WO2008081815A1 - 走行車両 - Google Patents

走行車両 Download PDF

Info

Publication number
WO2008081815A1
WO2008081815A1 PCT/JP2007/074951 JP2007074951W WO2008081815A1 WO 2008081815 A1 WO2008081815 A1 WO 2008081815A1 JP 2007074951 W JP2007074951 W JP 2007074951W WO 2008081815 A1 WO2008081815 A1 WO 2008081815A1
Authority
WO
WIPO (PCT)
Prior art keywords
occupant
traveling vehicle
exit
center
gravity
Prior art date
Application number
PCT/JP2007/074951
Other languages
English (en)
French (fr)
Inventor
Takafumi Miyake
Katsunori Doi
Original Assignee
Equos Research Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Equos Research Co., Ltd. filed Critical Equos Research Co., Ltd.
Priority to US12/518,782 priority Critical patent/US20100017107A1/en
Priority to JP2008552127A priority patent/JP5110320B2/ja
Publication of WO2008081815A1 publication Critical patent/WO2008081815A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K17/00—Cycles not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

　乗員を搭載する乗員搭載部を有する車体（２）と、車体（２）に回転可能に支持され、一軸上に設けた車輪（８）と、を備えた走行車両（１）において、乗員搭載部（３）の乗員の降車を検出する乗員降車検出手段（１５２）と、走行車両（１）の重心位置を車輪（８）の中心を通る鉛直線上に保持する重心位置補正機能を有し、乗員降車検出手段（１５２）により乗員の降車を検出した場合、重心位置補正機能を停止させる制御手段（１００）と、を備えたことを特徴とする。                                                                                
PCT/JP2007/074951 2006-12-27 2007-12-26 走行車両 WO2008081815A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/518,782 US20100017107A1 (en) 2006-12-27 2007-12-26 Traveling vehicle
JP2008552127A JP5110320B2 (ja) 2006-12-27 2007-12-26 走行車両

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006352115 2006-12-27
JP2006-352115 2006-12-27

Publications (1)

Publication Number Publication Date
WO2008081815A1 true WO2008081815A1 (ja) 2008-07-10

Family

ID=39588498

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/074951 WO2008081815A1 (ja) 2006-12-27 2007-12-26 走行車両

Country Status (3)

Country Link
US (1) US20100017107A1 (ja)
JP (1) JP5110320B2 (ja)
WO (1) WO2008081815A1 (ja)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010030438A (ja) * 2008-07-29 2010-02-12 Toyota Motor Corp 同軸二輪車及び同軸二輪車の制御方法
JP2010100137A (ja) * 2008-10-22 2010-05-06 Equos Research Co Ltd 車両
WO2011033580A1 (ja) * 2009-09-18 2011-03-24 本田技研工業株式会社 倒立振子型車両の制御装置
WO2011033579A1 (ja) * 2009-09-18 2011-03-24 本田技研工業株式会社 倒立振子型車両の制御装置
WO2011036693A1 (ja) * 2009-09-23 2011-03-31 本田技研工業株式会社 倒立振子型車両の制御装置
JP2011201504A (ja) * 2010-03-26 2011-10-13 Equos Research Co Ltd 車両
JP2012250569A (ja) * 2011-05-31 2012-12-20 Toyota Technical Development Corp 重心角推定方法及び同方法によって制御される倒立車輪型走行体
CN108860417A (zh) * 2018-05-21 2018-11-23 周伟 平衡车控制方法、装置、平衡车和存储介质

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4957889B2 (ja) * 2006-08-29 2012-06-20 株式会社エクォス・リサーチ 走行車両
JP2010125969A (ja) * 2008-11-27 2010-06-10 Toyota Motor Corp 移動体
JP2012051385A (ja) * 2010-08-31 2012-03-15 Hitachi Ltd 移動機構

