cases, a drive control device, a radiator, an electric cable, an electric connector, a brake and / or a joint, or the like may be incorporated. it can. As the rotational position sensor 54, a brushless resolver, an optical / magnetic rotary encoder, a Hall element, or the like can be used. In the example of FIG. 3, a brushless resolver having a solid structure and excellent in impact resistance is particularly used. Desirably, the rotation angle detection accuracy is 12
It is preferably 8 pulses / rotation or more. For example, when it is 512 pulses / rotation or more, a wobble prevention operation at the time of traveling on a one-way road surface described later, a teaching playback operation, and / or
Or it turned out that spot turn control etc. can be performed very accurately and smoothly. By the way, the stator 4
A connector or hollow portion 36 is buried and mounted around the fixing bracket 45 connected to the support of the motor 4, and this connector is used when the motor 4 is inserted into the base.
It can be plugged into a receiving connector or adapter sleeve 7 previously mounted on a fixture in the vehicle gantry. When the connector 36 of the drive unit and the receiving-side connector 7 are fitted, the fixed portion of the drive unit is mechanically fixed via the shell portion of each connector, and the connection lead 46 is connected to the electric motor via the connector 36. When the stator winding 43, the rotational position sensor 54, the other brakes, the control device, and the like are housed in the hollow portion, they are extended and connected to these devices, and the connector 36 is connected via the connector 7 fixed to the vehicle mount. Connected to the storage battery 13 and a control unit 60 described later. Further, the rotor 4 of the electric motor is connected to a hollow shaft 52 via a rotor bracket 50, and the hollow shaft transmits the rotation angle of the rotor 4 to a rotation position sensor 54 via a ball bearing 48b. ing.

Next, an electric connection system for a small vehicle according to the present invention will be described with reference to FIGS.
(I = a, b) indicates the connector 36i and the cable c1 / c.
2, the connector 17i is connected to the connector 17i in the battery case 11, and the connector 17i is connected to the inverter 88i and the servo control unit 90i in the control unit 60,
The power switching element of the inverter 88i is the case 11
Is cooled through a radiator 19 forming the side wall of
The upper surface of the case 11 can be opened and closed by a handle 15. On the other hand, the operation box 24 is provided with a control means 25 such as a joystick having a movable part having orthogonal or three degrees of freedom, an input means 26 such as a numeric keypad / push button switch, and a display means 27 such as a liquid crystal panel, which will be described later. The wires of the external braking unit 70i are also connected, and these connection wires are connected to the control unit 60 via the cable c3 and the connector 17c. Further, the storage battery 13 is connected to the inverter / converter 88i, supplies power to the control unit 60, and is externally charged via the connector 17d. Next, the configuration of the control unit 60 will be described in more detail with reference to FIGS. 6 and 7. In the small vehicle of the present invention, the traveling direction and the moving speed are manually instructed by the driver from the above-mentioned steering means 25. There are three types of operation modes: a steering mode, a teaching mode in which current positions of left and right wheels are sequentially stored, and a reproduction mode in which a small vehicle is sequentially moved to the taught wheel position by automatic operation. Is switched by the operation control unit 61 as appropriate in accordance with the instruction position and the operation state of the teaching button 261 and the reproduction button 262 of the input means 26 and the manual rod 71i described later. The control means 25 and the operation command storage / generation unit 6
The operation command output from the control unit 2 is output from the operation command correction / output unit 6.
3 is compared with the current position data θi, the current speed ωi, and the current motor torque Ti (i = a, b) of each wheel output from the operation state monitoring unit 64, and each operation command and the current value are compared. When the deviation is out of the predetermined range, the operation command is appropriately changed by a correction process described later, and is output to the servo control units 90i of the left and right wheels, respectively.
Reference numeral 8 is connected to a personal computer or the like (not shown) via a communication line or a mobile phone so that servo control parameters and teaching data described later can be downloaded and uploaded. Further, a non-contact distance meter such as an ultrasonic sensor (not shown) may be connected to the operation state monitoring unit 64 to calibrate the current position of the small vehicle or the like.

Next, referring to FIG. 7, a servo control unit 90i
To describe the configuration of the servo control unit 90i, a position control unit 91i, a speed control unit 92i, and a current control unit 93i are cascade-connected to each other, and the output of the current control unit 93i is a PWM driver 94i and a PWM inverter 88i.
i, the rotation angle of the motor is transmitted to the rotation position sensor 54 via the rotor bracket 50 and the hollow shaft 52, and the output is transmitted to the position detection unit 95.
i and the speed detection unit 96i. Thus, the electric motor 4 which is the output of the position detector 95i
The electric angle current position data θi of i is u, v phase current d, q
A coordinate converter 932 for converting the axis current value and a coordinate converter 93 for converting the d- and q-axis voltage commands into u, v, w-phase voltage commands.
6 and output to the operating state monitoring unit 64 and further fed back to the adder / subtractor 910 of the position control unit 91i. The q-axis current iq is multiplied by a torque constant KT by a multiplier 938 and output to the state monitoring unit 64. By the way, a position command θi * is output from the operation command correction / output unit 63 to the position control unit 91i of each wheel, and a deviation Δ from the current position θi is within a predetermined value (Δ <lre
q or Δ <θreq) is input to the read request signal generation unit 912 that outputs the next command read request signal, and if the current position is equal to the position command (Δ =
0), the speed command is also input to an update request signal generation unit 914 for updating the speed command, and a corrected speed command ωi * to be described later is directly output from the operation command correction / output unit 63 to the speed control unit 92i, and the speed detection is performed. The deviation from the current speed ωi of the electric motor 4i, which is the output of the unit 96i, is calculated by the adder / subtractor 920, and the output is compensated by the PI compensator 922 and the limiter 924 to obtain the current control unit 93 as the q-axis current command iq *.
i. Further, the current q-axis current value and the current speed ωi are input to the d-axis current command calculation unit 926, and the output d-axis current command id * is also input to the non-interference current control unit 930 together with the above-described current command iq *. It is supposed to be. Thus, in the non-interference current control unit 930 in the current control unit 93i, the current deviations (id * -id) and (iq * -iq) are PI-compensated, and the back electromotive force based on the interference term and the armature interlinkage magnetic flux. Then, d and q axis voltage command vectors (vd *, vq *) are calculated and output to the voltage vector correction unit 934. The vector correction unit 934 controls the motor 4i in the field weakening operation region where the voltage margin is small. A configuration in which a saturated voltage vector command value that is likely to be generated when controlled is corrected in a direction that does not saturate, and the corrected d and q axis voltage commands are converted into a uvw phase voltage command by a coordinate conversion unit 936 and output to the PWM driver 94i. It has become. The PWM inverter 88i can operate as a converter during a deceleration operation or a descent on a slope, and can charge the regenerated power to the storage battery 13. In the wheels of the present invention, the tire 10i and the electric motor 4i are directly connected. Since no joints, reduction gears, etc. are used, there is no transmission loss of mechanical energy and quiet and very efficient charging of regenerative energy can be performed.

