WO2009004844A1 - 車両 - Google Patents

車両 Download PDF

Info

Publication number
WO2009004844A1
WO2009004844A1 PCT/JP2008/056551 JP2008056551W WO2009004844A1 WO 2009004844 A1 WO2009004844 A1 WO 2009004844A1 JP 2008056551 W JP2008056551 W JP 2008056551W WO 2009004844 A1 WO2009004844 A1 WO 2009004844A1
Authority
WO
WIPO (PCT)
Prior art keywords
acceleration
vehicle
rider
deceleration
vehicle body
Prior art date
Application number
PCT/JP2008/056551
Other languages
English (en)
French (fr)
Inventor
Katsunori Doi
Masao Ando
Masahiro Hasebe
Naoki Ushiki
Koki Hayashi
Kayo Futamura
Takafumi Miyake
Kazuhiro Kuno
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
Priority claimed from JP2007171519A external-priority patent/JP5201440B2/ja
Priority claimed from JP2007210533A external-priority patent/JP5152627B2/ja
Priority claimed from JP2007210536A external-priority patent/JP5041224B2/ja
Priority claimed from JP2007210532A external-priority patent/JP5152626B2/ja
Priority claimed from JP2007210534A external-priority patent/JP4831490B2/ja
Priority claimed from JP2007210535A external-priority patent/JP5151308B2/ja
Application filed by Equos Research Co., Ltd. filed Critical Equos Research Co., Ltd.
Priority to US12/666,989 priority Critical patent/US20100168993A1/en
Priority to EP08739662.8A priority patent/EP2163467A4/en
Priority to CN2008800222194A priority patent/CN101687528B/zh
Publication of WO2009004844A1 publication Critical patent/WO2009004844A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/16—Single-axle vehicles
    • 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
    • Y02T10/64—Electric machine technologies in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

　乗り心地のよい倒立振り子の姿勢制御を利用した車両を提供することを目的とする。 　搭乗者を含む搭乗部を車両の前後方向に並進移動させることにより、車体のバランス（倒立状態）を保つ。すなわち、図１（ａ）に示すように、搭乗者操作に基づく目標走行状態（加速、減速、停止など）に応じた加減速により車体に作用する駆動輪の反トルクと加速度に伴う慣性力に対するバランスを保つために、搭乗者を含む搭乗部を加速度方向に並進移動させる。これにより、加減速度に対する車体の傾斜角を小さくすることができ、快適で安全な倒立型車両を提供することができる。
PCT/JP2008/056551 2007-06-29 2008-04-02 車両 WO2009004844A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US12/666,989 US20100168993A1 (en) 2007-06-29 2008-04-02 Vehicle
EP08739662.8A EP2163467A4 (en) 2007-06-29 2008-04-02 VEHICLE
CN2008800222194A CN101687528B (zh) 2007-06-29 2008-04-02 车辆

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
JP2007-171519 2007-06-29
JP2007171519A JP5201440B2 (ja) 2007-06-29 2007-06-29 車両
JP2007210533A JP5152627B2 (ja) 2007-08-10 2007-08-10 車両
JP2007210536A JP5041224B2 (ja) 2007-08-10 2007-08-10 車両
JP2007-210536 2007-08-10
JP2007210532A JP5152626B2 (ja) 2007-08-10 2007-08-10 車両
JP2007210534A JP4831490B2 (ja) 2007-08-10 2007-08-10 車両
JP2007210535A JP5151308B2 (ja) 2007-08-10 2007-08-10 車両
JP2007-210534 2007-08-10
JP2007-210533 2007-08-10
JP2007-210535 2007-08-10
JP2007-210532 2007-08-10

Publications (1)

Publication Number Publication Date
WO2009004844A1 true WO2009004844A1 (ja) 2009-01-08

Family

ID=40225905

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/056551 WO2009004844A1 (ja) 2007-06-29 2008-04-02 車両

Country Status (4)

