WO2009004844A1 - 車両 - Google Patents
車両 Download PDFInfo
- 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
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。
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)
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 |
Families Citing this family (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
-
2008
- 2008-04-02 WO PCT/JP2008/056551 patent/WO2009004844A1/ja active Application Filing
- 2008-04-02 EP EP08739662.8A patent/EP2163467A4/en not_active Withdrawn
- 2008-04-02 US US12/666,989 patent/US20100168993A1/en not_active Abandoned
- 2008-04-02 CN CN2008800222194A patent/CN101687528B/zh not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
Non-Patent Citations (1)
Title |
---|
See also references of EP2163467A4 * |
Cited By (13)
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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