WO2009033859A1

WO2009033859A1 - Manually guided electric vehicle

Info

Publication number: WO2009033859A1
Application number: PCT/EP2008/059307
Authority: WO
Inventors: Jochen Roser; Amos Albert
Original assignee: Robert Bosch Gmbh
Priority date: 2007-09-12
Filing date: 2008-07-16
Publication date: 2009-03-19
Also published as: DE102007043487A1

Abstract

The invention relates to a manually guided electric vehicle (1) having a drive system (6) which is fed by a power supply (19) and is electrically operatively connected to a sensor unit (4) which influences the drive system (6) as a function of the application of force by a vehicle user (3). There is provision for the sensor unit (4) to act on the drive system (6) in such a way that a vehicle steering movement occurs.

Description

description

Title Hand-guided electric vehicle

The invention relates to a hand-held electric vehicle with the features mentioned in the preamble of claim 1.

State of the art

An electric vehicle of the type mentioned is disclosed in DE 199 47 797 A1. The hand-held transport roller described therein serves to ensure that smaller quantities of goods or light luggage can be placed on a parking device and transported with the assistance of an electric drive. The transport roller in this case has a handle which is pivotably arranged at the upper end of a support for leading to the parking device. The handle is provided with an axle piece, which is equipped with recesses. On the carrier there is a locking part, which is intended for selectively engaging in one of the recesses of the axle piece, so that the handle can be locked in its respective position. About an arranged on the handle device, in particular pressure sensor, the powered by a power source electric drive is controllable. Accordingly, depending on the switching state of the arranged on the handle device of the transport roller can be started or stopped. The handling of the transport roller is facilitated by this arrangement and expanded its scope. However, despite the auxiliary drive, the hand-held transport roller lacks comfortable handling.

Disclosure of the invention

The hand-held electric vehicle according to the invention with the features mentioned in claim 1 offers the advantage that an improved operation and thus an improved handling comfort can be achieved. The fact that the sensor unit acts on the drive system in such a way that a vehicle steering movement takes place opens up, in contrast to FIG the above-mentioned conventional hand-held transport scooters new applications. These include, for example, applications in which user-controlled driving behavior is in the foreground. Direction changes, cornering and detailed navigation can thus be carried out in a simple manner. The strict adherence to a given driving course and an associated high force expenditure for the direction correction can therefore be avoided. Rather, smooth driving maneuvers can be performed with the electric vehicle according to the invention, which meet the high demands of today's means of transport. The hand-held electric vehicle also takes account of the current demographic development. Thus, an age-related physical performance decrease of a vehicle user is at least partially compensated. This is accompanied on the one hand by an increased flexibility of the user and on the other hand, the user can benefit in his usual environment from an extended, but at least constant, self-employment.

In a preferred embodiment of the invention, the sensor unit acts on the drive system such that a change in the vehicle speed takes place. This further control option of the hand-held electric vehicle allows adaptation to the speed of movement of the person leading the vehicle, whereby a comfort increase in the vehicle use is achieved. In addition to the direction specification, the driving speed can thus be predefined by the vehicle user via the sensor unit. The hand-held electric vehicle thus gains in a special degree of flexibility and versatility.

Advantageously, the sensor unit acts indirectly via a control device on the drive system. The control device generally has power electronics and a microcontroller. While the power electronics provide for a wiring of a motor unit of the drive system, the microcontroller is responsible for reading and rating user preferences, including the requirements for the direction of travel and the travel speed. Furthermore, a so-called follow-up control can be carried out by means of the control device. For this purpose, user-specified setpoints or setpoints are relevant. The From this, the control device generates suitable manipulated values or manipulated variables, optionally taking account of feedback information of the drive system required for the follow-up control, which represent the control signals for the drive system. The control device is consequently able to generate output signals controlling the drive system from the input signals originating from the sensor unit. With the aid of the control device, it is thus possible, for example, to realize a constant travel of the electric vehicle with an adjustable and, for the most part, constant effort of the user.

In a preferred embodiment of the invention, the sensor unit has at least one movable grip sleeve with a voltage divider unit, as a result of which the direction specification of the vehicle user can be detected. Here, the grip sleeve is slidably disposed on a handle of the electric vehicle and is held in at least one return spring in a neutral position. On the grip sleeve a pick-off is attached, which makes contact with a resistance wire. The resistance wire is firmly connected to the handle. Thus, the position of the tappet or the grip sleeve is a voltage divider, if appropriate measurement voltages applied. By an electronic circuit, in particular bridge circuit, can be close to the position of the grip sleeve and thus to the direction of the vehicle user.