The operation of the above configuration will be described below. By the way, a conventional small vehicle using an electric motor generally has a non-excited operation brake for safety and to make it easier to get on and off when getting on and off, but the vehicle stops. Each time the brake is actuated, there is a problem such as an unpleasant operation noise, and the need to release the brake during operation, and the brake coil remains energized, thereby wasting energy of the storage battery. In other words, the conventional non-excited operation brake has a structure in which the brake plate mechanically pressed by the spring force is attracted by the electromagnetic force to release the brake,
The power consumption was relatively high, about 8 to 10 W. Therefore, in the small vehicle of the present invention, the braking holding force during parking is sufficiently strong and the power consumption is very small, and at the time of an emergency stop due to a voltage drop of the storage battery or a failure of the control unit 60, the vehicle is stopped. An external brake unit 70 capable of automatically stopping and maintaining a stopped state is employed. The configuration of the external brake unit 70 will be described with reference to FIG. It is attached so as to be rotatable about 72 and can be moved to three places of parking (Park) / motor (Motor) / nursing care (Aid).
The arm 76 is rotatably connected to an L-shaped arm 76 via a fulcrum 73. The arm 76 is rotatably mounted on the above-mentioned base plate around a fulcrum 73. One end of the arm 76 is urged by a tension spring 77 so that the brake member 78 10 is pressed to stop. A suction plate 75 is connected to the other end of the arm 76 via a link. When the suction plate 75 is moved to the electric position, this position is input to the control unit 60 by the switch 69 and the suction plate 75 And the magnetic means 79 are arranged so that the magnetic path is closed. The magnetic means 79 is held by the electromagnetic means 79 with only a small holding force without a large attraction force, and the brake member 78 is detached from the tire 10. I keep it. Therefore, the state in which the brake member 78 is detached from the tire 10 against the force of the spring 77 can be maintained with a small electromagnetic holding force inversely proportional to the ratio of the lengths of the two arms of the arm 76. Next, in the example of FIG. 8, the position where the manual rod 71 is pulled closest to the hand is the parking position where the manual brake is applied. From this position, when the manual rod 71 is pushed forward and rotated to the central electric position. , The switch 69 is operated, the suction plate 75 and the electromagnetic means 79 are brought into close contact with each other, and the brake member 78 is separated from the tire 10. The switch 69i determines that both of the external braking units 70i of the left and right wheels are in the electric position, and the power is supplied to the control unit 60, so that the electric operation is enabled. At this time, the electromagnetic means 79i is also energized at the same time, and the suction plate 75i is suction-fixed, so that the brake member 78i is fixed in a state of being detached from the tire 10i. The electromagnetic means 79, for example, a DC solenoid, does not require a large attraction force according to the lever principle described above, and the DC power is applied when the magnetic path to which the attraction plate 75 is in close contact is closed.
Since the solenoid is energized, the holding force alone may not require a large suction force, and experiments have shown that low power consumption electromagnetic means of about 2 to 3 W is sufficient. Further, the manual rod 71 is pushed out, and the lower end point A is
Is pushed to the nursing position and stopped by the stopper 80, the brake member 78 is mechanically disengaged from the tire 10 in cooperation with the link 74 and the arm 76 without energizing the electromagnetic means 79. It can be made to be. Furthermore, a brake lever 83 is attached to a caregiver handle attached to the rear of the small vehicle 2, and a wire 81 is connected to the manual rod 71 via a wire stopper 82. The switch 69, the spring 7
7, electromagnetic means 79, stopper 80 and wire stopper 8
2 is also attached to the above-mentioned base plate, and this base plate is attached to the vehicle mount for each of the left and right wheels of the vehicle 2.

The operation of the above configuration will be described below. First, the operation of the above-described brake unit 70 will be described with reference to FIG.
Is pulled to the parking position, the manual rod 71 moves to the position shown by the solid line in FIG.
9, the switch 69 is opened, the arm 76 is pulled by the spring 77, and the brake member 7 is released.
8 is pressed against the tire 10 and a so-called brake is applied. Therefore, in this parking state, the power supply to the electric motor 4i and the electromagnetic means 79i can be stopped, and the brake member 78 is firmly pressed against the tire 10 by the spring and the link mechanism, so that only one side of the vehicle is pulled with one hand. In such a case, the vehicle is firmly fixed to the ground, and the vehicle mount can be safely entered and exited by a small vehicle with one hand without wobbling. Next, the manual rod 71
8B is moved to the electric position shown by the solid line in FIG. 8B, the suction plate 75 is sufficiently adhered to the electromagnetic means 79i, and the manual rod 71 stops while the magnetic path formed therebetween is closed, and the switch 69 is closed. The control unit 60 is notified that the electric operation by the control means 25 is enabled. Then, the self-diagnosis of the control unit 60 and the capacity check of the storage battery 13 are performed, and if everything is normal, the left and right electric motors 4i are servo-locked and then energized to the electromagnetic means 79i. The arm 76 rotates counterclockwise around the fulcrum 73, and the brake member 78i
Leave i. That is, the small vehicle 2 can be driven to a desired position / place by entering a driving state (a driving mode described later) by the control means 25. Thus, for example, when the capacity of the storage battery 13 decreases during the climbing of a hill or when the control unit 60 fails and the operation cannot be continued, the power supply to the electromagnetic means 79i is stopped.
The suction plate 75i becomes free, and the brake member 78i is pressed against the tire 10i by the tensile force of the spring 77i, so that the brake can be applied safely. Further, when the manual rod 71 is moved to the care position shown by the broken line in FIG. 8C, when the point A at the lower end of the manual rod 71 moves to the left side of the dead center boundary line 170 in FIG. Works in the direction in which the manual rod 71 is pressed against the stopper 80 via the arm 76, and the brake member 78 is kept in a mechanical brake released state while being separated from the tire 10. This function is effective, for example, when a caregiver or the like manually moves a small vehicle that is stopped due to a decrease in the capacity of a storage battery or the like to a predetermined location in the middle of a slope. Next, the operation of the brake lever 83 shown in FIG. 8A will be described. When the caregiver grips the brake lever 83 in a state where the manual rod 71 is pulled to the parking position and the small vehicle 2 is stopped, The manual rod 71 moves to the position shown by the dashed line in the figure, and the arm 76 also rotates to the position shown by the dashed line via the link 74, so that the brake member 78 separates from the tire 10. Therefore, the caregiver can manually move the small vehicle only while the brake lever 83 is being held, and even if the hand is suddenly released from the brake lever 83 on a slope or the like, the small vehicle will not be affected by the force of the spring 77. It can be stopped mechanically and is safe. Also,
Even if the caregiver does not move the manual rod 71 to the care position, it is possible to easily move the stopped small vehicle by applying the brake simply by grasping the brake release lever 83. Therefore, when getting on or off a public large vehicle such as a train or a bus, a caregiver can safely put a small vehicle on a large vehicle or drop it off in a short time. When the manual rod 71 is also used as the L-shaped arm 76 and the wire 81 is engaged with the suction plate side of the arm 76, the manual rod can be configured as a parking / electric two-position position manual rod. Also,
The two-point position type braking unit can be applied to a manual wheelchair, and a wheel stopping means that can be securely stopped even for a driver who cannot pull the manual rod to the parking position due to deterioration of physical strength due to aging or blur. Can be provided.

Next, the operation of the controller 60 during the electric operation will be described. Here, when examining a method of controlling the rotational position / speed of a motor used in a conventional wheelchair or the like, in the conventional method of controlling a brushless DC motor, the rotational position of a magnet is generally determined by a rotational position sensor such as a Hall element. Since only the position is detected, the position detection accuracy is, for example, 3 of 8 poles.
The phase brushless DC motor was very coarse at 24 pulses / rotation, but due to the backlash of the reducer and play of the joints mentioned above, even if the detection accuracy of the rotational position sensor was increased, the positioning accuracy of the entire vehicle could be improved. Did not. However, in the small vehicle of the present invention, since the wheels are rotated by a direct drive type motor without using a gear and without using a joint, the positioning accuracy of the entire small vehicle is substantially equal to the detection accuracy of the rotational position sensor 54i of the left and right motors 4i. Equivalent, for example, using wheels with an outer diameter of 22 inches, 128, 256,.
.., 1024 pulses / rotation sensor, 13.
The positioning accuracy of 7, 6.85,..., 1.7 mm can be ensured. Therefore, even if it moves 10m in the room, the maximum is 13.7mm
Since only the front and rear displacement occurs, very high-precision positioning can be realized, and high-precision position measurement can be performed, so that the speed command can be adjusted very finely while the vehicle is moving,
Smooth vehicle speed control can be realized. In addition, since the wheels are direct drive type electric wheels, when the wheels hit a pebble or a place having a step, torque fluctuation of the wheels can be detected with high accuracy. Therefore, the operation of the control unit 60 capable of performing a stable operation without fluctuation or rattling during running based on smooth speed / torque control will be described below. First, the operation control unit 61 shown in FIGS. 6 and 7 has the three types of operation modes of steering / teaching / reproduction as described above. The vehicle can be used with the rod 71i moved, and the vehicle of the present invention can make a spot turn at a turning radius of 0.
When a joystick or the like capable of inputting XYθ with an additional rotary knob provided at the top of the XY command operation lever is used for the driver, it becomes very easy for the driver to drive the vehicle. Therefore,
The operation in the control mode using the XYθ input control means 25 will now be described. In this mode, first, the movement amounts △ x *, △ y of the vehicle 2 per unit time from the control means 25 in the block diagram shown in FIG. *, △ θ * is the operation command correction / output unit 6
3 and is converted into the command change amount for each of the left and right wheels in the correction unit 63. At the same time, the current output torque Ti and speed ωi of each wheel are read from the motors 4i and the sensors 54i into the correction / output unit 63 and the state monitoring unit 64 via the servo control unit 90i, respectively. The above command change amount is added to the current speed to generate a new operation command. The operation of generating the new operation command is the same as the operation control of a normal wheelchair or the like. In the conventional operation control, the above-described new operation command is output to each servo control unit or the like as it is. However, the operation control according to the present invention does not directly output the above-mentioned new operation command, but checks the magnitudes of the speed deviation and / or the torque deviation in the feedback loop for each of the left and right wheels. If the value is equal to or greater than the value, the correction / output unit 63 corrects the first operation command manually input from the control means 25, and corrects the operation command so as not to cause wobble or unintended sudden turning operation. Thus, the corrected operation command is output to the servo control unit 90i of each wheel.