Country Link
US (1) US20100168993A1 (ja)
EP (1) EP2163467A4 (ja)
CN (1) CN101687528B (ja)
WO (1) WO2009004844A1 (ja)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011131660A (ja) * 2009-12-23 2011-07-07 Ker:Kk 平行二輪ビークル、その安定姿勢保持機構ならびに走行制御方法および荷台部姿勢制御方法
WO2011106772A1 (en) * 2010-02-26 2011-09-01 Segway Inc. Apparatus and methods for control of a vehicle
CN102341298A (zh) * 2010-03-05 2012-02-01 丰田自动车株式会社 倒立二轮装置及其控制方法以及控制程序
DE112009005250B4 (de) * 2009-09-18 2015-05-28 Honda Motor Co., Ltd. Regelungs-/Steuerungsvorrichtung eines inverspendelartigen Fahrzeugs
US9463390B2 (en) 2013-10-30 2016-10-11 FlowriderSurf, Ltd. Inflatable surfing apparatus and method

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JP2010125969A (ja) * 2008-11-27 2010-06-10 Toyota Motor Corp 移動体
CN102574560B (zh) * 2009-09-18 2014-06-18 本田技研工业株式会社 倒立摆型移动体
JP2012051385A (ja) * 2010-08-31 2012-03-15 Hitachi Ltd 移動機構
CN102821730B (zh) * 2010-09-13 2015-09-30 松下知识产权经营株式会社 搭乘型移动体及搭乘型移动体的控制方法
JP6095436B2 (ja) 2013-03-27 2017-03-15 本田技研工業株式会社 倒立振子型車両
JP6081270B2 (ja) 2013-03-29 2017-02-15 本田技研工業株式会社 倒立振子型車両
JP6111119B2 (ja) 2013-03-29 2017-04-05 本田技研工業株式会社 倒立振子型車両
JP6062784B2 (ja) 2013-03-29 2017-01-18 本田技研工業株式会社 倒立振子型車両
JP6062785B2 (ja) 2013-03-29 2017-01-18 本田技研工業株式会社 倒立振子型車両
JP6081271B2 (ja) * 2013-03-29 2017-02-15 本田技研工業株式会社 倒立振子型車両
JP6020328B2 (ja) * 2013-04-18 2016-11-02 トヨタ自動車株式会社 移動体制御装置、移動体制御方法、及び制御プログラム
JP6099485B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
JP6099484B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
JP6099483B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
CN103676943A (zh) * 2013-09-12 2014-03-26 上海交通大学 座椅型重心手控转向脚踏式两轮自平衡智能车
CN105730585B (zh) * 2014-12-11 2018-10-12 光阳工业股份有限公司 体感式移动载具
GB2539882A (en) * 2015-06-24 2017-01-04 Artemev Timur Transportation device
CN105365964A (zh) * 2015-12-11 2016-03-02 韩莹光 一种两轮平衡车及其转向控制方法
US10556636B2 (en) 2016-01-17 2020-02-11 Shane Chen Self-balancing load bearing vehicle
DE102016110435B4 (de) * 2016-06-06 2020-01-16 Universität Kassel Einachsiges Fahrzeug, Steuereinrichtung und Verfahren zur Steuerung eines derartigen Fahrzeugs
USD840872S1 (en) 2016-07-20 2019-02-19 Razor Usa Llc Two wheeled board
USD803963S1 (en) 2016-07-20 2017-11-28 Razor Usa Llc Two wheeled board
USD941948S1 (en) 2016-07-20 2022-01-25 Razor Usa Llc Two wheeled board
WO2018017100A1 (en) * 2016-07-21 2018-01-25 Ford Global Technologies, Llc Event tracking systems and methods
DE102016116329B4 (de) 2016-09-01 2019-11-14 Sandro Suess Geschwindigkeitsbegrenzung für ein selbstbalancierendes Fahrzeug
JP2020503204A (ja) 2016-10-18 2020-01-30 ピアジオ ファスト フォワード インク 非軸駆動および安定化システムを有する車両
US10293676B2 (en) * 2016-10-18 2019-05-21 Piaggio Fast Forward, Inc. Vehicle having non-axial drive
JP6920871B2 (ja) * 2017-04-24 2021-08-18 本田技研工業株式会社 倒立振子型車両
IT201700114497A1 (it) * 2017-10-11 2019-04-11 Piaggio Fast Forward Inc Veicolo a due ruote con sistema di stabilizzazione lineare
US11654995B2 (en) 2017-12-22 2023-05-23 Razor Usa Llc Electric balance vehicles
KR102311361B1 (ko) 2018-05-01 2021-10-12 피아지오 패스트 포워드 인코포레이티드 자율 주행 차량 행동 모델을 결정하는 방법, 자율 주행 차량, 및 자율 주행 차량 탐색 방법
CN112996685B (zh) 2018-10-22 2024-06-21 皮亚吉奥科技有限公司 移位组件及包括其的移动载具
JP7296897B2 (ja) * 2020-01-31 2023-06-23 本田技研工業株式会社 電動車両
CN112550540B (zh) * 2020-12-09 2022-04-22 徐州锋儒智能科技有限公司 基于陀螺仪的消费品级电动平衡车控制方法及系统

