WO2010140321A1 - 電動車両、及び、制御方法 - Google Patents
電動車両、及び、制御方法 Download PDFInfo
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- WO2010140321A1 WO2010140321A1 PCT/JP2010/003555 JP2010003555W WO2010140321A1 WO 2010140321 A1 WO2010140321 A1 WO 2010140321A1 JP 2010003555 W JP2010003555 W JP 2010003555W WO 2010140321 A1 WO2010140321 A1 WO 2010140321A1
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- WIPO (PCT)
- Prior art keywords
- force
- ope
- assist
- sum
- upper limit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- 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
-
- 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
- A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/001—Steering devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
- B62B5/0043—One motor drives one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
- B62B5/0073—Measuring a force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/04—Braking mechanisms; Locking devices against movement
- B62B5/0404—Braking mechanisms; Locking devices against movement automatic
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/14—Joysticks
-
- 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
- B60L2200/24—Personal mobility vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
- B62B2301/06—Steering all wheels together simultaneously
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/14—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by provisions for nesting or stacking, e.g. shopping trolleys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
-
- 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
Definitions
- the present invention relates to, for example, an electric vehicle such as a power assist cart, an electric wheelchair, an electric shopping cart, and the like that operate based on an operation of an operator and a control method thereof.
- an electric vehicle such as a power assist cart, an electric wheelchair, an electric shopping cart, and the like that operate based on an operation of an operator and a control method thereof.
- the electrically powered vehicles that operate based on the operation of the operator, there are power assisted electrically powered vehicles having a function of avoiding an obstacle.
- the electric vehicle avoids the obstacle by the operation calculated based on the information from the mounted obstacle sensor.
- the electrically powered vehicle performs the operation based on the operation of the operator while performing the obstacle avoidance operation automatically by adding the operation based on the operation of the operator and the operation for avoiding the obstacle.
- a power assist cart described in Patent Document 1 as an electric powered vehicle with a power assist.
- the control of the drive of the power assist carriage 205 is performed based on the virtual repulsive force 202 acting in the opposite direction to the obstacle 204.
- the magnitude of the virtual repulsive force 202 is inversely proportional to the distance to the obstacle 204 detected by the mounted obstacle sensor.
- the power assist carriage 205 controls the driving force of the power assist carriage 205 based on the resultant force 203 of the operation force 201 and the virtual repulsive force 202.
- the operation force 201 is a force applied by the operator 206 to the operation unit 205 a of the power assist carriage
- the virtual repulsive force 202 is a force acting in the opposite direction to the obstacle 204.
- the obstacle 204 may approach the power assist carriage 205 when the operator 206 does not apply the operation force 201 to the operation unit 205a.
- the obstacle avoidance operation is automatically performed by the virtual repulsive force 202 generated according to the distance to the obstacle 204. Therefore, even when the operator 206 has no intention to operate, the power assist cart 205 may operate freely.
- the obstacle 204 may approach the power assist carriage 205 from diagonally front.
- a virtual repulsive force 202 corresponding to the distance to the obstacle 204 is generated obliquely backward.
- the direction of the resultant force 203 is different from the direction in which the operator 206 tries to operate, and operates in a direction different from the intended direction.
- the electric vehicle operates even when the operator is not operating, or the electric vehicle operates in a direction or size largely different from the intention of the operator there's a possibility that.
- the obstacle can be recognized by the operator, there is no problem even if the operation is in a direction different from the operated direction.
- the operation is I can not grasp. Therefore, there is a possibility that safety issues may arise.
- the present invention has been made in view of such problems, and an object of the present invention is to provide an electrically powered vehicle that performs an assist operation based on the operation of the operator and a control method thereof.
- an electrically powered vehicle that performs an assist operation based on the operation of the operator and a control method thereof.