Next, an example of the high-precision positioning control of the present invention will be described.
When a pulse / rotation sensor is built in and a wheel with an outer diameter of 22 inches is used, the positioning accuracy is 3.4 mm,
In this state, if the XY lever of the control means 25 is not tilted and only the above-mentioned θ knob is operated, for example, is rotated clockwise by Δθ, Δx * = 0, Δy * = 0, Δθ * = The operation command of Δθ is output from the control means 25 to the correction / output unit 63, and after being changed to the operation command for each wheel in the correction / output unit 63, between the output torques of the left and right electric motors 4 i or between the current speeds. If there is no unbalance described later, the above-described converted operation command for each wheel is sent to the servo control unit 90i at every predetermined servo command output cycle (for example, every 5 msec) in the form of, for example, a speed command for each wheel. Is output. Then, in the speed control unit 92i and the current control unit 93i, for example, 100 μm
The current rotation position θi and the current rotation speed ωi are calculated based on the output of the rotation position sensor 54i at a cycle of sec, and the current control feedback loop and the speed control feedback loop are processed by the DSP (Digital Signal Pr).
The processing is executed by software calculation using a processor or the like. Normally, in the spot turn command, rotation commands in opposite directions are output to the right wheel and the left wheel, but since there is no mechanical backlash or play element, a spot turn within a turning radius of 10 mm can be realized. Was confirmed by experiments. Also, since the servo command and the feedback loop are calculated at a very high speed, the movement is very smooth and quiet. Therefore,
In the small vehicle according to the present invention, even in a narrow office having a passage width of 90 cm or less, a living room such as a narrow toilet and a narrow elevator, a single driver can smoothly drive in a direction without colliding with a side wall of the passage or an elevator wall. Since the vehicle can be converted, the range of activities in a living space using a small vehicle can be dramatically expanded. In addition, there are many designs where a normal passage or the like bends right and left at an angle of 90 °.
Since the turning of the vehicle is required, it is possible to easily change the direction of the vehicle if these functions are programmed and stored in the storage / generation unit 62 as described later.

Next, the operation of correcting the operation command in the correction / output unit 63 will be described. This correction operation is performed in the above-described maneuvering mode or the regeneration mode.During traveling, when only one wheel or both wheels hit an obstacle such as a bumpy portion or a pebble having a step, the vehicle operation is stopped. In order to improve the stability / safety, in the conventional operation control of a small vehicle without such correction, the command value from the steering means is output to the drive unit of each electric motor without correction. For this reason, the rotation speed of the wheel that hits the obstacle becomes slow, and the phenomenon that the wheel that does not hit relatively quickly rotates according to the command value occurs, so that the vehicle turns sharply around the obstacle. As a result, unintended course changes and wobbling of the vehicle body occurred, and the driver had to stay alert during driving, except on a flat, flat road surface, and had to be constantly careful. However, in the correction / output unit 63 of the present invention,
As described below, a correction process of a speed command or the like is performed with reference to the output torque of the electric motor or the like so that the continuity of the current speed of the wheels is maintained, thereby preventing the above-described sharp turning and the body wobble. That is, as shown in FIG. 9C, for example, at time t1, the wheel 10a hits the step, and the output torque Ta of the electric motor 4a output from the current control unit 93a in FIG.
When (t) reaches a preset torque limit value Tath and saturates, the speed control unit 92 in the servo control unit 90a
Although the speed command ωa * (t) for a does not change as shown in FIG. 9A, the current speed ωa (t) of the electric motor 4a starts to decrease from time t2 immediately after time t1. On the other hand, since the wheel 10b does not hit an obstacle or the like even at the time point t2, the speed command ωb * (t) and the current speed ωb
This is almost equal to (t) due to the speed feedback control, and no rapid change appears in the output torque Tb (t). That is, the output torque Ti (t) of one of the left and right motors 4i reaches the torque limit value, the rotation speed decreases, and the output torque Tj of the other motor 4j.
When it is confirmed that (t) has not reached the torque limit value, the correction / output unit 63 does not change the speed command of the electric motor 4i that has reached the torque limit value, and outputs the same value as the time points t1 and t2, The speed command of the electric motor 4i that does not reach the torque limit value is calculated ωj * (t2) = ωj * (t1) × ωi (t
2) The value of the speed command ωj * (t1) is reduced by the ratio of the current speed of the electric motor 4i from / ωi (t1) to be output. The correction of the speed command of the electric motor 4j continues during a period of t2 <t <t10, that is, until the output torque of the electric motor 4i falls within the torque limit value when the wheel 10a passes over the obstacle (FIG. 9D). Next, at time t10
When the output torque of the motor 4i falls within the torque limit value, the correction / output unit 63 immediately changes the speed command ωi * (t) of the motor 4i to the current speed ωi (t10) (FIG. 9A). This is to avoid sudden acceleration of the electric motor 4i. Then, for a predetermined period (t12-t11)
To change the speed command of the electric motor 4i (i = a, b) to ωi
From (t10) to ωi * (t1), desired characteristics (for example,
(Linear characteristics, S-shaped characteristics, etc.) (FIG. 9
(A), (D)). Subsequently, at time t20, the wheel 1
A correction operation in the case where 0b hits an obstacle and the wheel 10a hits the obstacle at a time t22 with a slight delay will be described.
At this time, the obstacle hitting the wheel 10b is
The operation of the correction / output unit 63 will be described below assuming that the inclination is steeper than the obstacle hitting a, but the period required for overcoming is short. The output torque Tb ( t) is the torque limit value Tbt
When the speed reaches h, the speed command ωb * (t) to the speed control unit 92b does not change as shown in FIG. 9D, but the current speed ωb (t) of the electric motor 4b starts to decrease, and this speed decreases. The speed command ωa of the electric motor 4a at a ratio corresponding to
* (T) is also reduced (at time t in FIGS. 9A and 9E).
21). Thereafter, at time t22, when the wheel 10a also hits an obstacle and the output torque of the electric motor 4a reaches the torque limit value and saturates, the current speed ω of the electric motor 4a is reduced by the obstacle.
Since a (t) automatically decreases, after time t23,
The speed command ωa * (t) of the motor 4a is not changed, and the rate of change of the current speed ωa (t) and the current speed ωb of the motor 4b are not changed.
(T) is monitored, and each speed command is switched so that a large speed difference does not occur for each wheel. In the example of FIG. 9, since the inclination of the wheel 10b is larger than that of the wheel 10a, the control is performed from time t23 to t30 so that the rotation speed of the electric motor 4a follows the rotation speed of the electric motor 4b. When the wheel 10b passes over the obstacle at the time point t30, the output torque of the electric motor 4b sharply drops and falls within the torque control value. Therefore, the speed deviation and the output torque of each electric motor are checked. In this case, the electric motor 4a Since the motor is rotating after outputting the full torque control value, the speed command ω of the electric motor 4b is output.
Only b * (t) is updated to the current speed ωb (t30) and output to the speed control unit 92b (time t31). When the time further elapses and the wheel 10a also gets over the obstacle at the time t40, the output torque of the electric motor 4a also sharply drops and falls within the torque control value. Therefore, the speed deviation and the output torque of each electric motor are checked, and Speed command ω of the electric motor 4a
a * (t) is changed to the current speed ωa (t40) (time t41), and a predetermined time period (t43-t41) is applied to change the speed command of each electric motor 4i (i = a, b) to a desired value. To return to. As shown in FIGS. 9B and 9E, the motor 4 is switched by the speed command switching and correction processing as described above.
There is no sudden change or rapid acceleration / deceleration period between the speeds a and 4b, and the riding comfort of the small vehicle is very stable and smooth.