In an advantageous embodiment of the invention, the sensor unit has at least one movable grip sleeve with at least two sensors, so that the desired driving state specification can be determined by a force applied to the grip sleeve by the vehicle user on the one hand and by a torque applied by the vehicle user to the grip sleeve on the other hand is. Accordingly, such a sensor unit can fulfill a dual function or ensure precise detection of setpoint specifications.

Advantageously, two movable grip sleeves are each provided with a sensor. In electric vehicles, especially sack trucks and transport controllers, with a provided for a two-handed operation design, thereby the two individual sensors for the driving state specification on the be divided into two gripping sleeves. By means of this sensor arrangement can be carried out very precise and fast driving maneuvers.

In a further advantageous embodiment, a vehicle activation can be carried out on the basis of an activating agent, so that unintentional starting of the electric vehicle is prevented and the hand-guided electric vehicle is equipped with a security feature per se. The activation of the electric vehicle can thus be carried out exclusively by the user.

Advantageously, the activating means is designed as a handle part which is in operative electrical connection with the control device. This is a sophisticated construction, in which the movable handle part, for example in the shape of a bracket, can be actuated by the user to activate the vehicle. From a circuit perspective, the handle part can, for example, close an electrical contact when it is actuated, which is part of a control and / or main circuit of the electric vehicle.

In an advantageous embodiment, the drive system is designed as a differential drive, which in particular results in increased ride comfort and low effort when cornering with the hand-held electric vehicle.

Advantageously, the drive system is designed as omnidirectional drive. The omnidirectional drive allows the electric vehicle to travel in any direction, allowing vehicle navigation even in the most confined spaces.

Brief description of the drawings

The invention and advantageous embodiments according to the features of the further claims are explained in more detail below with reference to the embodiments illustrated in the drawings, without limiting the invention so far occurs; rather, this includes all modifications, Changes and equivalents that are possible within the scope of the claims. Show it:

FIG. 1 shows a schematically illustrated signal sequence diagram of the hand-guided electric vehicle;

Figure 2 shows an embodiment of the hand-held electric vehicle in a perspective view;

Figure 3 shows another embodiment of the hand-held electric vehicle with stairwells in a perspective view;

FIG. 4 shows an embodiment of a grip sleeve with a voltage divider purity;

Figure 5 shows another embodiment of a grip sleeve with at least two

sensors; and

Figure 6 shows an embodiment of a sensor unit with two movable

Grip sleeves, each having a sensor.

Embodiment (s) of the invention

FIG. 1 shows the mode of operation of a hand-held electric vehicle 1 illustrated in FIG. 2 on the basis of a signal processing plan 2. In this case, a vehicle user 3 represented symbolically in circular form is provided, which on the one hand sends user prescriptions to the vehicle 1 and, on the other hand, receives feedback based on the current or the changed behavior of the vehicle 1. Due to the feedback, the user 3 can in turn maintain his specifications or adjust them so that the desired driving behavior of the vehicle 1 is established. The user 3 is therefore part of a control loop, which comprises a sensor unit 4, a control device 5, a drive system 6 and finally a vehicle mechanism 7. In addition, an activating means 8 is provided, through which the Electric vehicle 1 can be activated, so can be put from its idle state to its operating state and vice versa.

Based on the user 3, there is therefore a mechanical operative connection 9 to the activating means 8 and from this an electrical operative connection 10 to the control device 5. A further mechanical operative connection 11 exists between the user 3 and the sensor unit 4. Starting from the sensor unit 4, there exists once again electrical operative connection 12, which opens at the control device 5. As a result, the control device 5 has an electrical operative connection 14 to the drive system 6, which in turn receives a mechanical operative connection 15 with the vehicle mechanism 7. The vehicle mechanics 7 and thus the hand-guided electric vehicle 1 in turn also form a mechanical operative connection 16 when used by the user 3. Optionally, an electrical operative connection 17 between the drive system 6 and the control device 5 can also be provided, which ensures that the control device 5 receives a return information.