- the electric powered vehicle includes an operating force measuring unit that measures an operating force applied by the operator to the electric powered vehicle, and an obstacle that measures a position vector of an obstacle relative to the electric powered vehicle An object measurement unit, a virtual repulsion calculation unit that calculates a virtual repulsion in a direction opposite to the direction of the position vector, and a size that is inversely proportional to the size of the position vector, and an assist for operating the electric vehicle A force is calculated based on the combined force of the operating force and the virtual repulsive force, and an upper limit value X of the magnitude of the calculated assist force is calculated based on the operating force, and the assist force exceeds the upper limit value X In the case where there is an assist force, an assist force calculation unit that outputs an assist force having a magnitude equal to or less than the upper limit value X is provided.
- an electric vehicle includes an operation amount measuring unit that measures the size and direction of an operation amount applied to the electric vehicle by the operator;
- An obstacle measurement unit that measures a position vector of an obstacle with respect to the target, a target operation speed calculation unit that calculates a target operation speed of the electric vehicle based on the magnitude and direction of the operation amount measured by the operation amount measurement unit;
- An obstacle avoidance speed calculation unit that calculates an obstacle avoidance speed for moving the electric vehicle away from the obstacle based on the position vector measured by the obstacle measurement unit, and an assist operation for operating the electric vehicle The speed is calculated based on the combined speed of the target operation speed and the obstacle avoidance speed, and the upper limit value Y of the magnitude of the assist operation speed to be calculated is calculated based on the target operation speed, and If strike operating speed exceeds the upper limit Y, characterized in that the assisting movement velocity calculation unit for outputting an assist operation speed of the upper limit value Y less in size.
- an electrically powered vehicle that performs an operation based on the operation of the operator and a control method thereof.
- the operation of the electric vehicle does not occur when the operator is not operating, and the operation of the electric vehicle does not occur in a direction or size largely different from the intention of the operator.
- FIG. 1 is a perspective view of a power assist cart 1 according to the first embodiment.
- FIG. 2 is a view of the power assist carriage 1 according to the first embodiment as viewed from below.
- FIG. 3 is a block diagram showing a system configuration of the power assist cart 1 in the first embodiment.
- FIG. A4 is a flowchart of the first half of the power assist cart 1 according to the first embodiment.
- FIG. 4B is a flowchart of the second half of the power assist cart 1 according to the first embodiment.
- FIG. 5 is a diagram showing an upper limit value (1) of the assist force of the power assist cart 1 in the first embodiment.
- FIG. 6 is a view showing the upper limit (2) of the assist force of the power assist cart 1 in the first embodiment.
- FIG. 7 is a view showing the upper limit (3) of the assist force of the power assist cart 1 in the first embodiment.
- FIG. 8 is a diagram showing the upper limit (4) of the assist force of the power assist cart 1 in the first embodiment.
- FIG. 9 is a diagram showing the upper limit value (5) of the assist force of the power assist cart 1 in the first embodiment.
- FIG. 10 is a diagram showing an upper limit value (6) of the assist force of the power assist cart 1 in the first embodiment.
- FIG. 11 is a diagram showing the upper limit (7) of the assist force of the power assist cart 1 in the first embodiment.
- FIG. 12 is a perspective view of the electric wheelchair 101 according to the second embodiment.
- FIG. 13 is a bottom view of the electric wheelchair 101 in the second embodiment.
- FIG. 14 is a block diagram showing a system configuration of the electric wheelchair 101 in the second embodiment.
- FIG. 15A is a flowchart of the first half of the electric wheelchair 101 according to the second embodiment.
- FIG. 15B is a flowchart of the second half of the electric wheelchair 101 according to the second embodiment.
- FIG. 16 is a diagram showing the upper limit value (1) of the assist force of the electric wheelchair 101 in the second embodiment.
- FIG. 17 is a diagram showing the upper limit (2) of the assist force of the electric wheelchair 101 according to the second embodiment.
- FIG. 18 is a diagram showing the upper limit (3) of the assist force of the electric wheelchair 101 according to the second embodiment.