Next, the teaching operation of the small vehicle according to the present invention will be described. First, the background of the teaching operation of the present invention will be described. Generally, a vehicle driven by a person may be provided with a distance meter, but no position measuring means is provided. Since it is impossible for a person to spatially measure the amount of movement spatially, the vehicle can be moved in the home or in the so-called living space around the home without adding a special sensor other than the vehicle. Conventionally, it has hardly been considered that the vehicle is automatically driven and automatically moved to a target moving place while riding. However,
In the small vehicle of the present invention, there is no gearless and no joint, and the high-precision position measuring means is built in for controlling the electric motor as described above, and the work of laying a special position sensor on the floor, wall, ceiling work or the like is not necessary. It was found that high-precision position measurement can be performed without any operation, and that the position reproduction accuracy is very high. On the other hand, considering the use of small vehicles as daily necessities, there is movement between a bed and a toilet in a home, movement between a bed and a dining room, and furthermore, between a bed and a treatment room in a hospital. Physically fixed 2 such as moving
Very often, it reciprocates between points and several points. In addition, physically disabled persons and their caregivers are physically involved in physically moving themselves. Therefore, the inventor of the present application also moves between the bed and the toilet,
Riding and getting off a small vehicle is done manually, but in the middle of the space movement, once the movement route is taught and stored in the vehicle, the vehicle will automatically drive and the driver or passenger will move to the desired location. I realized that there was a great advantage to just moving me to. Against this background, the teaching operation for the automatic driving of the vehicle according to the present invention will be described with reference to the map of FIG. 10 as an example of the movement between the bed and the toilet. The living room 100 and the toilet 101 are separated by a wall 106, and the living room 100 has a bed 10.
The auxiliary arm 103 is mounted in a direction perpendicular to the bed, and a landmark 104a serving as a mark of a driver is laid on a floor or the like printed on a sheet or the like on the floor at the departure / arrival point p1. In the toilet 101, an auxiliary arm 108 is attached to a toilet 110 and attached to a side wall.
On the floor of No. 4, a landmark sheet 104b similar to the above is laid. Under such circumstances, the driver of the small vehicle 2 operates the control means 25 in the above-described control mode to drive the vehicle 2 to the departure point p1 on which the landmark 104a is drawn, and at the point p1. When stopped, input means 2
The 6 teaching button 261 is pressed. Then, the current position θp1i of the wheel is read from the rotational position sensor 54i incorporated in the wheel 10i (i = a, b) shown in FIG. 6 and FIG. The data is written in the storage means such as the flash memory and the battery backup RAM of the storage / generation unit 62 as shown in the column cm1 in FIG. Subsequently, the XY lever of the control means 25 is tilted forward to move forward, and when it moves to the point p2 in FIG. 10, the small vehicle 2 is stopped, the teaching button 261 is pressed, and the current wheel position θp2i is stored / generated. 62 (FIG. 1)
1 rw2). Next, in order to change the direction of the vehicle at the point p2, the θ knob of the control means 25 is rotated clockwise by an angle θ23 (90 ° in the example of FIG. 10), and the teaching button 261 is pressed when the spot turn is completed. The current position θp2ir after the spot turn is written in the storage / generation unit 62 (rw3 in FIG. 11). Subsequently, the XY lever of the control means 25 is tilted forward to move forward, and when it moves to the point p3 in FIG. 10, the small vehicle 2 is stopped, the teach button 261 is pressed, and the current wheel position θp3i is stored (rw4 in FIG. 11). ). Next, the θ knob is rotated clockwise to change the direction of the vehicle at the point p3, and the current position θp3ir is stored when the spot turn is completed (rw5 in FIG. 11). Thereafter, the XY lever is moved forward by tilting the lever forward, and the point p in FIG.
4, the small vehicle 2 is stopped, and the current wheel position θp4i is stored (rw6 in FIG. 11). Finally, in order to inform the operation command storage / generation unit 62 of the end of the teaching mode, the teaching button 261 is pressed and the current position θp4i of the second point p4 is stored (rw7 in FIG. 11). It is determined that the input process has been completed, and subsequently, a movement route generation process is executed.

This movement route generation processing is performed by the storage / generation unit 62.
The path generation process will be described automatically with reference to FIG. 11 and FIG. 12. First, the X, Y coordinates (xpj, xpj, ypj) and the traveling direction θpj are obtained as shown in the column cm2 of FIG. Next, the relative displacement vector between the points pj and pj + 1 is represented by the XY coordinate vector component lj (j + 1) and the angle component θj as shown in the column cm3 of FIG.
(J + 1). Thus, when the relative displacement vector is obtained, the automatic driving route data is sequentially obtained and generated as shown in FIG. That is, the angle component θj (j + j) between each teaching point pj and the next teaching point pj + 1.
If only the absolute value of 1) is smaller than the predetermined angle threshold value θTH, it is determined that the operation is a shift operation, the vehicle is accelerated by a predetermined distance lacc in the direction of the relative displacement vector, and thereafter, the control is moved to the constant velocity movement control. The process shifts to deceleration control from a predetermined distance ldec before the vehicle. If only the sum of the absolute values of the XY coordinate components of the relative displacement vector between the teaching points is smaller than the predetermined distance threshold IDST, the rotation is determined to be a spot turn rotation, and the rotation direction is clockwise or counterclockwise. After determining whether the vehicle is turning, the rotation angle calculated by the displacement vector is divided into three control sections, and rotation acceleration control, constant speed rotation control, and rotation deceleration control are performed. The rotation acceleration control is performed in a predetermined angle range of θacc and θdec, respectively, and the remaining intermediate section is controlled to rotate at a constant speed. This situation is represented by a point p in FIG.
To explain from the movement from 1 to the point p4, at the teaching point p1, the angle component θ12 of the relative displacement vector becomes almost 0 degree and the value θ
Since it is smaller than TH, shift control is performed (row rw in FIG. 11).
(1, column cm5), acceleration shift control is performed by a distance lacc in the direction of the vector l12 from the point p1 to the point p2 (row rw1, column cm6, cm7 in FIG. 11). Next, the control moves to the constant-speed movement control, and the movement direction is the same, and the distance is 112-lacc-ldec.
And move at a constant speed. Thereafter, when deceleration shift control is performed for the distance ldec, the vehicle arrives at the point p2 and stops (row rw1, column cm6, cm7 in FIG. 11). Subsequently, at the teaching point p2, the distance component 122r of the relative displacement vector becomes almost 0, and is smaller than the value IDST, so that rotation control is performed (FIG. 11).
Row rw2, column cm5), and the spot turn control is performed by the angle θ22r in the clockwise direction of the vectors l12 to 123. Also in this rotation control, rotation acceleration control is performed in the first angle θacc range, constant speed rotation control is performed in the next θ23 m section, and rotation deceleration control is performed in the last angle θdec range (row rw2, column cm6 in FIG. 11). , Cm7). Hereinafter, similarly, shift control of the vector 123 is performed at the teaching point p2r, clockwise rotation control of the angle θ33r is performed at the teaching point p3, and shift control of the vector 134 is performed at the teaching point p3r. 144 and angle θ4
4 are both smaller than the respective thresholds, the point p
The automatic driving route generation processing from 1 to the point p4 ends.
Subsequently, the driving command storage / generation unit 62 performs an automatic driving route generation process of returning from the point p4 to the point p1. All coordinate data necessary for the return route generation processing is stored / generated by the storage / generation unit 6.
2, the teaching operation by the control means 25 is unnecessary. In the return route generation process from the point p4 to the point p1, first, the teaching data shown in the column cm1 in FIG. 11 is moved from the last point p4 to the first point p1 to another place in the storage device in FIG. Copies are made sequentially as shown in column cm1. Finally, when the coordinates of the point p1 are written twice, the calculation processing of the XYθ coordinates indicated by the column cm2 in FIG. 11 is performed. Further, a relative displacement vector as shown in the column cm3 of FIG. 11 is sequentially calculated between the adjacent teaching points pj and pj + 1 in the same manner as described above. When the calculation of the relative displacement vector is completed, if only the absolute value of the angle component of the relative displacement vector is smaller than the predetermined value θTH in the same manner as described above, it is determined that a shift operation is to be performed, and the three control intervals between the XY components of the displacement vector are determined. Divided into acceleration movement control, constant velocity movement control,
Perform deceleration movement control. The return path is a shift control in which the traveling directions are equal in size and the traveling direction is reversed by 180 °. (FIG. 13
Row rw1, columns cm5 to cm7). Further, only the sum of the absolute values of the xy coordinate components of the relative displacement vector is the predetermined value IDST.
If it is smaller, it is determined that the operation is a rotation operation, and it is determined whether the rotation direction is clockwise or counterclockwise. Then, the angular component of the displacement vector is divided into three control sections, and rotation acceleration control is performed as described above.
Performs constant rotation speed control and rotation deceleration control. The direction of rotation angle control of the return path is counterclockwise if the taught data is clockwise, and the return angle is clockwise if the taught data is counterclockwise, and its absolute value is The angles are equal (rows rw2, rw4 in FIG. 13). Thereafter, by repeating the same processing as described above, a return route operation command can be automatically generated. In this teaching mode, the teaching data and the movement route data can be prepared in advance offline by simulation movement using an external personal computer (not shown) without actually manipulating and moving the small vehicle 2. It is possible to download to a predetermined storage means of the storage / generation unit 62 via the communication unit 68.