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003237665A (ja) * 2002-02-14 2003-08-27 Sigma Solutions:Kk 二重反転ホイールを内蔵する自立式二輪走行装置
JP2006001384A (ja) * 2004-06-16 2006-01-05 Sony Corp 不安定走行装置
JP2006008013A (ja) * 2004-06-28 2006-01-12 Sony Corp 走行装置
JP2006110335A (ja) * 2004-09-15 2006-04-27 Yamaha Motor Co Ltd 車両の制御装置および車両
JP2006256401A (ja) * 2005-03-16 2006-09-28 National Institute Of Advanced Industrial & Technology ３輪型乗用移動台車
JP2007331443A (ja) * 2006-06-12 2007-12-27 Toyota Motor Corp 走行装置及び平行二輪車の車両制御方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7546889B2 (en) * 1993-02-24 2009-06-16 Deka Products Limited Partnership Guided control of a transporter
US6779621B2 (en) * 1993-02-24 2004-08-24 Deka Products Limited Partnership Riderless stabilization of a balancing transporter
US6561294B1 (en) * 1995-02-03 2003-05-13 Deka Products Limited Partnership Balancing vehicle with passive pivotable support
US7275607B2 (en) * 1999-06-04 2007-10-02 Deka Products Limited Partnership Control of a personal transporter based on user position

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003237665A (ja) * 2002-02-14 2003-08-27 Sigma Solutions:Kk 二重反転ホイールを内蔵する自立式二輪走行装置
JP2006001384A (ja) * 2004-06-16 2006-01-05 Sony Corp 不安定走行装置
JP2006008013A (ja) * 2004-06-28 2006-01-12 Sony Corp 走行装置
JP2006110335A (ja) * 2004-09-15 2006-04-27 Yamaha Motor Co Ltd 車両の制御装置および車両
JP2006256401A (ja) * 2005-03-16 2006-09-28 National Institute Of Advanced Industrial & Technology ３輪型乗用移動台車
JP2007331443A (ja) * 2006-06-12 2007-12-27 Toyota Motor Corp 走行装置及び平行二輪車の車両制御方法

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010030438A (ja) * 2008-07-29 2010-02-12 Toyota Motor Corp 同軸二輪車及び同軸二輪車の制御方法
US8068976B2 (en) 2008-07-29 2011-11-29 Toyota Jidosha Kabushiki Kaisha Coaxial two-wheel vehicle and method for controlling the same
JP2010100137A (ja) * 2008-10-22 2010-05-06 Equos Research Co Ltd 車両
WO2011033579A1 (ja) * 2009-09-18 2011-03-24 本田技研工業株式会社 倒立振子型車両の制御装置
WO2011033580A1 (ja) * 2009-09-18 2011-03-24 本田技研工業株式会社 倒立振子型車両の制御装置
US8463523B2 (en) 2009-09-18 2013-06-11 Honda Motor Co., Ltd. Control device of inverted pendulum type vehicle
US8527154B2 (en) 2009-09-18 2013-09-03 Honda Motor Co., Ltd. Control device of inverted pendulum type vehicle
JP5414801B2 (ja) * 2009-09-18 2014-02-12 本田技研工業株式会社 倒立振子型車両の制御装置
WO2011036693A1 (ja) * 2009-09-23 2011-03-31 本田技研工業株式会社 倒立振子型車両の制御装置
US8521396B2 (en) 2009-09-23 2013-08-27 Honda Motor Co., Ltd. Control device of inverted pendulum type vehicle
JP2011201504A (ja) * 2010-03-26 2011-10-13 Equos Research Co Ltd 車両
JP2012250569A (ja) * 2011-05-31 2012-12-20 Toyota Technical Development Corp 重心角推定方法及び同方法によって制御される倒立車輪型走行体
CN108860417A (zh) * 2018-05-21 2018-11-23 周伟 平衡车控制方法、装置、平衡车和存储介质

Also Published As

Publication number Publication date
JPWO2008081815A1 (ja) 2010-04-30
US20100017107A1 (en) 2010-01-21
JP5110320B2 (ja) 2012-12-26

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