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JPH11500331A (ja) * 1995-02-03 1999-01-12 デカ・プロダクツ・リミテッド・パートナーシップ 輸送車両と方法
JP2004129435A (ja) 2002-10-04 2004-04-22 Sony Corp 搬送装置、制御方法、及び駆動機構
JP2006001385A (ja) * 2004-06-16 2006-01-05 Sony Corp 平行二輪車
JP2006123854A (ja) * 2004-11-01 2006-05-18 Matsushita Electric Ind Co Ltd 荷物運搬ロボット
JP2007062685A (ja) * 2005-09-02 2007-03-15 Equos Research Co Ltd 車両

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US5975225A (en) * 1993-02-24 1999-11-02 Deka Products Limited Partnership Transportation vehicles with stability enhancement using CG modification
CN1557668B (zh) * 1995-02-03 2013-10-23 德卡产品有限公司 运输车辆和方法
JP2006136962A (ja) * 2004-11-11 2006-06-01 Hitachi Ltd 移動ロボット
WO2006095823A1 (ja) * 2005-03-11 2006-09-14 Equos Research Co., Ltd. 車両
JP4650327B2 (ja) * 2005-04-14 2011-03-16 トヨタ自動車株式会社 同軸二輪車

Patent Citations (5)

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JPH11500331A (ja) * 1995-02-03 1999-01-12 デカ・プロダクツ・リミテッド・パートナーシップ 輸送車両と方法
JP2004129435A (ja) 2002-10-04 2004-04-22 Sony Corp 搬送装置、制御方法、及び駆動機構
JP2006001385A (ja) * 2004-06-16 2006-01-05 Sony Corp 平行二輪車
JP2006123854A (ja) * 2004-11-01 2006-05-18 Matsushita Electric Ind Co Ltd 荷物運搬ロボット
JP2007062685A (ja) * 2005-09-02 2007-03-15 Equos Research Co Ltd 車両

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112009005250B4 (de) * 2009-09-18 2015-05-28 Honda Motor Co., Ltd. Regelungs-/Steuerungsvorrichtung eines inverspendelartigen Fahrzeugs
JP2011131660A (ja) * 2009-12-23 2011-07-07 Ker:Kk 平行二輪ビークル、その安定姿勢保持機構ならびに走行制御方法および荷台部姿勢制御方法
US9126497B2 (en) 2010-02-26 2015-09-08 Segway, Inc. Apparatus and methods for control of a vehicle
CN102822046A (zh) * 2010-02-26 2012-12-12 塞格威股份有限公司 车辆控制的装置和方法
JP2013521173A (ja) * 2010-02-26 2013-06-10 セグウェイ・インコーポレイテッド 車両を制御するための装置及び方法
US8490723B2 (en) 2010-02-26 2013-07-23 Segway, Inc. Apparatus and methods for control of a vehicle
US8688303B2 (en) 2010-02-26 2014-04-01 Segway, Inc. Apparatus and methods for control of a vehicle
WO2011106767A3 (en) * 2010-02-26 2011-11-03 Segway Inc. Apparatus and methods for control of a vehicle
WO2011106772A1 (en) * 2010-02-26 2011-09-01 Segway Inc. Apparatus and methods for control of a vehicle
JP2015178358A (ja) * 2010-02-26 2015-10-08 セグウェイ・インコーポレイテッド 車両を制御するための装置及び方法
CN102341298A (zh) * 2010-03-05 2012-02-01 丰田自动车株式会社 倒立二轮装置及其控制方法以及控制程序
US9463390B2 (en) 2013-10-30 2016-10-11 FlowriderSurf, Ltd. Inflatable surfing apparatus and method
US11400384B2 (en) 2013-10-30 2022-08-02 Whitewater West Industries, Ltd. Inflatable surfing apparatus and method

Also Published As

Publication number Publication date
US20100168993A1 (en) 2010-07-01
CN101687528A (zh) 2010-03-31
CN101687528B (zh) 2013-03-06
EP2163467A1 (en) 2010-03-17
EP2163467A4 (en) 2014-06-18

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