Next, the reproducing operation of the present invention will be described. In this reproducing operation, it is assumed that the movement route data of the automatic driving is already stored in a predetermined storage means of the storage / generation unit 62 in a format as shown in FIG. 11 or 13 by a teaching operation or download from a communication line. . In this state, if the driver wants to go to a toilet, for example, he or she transfers from the bed 102 in FIG.
Is operated, and the XY lever is tilted forward to move to the center within the landmark 104a. Thereafter, when a play button 262 of the input means 26 is pressed, a list of the starting point and the destination of the automatic driving movement route registered in the display means 27 is displayed, so that the control means 25 and the like are pointed at the display means. After switching to the device mode and selecting a desired starting point-destination route, the automatic driving start button displayed on the display means 27 is clicked. Thus, when the automatic operation in the regeneration mode is started, the first automatic operation command is read from the operation command storage / generation unit 62 by the operation command correction / output unit 63 as shown in the first row of the column cm4 in FIG. Target position θ (lacc: p1−p2) i * (i = a,
b) is calculated, and the position control unit 9 of each servo control unit 90i is calculated.
1i is output as a position command, and a speed command ωi * is sequentially read from a shift movement acceleration command pattern memory registered in advance in the correction / output unit 63.
The signals are converted into speed commands for the respective wheels and output to the speed control unit 92i. When the speed control is started, the operation command correction operation described in the above paragraph 0013 is also started at the same time. In the correction process of the operation command, as shown in FIG. 9, the speed command is appropriately switched while referring to the output torque of the motor so that the continuity of the current speed of the wheel is maintained. If the speed changes suddenly, it is basically necessary to adjust the speed command so that the rotation speed of the wheel with the higher current speed is reduced at a predetermined ratio so as to match the rotation speed of the wheel with the lower current speed. Has become. Therefore, when the position deviation increases as performed in the control of an industrial robot or the like, time reduction control for increasing the speed command to quickly reach the target point is not performed in terms of safety. When moving to the vicinity of the target point (within the range of the distance lreq), the position control section 91i outputs a signal ndata-req requesting that the next movement command be read from the storage / generation section 62, and updates the speed command. It is used for processing and for fixing the position so that the vehicle does not fluctuate when it arrives at the target point. In the example of the column cm4 in FIG. When the shift movement is performed while accelerating by the distance lacc-lreq, a data read request signal of the next target value is output from the position control unit 91i to the operation command correction / output unit 63. The data in the second row is read from the storage / generation unit 62 and read
It is stored in O or the like.

Thus, when the small vehicle 2 moves by the amount of lacc, the target value is updated. In the example of FIG. 11, the next command data is read out from the above-mentioned FIFO, and the operation proceeds to the constant speed movement control operation period, which can be changed separately. Distance l at a given travel speed
The vehicle travels in the direction of the vector 112 by automatic operation by 12 m. still,
During this time, if the wheel hits a small obstacle falling on the floor or the like, the speed command of the wheel hitting the obstacle is not changed and the obstacle does not hit as shown in FIGS. The correction process of the operation command in which the speed of the other wheel is reduced at a predetermined ratio is executed in the same manner as in paragraph 0013. Subsequently, when the small vehicle 2 moves by the distance 112m-lreq, the next route data read request signal is again corrected /
The data is output to the output unit 63, the data in the third row of the column cm4 in FIG. 11 is read from the storage / generation unit 62, and the above-described read FI
Written to FO etc. Next, when the small vehicle 2 moves by 112 m, the operation command updating process is performed. In the example of FIG. 11, the process shifts to the shift deceleration period, and a deceleration command is sequentially issued from a previously-registered speed reduction pattern memory for shift deceleration. It is read and converted into speed commands for the respective wheels and output to the speed control unit 92i. The moving distance ldec during the deceleration period is set to be longer than the moving distance lacc during the acceleration period in the example of FIG.
After moving by dec-lreq, the next path data read request signal is output to the correction / output unit 63, and the column c in FIG.
The data in the fourth row of m4 is read from the storage / generation unit 62 and written into the above-described read FIFO or the like. Thus, when the small vehicle 2 moves by ldec, the small vehicle 2 moves to the point p2.
, And the operation command update processing
In the example shown in FIG. 11, the operation proceeds to the rotation acceleration period of the spot turn, and the rotation acceleration command is sequentially read out from the clockwise rotation acceleration speed instruction pattern memory that is separately registered in advance. Are converted into speed commands for the respective wheels and output. The rotation angle during this rotation acceleration period is θacc, and when the small vehicle 2 rotates near the target point (within the range of the angle θreq), the next route data read request signal is corrected by the position control unit 91i.
The data is output to the output unit 63, and the data in the fifth row of the column cm4 in FIG.
Written to FO etc. Subsequently, when the small vehicle 2 rotates by θacc, an operation command update process is performed, and in the example of FIG. 11, the process proceeds to a constant-speed rotation period, and rotates clockwise at a predetermined rotation speed separately registered in advance. During the rotation period, the above-described speed command correction process is executed in the same manner as during the shift control period. If the current speed of the wheel decreases during rotation, the wheel whose current speed does not decrease is set to the speed. The command is appropriately adjusted according to the reduction ratio of the wheel whose current speed has decreased. Subsequently, when the small vehicle 2 rotates by θ23m−θreq, the next route data read request signal is output from the position control unit 91i to the correction / output unit 63, and the column c in FIG.
The data in the sixth row of m4 is read from the storage / generation unit 62 and written into the above-described read FIFO or the like. Next, when the small vehicle 2 rotates by θ23m, the operation command updating process is performed. In the example of FIG. 11, the process proceeds to the rotation deceleration period, and the rotation is sequentially performed from the clockwise rotation deceleration speed command pattern memory separately registered in advance. The deceleration command is read and the speed control unit 92
i is converted into a speed command for each wheel and output. The rotation angle θdec during this deceleration rotation period is
In the example of FIG. 11, the rotation angle θacc is set to be larger than the accelerating rotation angle θacc. When the small vehicle 2 rotates by θdec−θreq, the next path data read request signal is output, and the seventh row of the column cm4 in FIG. Data is read FIFO as described above
Etc. are written. When the small vehicle 2 further rotates by θdec, the small vehicle 2 ends the reproduction process of the spot turn at the point p2, and shifts to the shift movement reproduction process from the point p2 to the point p3. Thereafter, similarly, when the spot turn reproduction process at the point p3 is completed, the process shifts to the shift movement reproduction process from the point p3 to the point p4. When the landmark 104b at the point p4 is reached, the point p1 changes to the point p.
The reproduction process for No. 4 ends. Thus, when the reproduction process from the point p1 to the point p4 is completed, the operation control unit 61 is in the normal operation mode and stands by, so that the driver can easily achieve the intended purpose by operating the operation means 25. it can.
In order to move from the toilet 101 to another place, the user operates the θ knob of the control means 25 to perform a manual spot turn within a turning radius of 10 mm, and then performs the landmark 104 again.
b, the playback button 26 of the input means 26
When the user presses 2, a list of the travel routes registered in the display unit 27 in the same manner as described above is displayed. After selecting a desired starting point-destination route, the list is displayed on the display unit 27. Click the automatic operation start button. Note that in the above-described reproduction mode, the automatic driving route data is created by setting the angle component θ22r of the relative displacement vector of the row rw2 in FIG. 11 to θ22r = 90 °, 180 ° or −90 °, −180 °, and clockwise 90 °. Spot turn, clockwise 180
゜ Spot turn, counterclockwise 90 ゜ spot turn,
If the counterclockwise 180 ° spot-turn command is registered in advance in the above-mentioned travel route list, the spot-turn at the specified angle can be safely and reliably regenerated without operating the θ knob. It is very convenient for drivers who cannot move freely. In the above description, the next command read request signal generation unit 912 and the speed command update request signal generation unit 914 are provided in the position control unit 91i, but are provided in the operation state monitoring unit 64 and the operation command correction / output unit 63. It is also possible.

[0018]

As described above, according to the small vehicle of the present invention, the outer rotor type direct drive motor is housed inside the wheel boss without gears and without any joint, so that high-precision positioning can be performed, and Motor speed control
Since the vehicle can be continuously and smoothly executed while avoiding sudden acceleration / deceleration, it is possible to prevent the vehicle body from swaying or turning suddenly during traveling. In addition, since a high-precision rotation position sensor is built in, a spot turn with a turning radius of 10 mm or less is possible, and a stable operation of changing the traveling direction can be performed even in a narrow toilet or elevator with a road width of 90 cm or less. Furthermore, since the motor and the tire can be easily attached and detached, anyone can easily replace the tire if it gets dirty with puncture or mud, and it is economical to prepare a spare tire without spending money. Also, the external braking unit attached to the tire can safely stop the small vehicle when the capacity of the storage battery runs out or the control unit breaks down, so that it is safe. In addition, when a caregiver gets on and off a small vehicle on a train, a bus, or the like, operating the brake release lever enables quick and easy operation of getting on and off the small vehicle in a short time. Furthermore, if the teaching / reproducing function of a small vehicle according to the present invention is used, the automatic operation of the vehicle, which has never been practically used in the conventional vehicle, can be economically realized. It becomes unnecessary, and can greatly expand the range of daily activities for the handicapped and those with reduced physical strength.
Further, in the electric motor of the present invention, since there is no energy loss in the gears and the joints, kinetic energy can be efficiently converted to electric energy by regenerative power generation, the charging interval of the storage battery can be extended, and the battery capacity can be small. Thus, the weight of the entire apparatus can be reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view of a small vehicle according to the present invention.