The user specifications are made on a handle 18 according to FIG. 2 or 3 arranged on the vehicle 1 and essentially comprise three inputs; These include a vehicle activation, a specification of the vehicle speed and a specification of the vehicle travel direction. The activation of the electric vehicle 1, which is also referred to as system activation in this context, is carried out by the user 3. The activating means 8 is a movable handle part, which is designed as an integral part of the bow-shaped vehicle handle 18 or as a separate component on the handle 18 of the electric vehicle 1 can be arranged. Both variants are provided with a simple switch contact or the like, via which a control and / or main circuit can be closed or opened. If the pivotable handle 18 or the pivotable handle part is actuated, in particular pressed in the direction of the drive system, the contact closes, so that the electric vehicle 1 is activated. In the opposite case, that is, when the handle 18 is actuated in the opposite direction, the vehicle 1 can be stopped. Optionally, it is possible, the handle 18 with a restoring device, for example in the form of a Return spring to be provided. The user 3 is then prompted to maintain a steady release of the electric vehicle 1 until it is desired to stop. This mode of operation represents a useful safety feature by which an unwanted autonomy of the electric vehicle 1 can be avoided.

After activation, the hand-held electric vehicle 1 can then be used for its intended use. It is essential that via the sensor unit 4 by user intervention, a setpoint specification. The specification comprises, on the one hand, a driving direction specification and, on the other hand, a specification of the driving speed of the hand-held electric vehicle 1. The sensor unit 4 is able to generate, in the manner of a measuring transducer based on the user specifications, target values which arrive at the control device 5 as input signals. The control device 5, which is also referred to as a control device, corresponds to power electronics which, for example, have load circuits as their task. The control device 5 generally comprises a programmable microcontroller, which is responsible for reading in and evaluating the setpoint values for the speed and direction specification. It also serves to carry out a follow-up control; Here are the specifications of the user 3 in terms of

Speed and direction of travel are so-called setpoints. From this, the control generates, optionally taking into account feedback information of the drive system 6, suitable manipulated variables which serve as drive signals for the drive system 6.

In summary, the hand-guided electric vehicle 1, controlled by the control device 5 and powered by a power supply 19 according to Figure 2 drive system 6, in which the control device 5 is in operative communication with the sensor unit 4, depending on a force application of the vehicle user 3, the drive system 6 influenced. In this case, the sensor unit 4 indirectly acts on the drive system 6 via the control device 5 such that a vehicle steering movement and / or a change in the vehicle speed take place. According to Figure 2, the system structure of the hand-held electric vehicle 1 is shown with the essential components; These include the drive system 6, the power supply 19, the control device 5 and arranged on the handle 18 sensor unit 4. The drive system 6 is part of a chassis, which has four wheels 20 in the present embodiment. The chassis and the drive system 6 are configured so that cornering of the hand-held electric vehicle 1 are possible. This can for example be realized by means of a differential drive, in particular with one or two vertically rotatably mounted support wheels. The differential drive itself is provided with two independent drive units, each composed of an electric motor, including a required sensor for their control, and optionally a downstream transmission. Furthermore, a single-axle drive with a steering system can be used, which acts on at least one of the wheels. The steering system can be used both on at least one of the support wheels and on at least one of the drive wheels. On the electric vehicle 1, in an alternative embodiment, a four-wheel drive or an omnidirectional drive, for example with so-called mechanical wheels, can be provided.

The power supply 19 is arranged in a preferred embodiment of the chassis and at the height of the wheels 20, so that a low center of gravity of the entire vehicle 1 is ensured. From the power supply 19 performance characteristics are expected to allow a sufficiently long, mobile and self-sufficient operation. High quality state-of-the-art lithium-ion batteries, for example, are used here. Optionally, a fuel cell can also be used to supply power to the hand-held electric vehicle 1. The control device 5 is located above the chassis and can be integrated in a gap of a handle linkage. The handle linkage itself represents the mechanical support for the sensor unit 4 and the handle 18.

In the figure 3, the hand-held electric vehicle 1 is equipped with a carrying bag and has a special feature of the axle ends of the drive axle in each case three mutually offset by 120 ° wheels 21. This tricycle mechanism makes it easier to negotiate steps by driving all three wheels or all six wheels simultaneously through a centrally driven sun gear via a gear mesh or by means of a chain or belt.