FIG. 2 is a longitudinal sectional view for explaining a detached state of a wheel tire unit and an electric motor according to the present invention.

FIG. 3 is a longitudinal sectional view of the direct drive motor of the present invention.

FIG. 4 is a cross-sectional view for explaining the magnetic circuit.

FIG. 5 is a wiring diagram showing an electric connection system of the small vehicle according to the present invention.

FIG. 6 is an electric functional block diagram of the small vehicle according to the present invention.

FIG. 7 is a block diagram showing a motor control system of the present invention.

FIG. 8 is a diagram illustrating the operation of the braking unit of the present invention.

FIG. 9 is a time chart showing a state of speed control of the electric motor of the present invention.

FIG. 10 is a layout diagram of a building for explaining a teaching operation of a small vehicle according to the present invention.

FIG. 11 is a diagram illustrating a path data automatic generation process executed in the teaching mode according to the present invention.

FIG. 12 is a diagram in which route data used in the teaching / reproduction mode of the present invention is developed on a map.

FIG. 13 is a diagram for explaining a return path data automatic generation process according to the present invention.

[Explanation of symbols]

 2 Vehicle mount 4 Electric motor 5 Locking part 7, 17, 36 Connector 8 Connecting member 10, 10x Tire 11 Battery case 12 Rim 13 Storage battery 19 Heat radiator 24 Operation box 25 Operating means 26 Input means 27 Display means 30 Insertion shaft 34 Push Rod 40 Magnet 42 Yoke 43 Winding 44 Stator 45, 50 Bracket 48a, 48b Ball bearing 52 Hollow shaft 54 Rotational position sensor 59 Hollow 60 Control unit 61 Operation control unit 62 Operation command storage / generation unit 63 Operation command correction / output Unit 64 operating state monitoring unit 68 communication unit 69 switch 70a, 70b braking unit 71 manual rod 75 suction plate 76 arm 77 spring 78 brake 79 electromagnetic means 81 wire 83 brake lever 88a, 88b PWM inverter / converter 90a, 90b servo control unit 91a 91b position control unit 92a, 92b speed controller 93a, 93 b the current control unit 95a, 95b position detection unit 96a, 96b speed detector 101 Toilet 102 bed 104a, 104b landmarks

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[Procedure amendment]

[Submission date] July 15, 1998

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claim 8

[Correction method] Change

[Correction contents]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] Claim 23

[Correction method] Change

[Correction contents]

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] Claim 29

[Correction method] Change

[Correction contents]

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0002

[Correction method] Change

[Correction contents]

[0002]

2. Description of the Related Art Small vehicles that are driven by a motor and have rechargeable batteries are known, and wheelchairs driven by a motor are also known. Conventionally, unlike a manual wheelchair, an electric wheelchair has not been finished in a shape that can be carried in a trunk of an automobile. Furthermore, the electric motor is generally arranged at a position protruding from the running wheel surface to the inside of the chair mount, and the mount is manufactured in a structure that cannot be folded, and is fixed to the mount by a specially designed running wheel support base. . In order to eliminate such inconvenience, a wheelchair having a structure that can be easily disassembled into individual parts during transportation is introduced in US Pat. No. 5,246,082.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0003

[Correction method] Change

[Correction contents]

[0003]

However, in the conventional electric wheelchair, the wheel portion of the wheel and the inner motor housing are integrally formed. For this reason, if the running tire portion of the outer wheel becomes dirty with mud or the like or the pneumatic tire gets punctured during outdoor use, the entire wheel must be replaced. There was a problem that the work was very complicated, and the contents of the work were different for each model of each manufacturer. Also, in the case of an electric wheelchair in which the above-mentioned wheels are integrated with the electric driving unit and housed therein, when the user prepares spare tires and the like, it is necessary to purchase a plurality of expensive wheels, and the economic burden on the user increases sharply. There was also a problem of doing. Further, in a small vehicle having a structure in which the electric drive unit is disposed inside the wheel, the output torque of the motor has conventionally been small. Therefore, generally, the output of the wheel is increased by using a speed reducer such as a planetary gear or a spur gear. Was. In order to rotate the electric wheel manually, an extra force obtained by multiplying the motor static friction torque by the gear ratio is required, and since the reduction gear is rotated from the opposite direction, the loss torque increases. The joint was arranged between the reduction gear and the wheel, and the wheel was separated and rotated by hand. Therefore, the torque generated by the electric motor is reduced by the transmission loss at the speed reducer and the joint, which causes a reduction in drive efficiency and an increase in battery capacity. In addition, noise from the speed reducer or the motor brush of a DC motor that is normally used is a cause of late-night indoor noise for a sleeping person and radio wave noise to a television / radio. Furthermore, the backlash of the reducer and the play of the joint are combined,
Since the rattling of the wheels was 3 to 6 degrees or more and the response to the driving command was poor, especially in a small vehicle having a large wheel diameter, the driving characteristics at the time of running became unstable, such as when traveling in a narrow indoor passage with a running width of 90 cm or less. Changing the direction of travel in narrow spaces such as bathrooms, toilets, elevators, etc.
There was also a problem that it was difficult alone. Further, when the joint is released in the middle of the slope, there is a danger that the wheels are idle and braking cannot be applied. Also,
When traveling on a one-way road surface or on a gravel road, if the output torque of the motor is small or the drive system is rattled, the vehicle body will shake irregularly to the left and right, making it difficult to maneuver and very poor ride comfort. And the small output torque makes it impossible to overcome small obstacles,
A wheelchair using a motor with a large output had a strong impact during acceleration and deceleration, making it difficult for anyone to drive easily. SUMMARY OF THE INVENTION The present invention has been made in view of the above situation, and an object of the present invention is to provide a small vehicle having a gantry having at least two traveling wheels that can be driven by an electric motor, in which the electric motor is provided with a gearless and clutchless motor. In addition, it is composed of an outer rotor type direct drive motor, which accurately controls the position and traveling direction of a small vehicle, and makes it possible to attach and detach both between the motor and the traveling wheel to improve maintainability and traveling performance of the vehicle. It is an object of the present invention to provide a vehicle with enhanced safety.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction contents]

The operation of the above configuration will be described below. By the way, a conventional small vehicle using an electric motor generally has a non-excited operation brake for safety and to make it easier to get on and off when getting on and off, but the vehicle stops. Each time the brake is actuated, there is a problem such as an unpleasant operation noise, and the need to release the brake during operation, and the brake coil remains energized, thereby wasting energy of the storage battery. In other words, the conventional non-excited operation brake has a structure in which the brake plate mechanically pressed by the spring force is attracted by the electromagnetic force to release the brake,
The power consumption was relatively high, about 8 to 10 W. Therefore, in the small vehicle of the present invention, the braking holding force during parking is sufficiently strong and the power consumption is very small, and at the time of an emergency stop due to a voltage drop of the storage battery or a failure of the control unit 60, the vehicle is stopped. An external brake unit 70 capable of automatically stopping and maintaining a stopped state is employed. The configuration of the external brake unit 70 will be described with reference to FIG. It is attached so as to be rotatable about 72 and can be moved to three places of parking (Park) / motor (Motor) / nursing care (Aid).
The arm 76 is rotatably connected to an L-shaped arm 76 via a fulcrum 73. The arm 76 is rotatably mounted on the above-mentioned base plate around a fulcrum 73. One end of the arm 76 is urged by a tension spring 77 so that the brake member 78 10 is pressed to stop. A suction plate 75 is connected to the other end of the arm 76 via a link. When the suction plate 75 is moved to the electric position, this position is input to the control unit 60 by the switch 69, and the suction plate 75 a magnetic path formed by the electromagnetic means 79 are arranged such that the closed, further held to the electromagnetic means 79 by only a small holding force without large attraction force is required, and is disengaged the brake member 78 from the tire 10 and I keep it in a state. Therefore, the spring 77 can be controlled with a small electromagnetic holding force inversely proportional to the ratio of the lengths of the two arms of the arm 76.
, The brake member 78 can be kept in a state of being separated from the tire 10. Next, in the example of FIG. 8, the position where the manual rod 71 is pulled closest to the hand is the parking position where the manual brake is applied, and from this position the manual rod 71 is pushed forward and rotates to the central electric position. , The switch 69 is operated, and the suction plate 75 and the electromagnetic means 79 come into close contact with each other,
The structure is such that the brake member 78 is separated from the tire 10. The switch 69i determines that both of the external braking units 70i of the left and right wheels are in the electric position, and the power is supplied to the control unit 60, so that the electric operation is enabled. At this time, the electromagnetic means 79i is also energized at the same time, and the suction plate 75i is suction-fixed, so that the brake member 78i is fixed in a state of being detached from the tire 10i. The electromagnetic means 79, for example, a DC solenoid,
It does not require a large suction force according to the lever principle described earlier,
When the magnetic path to which the suction plate 75 is in close contact is closed,
Since the C solenoid is energized, the holding force alone may not require a large suction force, and experiments have shown that low power consumption electromagnetic means of about 2 to 3 W is sufficient.
Further, the manual rod 71 is pushed out and the above-mentioned lower end point A is
When it is pushed beyond the dead center boundary line 170 and pushed to the nursing position and stopped by the stopper 80, the electromagnetic means 79 is not energized and the brake member 78 is mechanically moved from the tire 10 in cooperation with the link 74 and the arm 76. It can be removed. Furthermore, a caregiver handle attached to the rear of the small vehicle 2 has a brake release lever 83.
Is attached, and the wire 81 is connected via a wire stopper 82.
Is connected to the manual rod 71. The switch 69, the spring 77, the electromagnetic means 79, the stopper 80, and the wire stopper 82 are also mounted on the above-mentioned base plate, and this base plate is mounted on the vehicle mount for each of the left and right wheels of the vehicle 2.

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0013

[Correction method] Change

[Correction contents]

Next, the operation of correcting the operation command in the correction / output unit 63 will be described. This correction operation is performed in the above-described maneuvering mode or the regeneration mode.During traveling, when only one wheel or both wheels hit an obstacle such as a bumpy portion or a pebble having a step, the vehicle operation is stopped. In order to improve the stability / safety, in the conventional operation control of a small vehicle without such correction, the command value from the steering means is output to the drive unit of each electric motor without correction. For this reason, the rotation speed of the wheel that hits the obstacle becomes slow, and the phenomenon that the wheel that does not hit relatively quickly rotates according to the command value occurs, so that the vehicle turns sharply around the obstacle. As a result, unintended course changes and wobbling of the vehicle body occurred, and the driver had to stay alert during driving, except on a flat, flat road surface, and had to be constantly careful. However, in the correction / output unit 63 of the present invention,
As described below, a correction process of a speed command or the like is performed with reference to the output torque of the electric motor or the like so that the continuity of the current speed of the wheels is maintained, thereby preventing the above-described sharp turning and the body wobble. That is, as shown in FIG. 9C, for example, at time t1, the wheel 10a hits the step, and the output torque Ta of the electric motor 4a output from the current control unit 93a in FIG.
When (t) reaches a preset torque limit value Tath and saturates, the speed control unit 92 in the servo control unit 90a
Although the speed command ωa * (t) for a does not change as shown in FIG. 9A, the current speed ωa (t) of the electric motor 4a starts to decrease from time t2 immediately after time t1. On the other hand, since the wheel 10b does not hit an obstacle or the like even at the time point t2, the speed command ωb * (t) and the current speed ωb
This is almost equal to (t) due to the speed feedback control, and no rapid change appears in the output torque Tb (t). That is, the output torque Ti (t) of one of the left and right motors 4i reaches the torque limit value, the rotation speed decreases, and the output torque Tj of the other motor 4j.
When it is confirmed that (t) has not reached the torque limit value, the correction / output unit 63 does not change the speed command of the electric motor 4i that has reached the torque limit value, and outputs the same value as the time points t1 and t2. speed command of the electric motor 4 j does not reach the torque limit value calculating ωj * (t2) = ωj * (t1) × ωi (t
2) The value of the speed command ωj * (t1) is reduced by the ratio of the current speed of the electric motor 4i from / ωi (t1) to be output. The correction of the speed command of the electric motor 4j continues during a period of t2 <t <t10, that is, until the output torque of the electric motor 4i falls within the torque limit value when the wheel 10a passes over the obstacle (FIG. 9D). Next, at time t10
When the output torque of the motor 4i falls within the torque limit value, the correction / output unit 63 immediately changes the speed command ωi * (t) of the motor 4i to the current speed ωi (t10) (FIG. 9A). This is to avoid sudden acceleration of the electric motor 4i. Then, for a predetermined period (t12-t11)
To change the speed command of the electric motor 4i (i = a, b) to ωi
From (t10) to ωi * (t1), desired characteristics (for example,
(Linear characteristics, S-shaped characteristics, etc.) (FIG. 9
(A), (D)). Subsequently, at time t20, the wheel 1
A correction operation in the case where 0b hits an obstacle and the wheel 10a hits the obstacle at a time t22 with a slight delay will be described.
At this time, the obstacle hitting the wheel 10b is
The operation of the correction / output unit 63 will be described below assuming that the inclination is steeper than the obstacle hitting a, but the period required for overcoming is short. The output torque Tb ( t) is the torque limit value Tbt
When the speed reaches h, the speed command ωb * (t) to the speed control unit 92b does not change as shown in FIG. 9D, but the current speed ωb (t) of the electric motor 4b starts to decrease, and this speed decreases. The speed command ωa of the electric motor 4a at a ratio corresponding to
* (T) is also reduced (at time t in FIGS. 9A and 9E).
21). Thereafter, at time t22, when the wheel 10a also hits an obstacle and the output torque of the electric motor 4a reaches the torque limit value and saturates, the current speed ω of the electric motor 4a is reduced by the obstacle.
Since a (t) automatically decreases, after time t23,
The speed command ωa * (t) of the motor 4a is not changed, and the rate of change of the current speed ωa (t) and the current speed ωb of the motor 4b are not changed.
(T) is monitored, and each speed command is switched so that a large speed difference does not occur for each wheel. In the example of FIG. 9, since the inclination of the wheel 10b is larger than that of the wheel 10a, the control is performed from time t23 to t30 so that the rotation speed of the electric motor 4a follows the rotation speed of the electric motor 4b. When the wheel 10b passes over the obstacle at the time point t30, the output torque of the electric motor 4b sharply drops and falls within the torque control value. Therefore, the speed deviation and the output torque of each electric motor are checked. In this case, the electric motor 4a Since the motor is rotating after outputting the full torque control value, the speed command ω of the electric motor 4b is output.
Only b * (t) is updated to the current speed ωb (t30) and output to the speed control unit 92b (time t31). When the time further elapses and the wheel 10a also gets over the obstacle at the time t40, the output torque of the electric motor 4a also sharply drops and falls within the torque control value. Therefore, the speed deviation and the output torque of each electric motor are checked, and Speed command ω of the electric motor 4a
a * (t) is changed to the current speed ωa (t40) (time t41), and a predetermined time period (t43-t41) is applied to change the speed command of each electric motor 4i (i = a, b) to a desired value. To return to. As shown in FIGS. 9B and 9E, the motor 4 is switched by the speed command switching and correction processing as described above.
There is no sudden change or rapid acceleration / deceleration period between the speeds a and 4b, and the riding comfort of the small vehicle is very stable and smooth. ────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] March 15, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Name of invention

[Correction method] Change

[Correction contents]

[Title of the Invention] Small vehicle

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction contents]

[0004]

SUMMARY OF THE INVENTION The present invention relates to a small vehicle having a platform with at least two running wheels, each of which can be driven by an electric motor. together constitute a type direct drive motor, and a rotational position sensor for detecting the rotor position and the rotational speed of the electric motor 128 pulses / rotation or more measurement accuracy, these rotational position sensor and the
A control unit coupled to the motor, the control unit
Motor position control and / or speed control and / or torque
This is achieved by servo-controlling the clock control . The invention also relates to a small vehicle having a gantry with at least two running wheels each of which can be driven directly by an electric motor arranged in the region of the wheel boss, the above-mentioned object of the invention being that the running wheels are mounted on the gantry. The motor is configured as a detachable wheel with an insertable shaft that can be fixed detachably, and each motor is arranged inside the wheel boss in a structure that can be driven directly without gears and without protrusions, and the stator of each motor is Can be detachably fixed to the gantry via the support member,
A hollow portion is provided inside the stator of each electric motor, and a rotational position sensor, a drive control device, a radiator, an electric cable, an electric connector, a joint, and / or a brake of the electric motor are arranged in the hollow portion. Rotational position sensor and electric motor
A control unit coupled to the
Machine position and / or speed and / or torque control
Is also achieved by servo-controlling . ────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] August 9, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction contents]