In the figure 4, a handle is shown, which is provided with a grip sleeve 22 and serves to specify the direction of travel of the hand-held electric vehicle 1. In this embodiment, the grip sleeve 22 is slidably disposed in the longitudinal direction of the handle on the same. About two return springs 23, the grip sleeve 22 is held in a neutral position. On the grip sleeve 22, a pick-off 24 is arranged, which makes contact with a resistance wire 25. The resistance wire 25 is firmly connected to the handle. Thus, the position of the tappet 24 and the grip sleeve 22 is a voltage divider, if appropriate measurement voltages applied. By an electronic circuit, in particular bridge circuit, can be close to the position of the grip sleeve 22 and on the direction of the user 3.

In addition to the specification of the direction of travel of the electric vehicle 1, the user 3 can also specify the driving speed via the grip sleeve 22. For this purpose, the user 3 applies a force to the grip sleeve 22, which force is detected via corresponding sensors. The force detection can be done for example by means of a force, displacement or torque measurement. A force control ensures that the effort of the user 3 corresponds to a constant, adjustable and comfortable value. Thus, the speed is implicitly specified by the user 3. Also executable is a cable pull mechanism connected to the grip sleeve 22, by means of which the speed of the vehicle 1 can be adjusted by the user 3.

An embodiment for a combined speed and direction specification is shown in FIG. In this case, the force to be introduced by the user 3 and the torque are detected via at least two sensors 26, in particular piezoelectric elements or strain gauges, in order to determine therefrom the desired driving state specification. Also, a design is after Figure 6 providable, in which the electric vehicle 1 has a two-handed operation, as is the case especially for sack trucks and transport scooters. The sensors can be divided into two grip sections with the two sensors 26 for the driving state request. In the previously described embodiments according to FIGS. 4, 5 and 6, the arrows with a double point represent the forces which can be introduced and the corresponding directions of forces. To complete the illustrations, electrical lines 27 are also indicated, which contribute to the power supply or signal evaluation.

In summary, the hand-held electric vehicle 1 takes on the one hand, the recognition of user preferences, in particular with regard to the direction of travel and the speed of travel, and on the other hand adjustment of the force required for the user input force is possible. Furthermore, an adequate control of the drive wheels for a partially automated vehicle operation is thus achieved. The hand-held electric vehicle 1 - also called a semi-automated transport roller - thus expands a conventional transport roller by a controlled drive system 6, a corresponding sensor unit 4 and a control device 5, so that a semi-autonomous operation is possible. In this operation, the user 3 only has to specify the driving state desired. The electric vehicle 1 follows the user 3, regardless of the nature of the ground and the slope. The required effort by the user 3 is largely constant and beyond adjustable. The hand-guided electric vehicle 1 is particularly suitable as a mobile systems for the transport of goods and people. For example, the electric vehicle 1 can serve as a hand truck, as a transport roller, as a trolley or the like. A use in the postal or newspaper delivery is also possible. Furthermore, an application in the rehabilitation area can be set up, for example for semi-autonomous walkers and walkers.

Claims

claims

1. Hand-guided electric vehicle (1) with one of a power supply (19) powered drive system (6), which is in an operative electrical connection with a sensor unit (4), which influences the drive system (6) in response to a force application of a vehicle user (3) , characterized in that the sensor unit (4) acts on the drive system (6) in such a way that a vehicle steering movement takes place.

2. Hand-guided electric vehicle (1) according to claim 1, characterized in that the sensor unit (4) acts on the drive system (6) in such a way that a change in the vehicle speed takes place.

3. hand-guided electric vehicle (1) according to one of the preceding claims, characterized in that the sensor unit (4) indirectly via a control device (5) acts on the drive system (6).

4. Hand-guided electric vehicle (1) according to one of the preceding claims, characterized in that the sensor unit (4) has at least one movable grip sleeve (22) with a voltage divider unit.

5. Hand-guided electric vehicle (1) according to one of the preceding claims, characterized in that the sensor unit (4) has at least one movable grip sleeve (22) with at least two sensors (26).

6. hand-guided electric vehicle (1) according to one of the preceding claims, characterized in that two movable grip sleeves (22) are each provided with a sensor (26).

7. Hand-operated electric vehicle (1) according to one of the preceding

Claims, characterized in that based on an activating means (8) a vehicle activation is feasible.

8. Hand-guided electric vehicle according to one of the preceding claims, characterized in that the activating means (8) is designed as with the control device (5) standing in an electrically operative connection and movable handle part.

9. hand-guided electric vehicle (1) according to one of the preceding claims, characterized in that the drive system (6) is designed as a differential drive.

10. Hand-guided electric vehicle (1) according to one of the preceding claims, characterized in that the drive system (6) is designed as omnidirectional drive.