[0004]

SUMMARY OF THE INVENTION The present invention is capable of spot-turning with a mount having at least two running wheels, each of which can be driven by an electric motor.
Relates, such small vehicles, the object of the present invention, the small-ride
Manual control mode and automatic operation regeneration mode
And the automatic driving regeneration mode
The shift operation of the small vehicle and the turn of the spot turn
The rolling operation is automatically determined and executed . In addition, the present invention provides a motor driven by an electric motor.
A gantry with at least two running wheels that is movable
The object of the present invention also relates to a small vehicle that can be carried and spot-turned ,
Measurement of rotor position and number of rotations over 128 pulses / revolution
A rotational position sensor that detects with accuracy, the speed of each motor and
And / or a speed controller / current controller for controlling torque.
And a servo control unit coupled thereto.
The controller controls the speed control feedback and
And / or current control feedback to software operation
It is also achieved by doing more . Furthermore, this
The invention provides a small number of devices, each of which can be driven by an electric motor.
Hold a stand with at least two wheels,
The invention relates to a small vehicle capable of driving
The purpose is to make the motor driving each running wheel
One outer rotor type direct drive motor and
The rotor position and the number of rotations of each of the motors are set to 128 pulses /
Provide a rotation position sensor that detects with a measurement accuracy of more than rotation,
The rotational position of each running wheel is controlled by the control unit of the small vehicle.
Is directly input from the rotation position sensor of each of the electric motors,
Shift operation of the small vehicle and rotation of the spot turn
It is also achieved by controlling the crop.

Claims (31)

[Claims] 1. A small vehicle having a mount having at least two traveling wheels, each of which can be driven by an electric motor, wherein the electric motor is constituted by an outer rotor type electric motor, and a traveling wheel is provided on a rotor side of each electric motor. The running wheel provided with the mounting portion to be locked to the locking portion and the running portion are detachably connected to each other by a connecting member to separate the running wheel from the electric motor. A small vehicle characterized by being made possible. 2. The small vehicle according to claim 1, wherein the locking portion is provided on a rotor bracket of the electric motor. 3. A running wheel having a large diameter and a narrow tire width, to which a manual rim is connected, is attached to the electric motor for short running indoors or outdoors. For a long running outdoors, the motor has a small diameter. 3. The small vehicle according to claim 1, wherein a running wheel having a wide tire width is mounted. 4. A motor according to claim 1, wherein said motor is a permanent magnet type brushless DC motor, and said motor is arranged inside a wheel boss in a gearless and directly drivable structure without protrusions. A small vehicle according to any one of the preceding claims. 5. A hollow portion is provided inside a stator of the electric motor, and a rotational position sensor, a drive control device, a radiator, an electric cable, an electric connector, a joint, and a rotational position sensor of the electric motor are provided in the hollow portion.
The small vehicle according to any one of claims 1 to 4, wherein a brake is arranged. 6. A small vehicle having a mount having at least two running wheels, each of which can be driven by an electric motor, wherein said electric motor is constituted by a gearless and outer rotor type direct drive electric motor, and a rotor of each electric motor is provided. A small vehicle characterized in that the position and the number of rotations are measured by a rotation position sensor that detects the position and the number of rotations with a measurement accuracy of 128 pulses / revolution or more. 7. The compact device according to claim 5, further comprising a control device for comparing the angles detected by the rotational position sensors of the left and right running wheels and performing a spot turn by a predetermined angle set in advance at a turning radius of 0. vehicle. 8. The method according to claim 1, wherein the predetermined angle is 90 ° and / or 180 ° clockwise and / or 90 ° and / or counterclockwise.
The small vehicle according to claim 7, wherein the angle is 180 °. 9. The small vehicle according to claim 5, further comprising a control unit that calculates and stores the current position of the small vehicle from the rotational speeds and rotational positions of the left and right running wheels. 10. The movement path and / or speed control data of the small vehicle is created and stored in advance, and the current position of the small vehicle calculated from the rotational speeds and the rotational positions of the left and right running wheels is calculated based on the movement path. The small vehicle according to any one of claims 5 to 9, further comprising a control device that automatically changes in response to the speed control data. 11. The small vehicle according to claim 10, further comprising a teaching operation mode for creating the movement route in the control device. 12. A small vehicle having a gantry with at least two running wheels each of which can be driven directly by an electric motor arranged in the region of a wheel boss, wherein the running wheels are detachably fixed to the gantry. It is configured as a detachable wheel with a shaft, each motor is arranged inside the wheel boss in a structure that can be driven directly without gears and without protrusions, and the stator of each motor is supported via a support member In addition to being detachably fixed to the gantry, a hollow portion is provided inside the stator of each motor, and a rotational position sensor, a drive control device, a radiator, an electric cable, an electric connector, a joint, and / or a rotational position sensor of the motor are provided in the hollow portion. Or a small vehicle characterized by disposing a brake. 13. The small vehicle according to claim 1, wherein the motor is a multi-pole brushless DC motor switched by an electronic rectifier having a permanent magnet rotor. 14. The small vehicle according to claim 13, wherein the permanent magnet is made of a rare earth permanent magnet such as a samarium-cobalt magnet or a neodymium-boron magnet. 15. The small vehicle according to claim 13, wherein the number of poles of the electric motor is 12 or more. 16. The small vehicle according to claim 13, wherein regenerative energy during deceleration and / or downhill driving of the small vehicle is returned to the storage battery by the electronic rectification means. 17. The small vehicle according to claim 5, wherein the rotational position sensor measures the rotor position of the electric motor with an accuracy of 128 pulses / revolution or more. 18. The small vehicle according to claim 5, wherein the rotation position sensor is a brushless resolver, an optical rotary encoder, and / or a magnetic rotary encoder. 19. The small vehicle according to claim 1, wherein the gantry is foldable. 20. A brake unit for a small vehicle, comprising: a manual rod having at least two parking / electrical indicating positions; a brake member attached to one end of the manual rod;
A spring for pressing the brake member against the tire, a suction plate attached to the other end of the manual rod, and electromagnetic means for attaching and detaching the suction plate, wherein the manual rod is moved to an electric position. The electromagnetic means is disposed so that a magnetic path formed between the suction plate and the electromagnetic means is closed, and the brake release state is maintained by an exciting action of the electromagnetic means. Braking unit for small vehicles. 21. The brake device according to claim 20, wherein a wire is engaged with said manual rod and is interlocked with a brake release lever, so that the brake member at the parking position can be released from the tire when the lever is held. Braking unit for small vehicles. 22. A braking unit for a small vehicle, comprising a manual rod having at least three indication positions of parking / electric / care. 23. An arm connected to the manual rod via a link mechanism, a brake member attached to one end of the arm, and a suction plate attached to the other end of the arm. An electromagnetic means for attaching and detaching the suction plate, and a spring for pressing the brake member against the tire when the manual rod is at the parking position, and the spring and the link mechanism when the manual rod is at the care position. 23. The braking unit for a small vehicle according to claim 22, wherein the brake member is kept in a state of being detached from the tire. 24. The apparatus according to claim 20, wherein said motorized position is detected by a switch means and input to a control device.
A braking unit for a small vehicle according to claim 1. 25. In the electric position, the electromagnetic means is disposed so that a magnetic path formed by the suction plate and the electromagnetic means is closed, and the brake release state is maintained by the exciting action of the electromagnetic means. The braking unit for a small vehicle according to claim 23 or 24. 26. A brake member, which has been in a parking position when the lever is squeezed, can be disengaged from the tire by engaging a wire with the manual rod and interlocking with a brake release lever. The braking unit for a small vehicle according to any one of the preceding claims. 27. A control device for a small vehicle, comprising at least two running wheels, each drivable by an electric motor, comprising: a maneuver mode for manually moving the small vehicle to a desired location; A control mode for automatically moving the small vehicle to a desired location. 28. The small vehicle control device according to claim 27, further comprising a teaching mode for manually teaching the route data for the automatic driving. 29. The small vehicle control device according to claim 27, wherein the route data for automatic driving is downloaded / apple-loaded from outside or outside via a communication unit. 30. During the speed control of the motors, the output torque of each motor is monitored, and if there is a motor whose output torque has reached the torque limit value, a speed command of the motor that does not reach the torque limit value is determined. 30. The control device for a small vehicle according to claim 29, wherein the control device is configured to decrease the ratio by a ratio of: 31. When the output torque of the motor that has reached the torque limit value falls below the torque limit value, the speed command of the motor is once reduced to the current speed, and then the speed is adjusted according to a predetermined acceleration characteristic. 31. The small vehicle control device according to claim 30, wherein the command is increased.