- FIG. 19 is a diagram showing the upper limit (4) of the assist force of the electric wheelchair 101 according to the second embodiment.
- FIG. 15A is a flowchart of the first half of the electric wheelchair 101 according to the second embodiment.
- FIG. 15B is a flowchart of the second half of the electric wheelchair 101 according to the second embodiment.
- FIG. 16 is
- FIG. 20 is a diagram showing the upper limit (5) of the assist force of the electric wheelchair 101 according to the second embodiment.
- FIG. 21 is a diagram showing the upper limit (6) of the assist force of the electric wheelchair 101 according to the second embodiment.
- FIG. 22 is a diagram showing the upper limit value (7) of the assist force of the electric wheelchair 101 according to the second embodiment.
- FIG. 23 shows a prior art power assist carriage.
- FIG. 24 is a diagram showing a problem (1) in the prior art.
- FIG. 25 is a diagram showing a problem (2) in the prior art.
- FIG. 26 is a perspective view of a power assist cart which is an application example of the first embodiment.
- FIG. 1 is a perspective view of a power assist carriage 1 according to a first embodiment of the present invention
- FIG. 2 is a view of the power assist carriage 1 according to the first embodiment viewed from below.
- a carriage coordinate system r r fixed to the power assist carriage 1 and moving along with the movement of the power assist carriage 1 is set (see FIG. 1).
- the truck coordinate system r r is a coordinate system having three X r axes, Y r axes, and Z r axes orthogonal to one another, and a plane composed of the X r axes and Y r axes of the truck coordinate system r r is the ground It is assumed that the horizontal plane is parallel to the X axis, and the X r axis is directed to the front of the power assist carriage 1.
- a reference coordinate system 0 0 is set as a coordinate system indicating the position of the power assist cart 1 which is an electric vehicle.
- the reference coordinate system 0 0 is a coordinate system having three X 0 axes, Y 0 axes and Z 0 axes orthogonal to each other, and a plane constituted by the X 0 axes and Y 0 axes of the reference coordinate system 0 0 is
- the power assist cart 1 is set on the ground on which it travels.
- the position and the attitude of the power assist cart 1 are defined by the above-described cart coordinate system r r and the reference coordinate system 0 0 .
- the power assist carriage 1 includes a loading platform 2 on which an article (not shown) is placed.
- the origin of the cart coordinate system r r is assumed to be set at the center of the loading platform 2 (the center of the four wheels 5 described later).
- a handle 3 which is formed in a portal shape by a pipe-like member, and at its central portion, a handle (not shown) of the operating force applied to the handle 3
- An operation force measurement unit 4 is provided which measures the size and direction (in the carriage coordinate system r r ).
- operating force is used in the sense to include both force (which is a vector of magnitude and direction) and moment.
- the operating force measuring unit 4 may be any device capable of measuring the operating force applied to the handle 3 by the operator, and a generally available three-axis force sensor can be used.
- the operation force measured by the operating force measurement unit 4 X r-axis direction and Y r axis direction force of the cart coordinate system sigma r, and including Z r axis moment.
- the power assist cart 1 is provided with wheels 5 for causing the power assist cart 1 to travel at each of the lower four corners of the loading platform 2. Further, the power assist cart 1 is provided with a wheel drive unit 6 which drives four wheels 5 independently and a controller 7 which controls the four wheel drive units 6. A specific control rule of the power assist cart 1 is realized by the controller 7.
- the wheels 5 can move the power assist cart 1 in all directions.
- four omni wheels which are omnidirectional moving wheels generally marketed, are adopted.
- the arrangement and the number of the wheels 5 are also arbitrary, and in the case of the present embodiment, the wheel configuration and the wheel arrangement as shown in FIG. 2 are adopted.
- the wheel drive unit 6 includes a reduction gear 6a, an electric motor 6b, an encoder 6c that measures a rotation angle of the electric motor 6b, and a servo driver 6d for driving the electric motor 6b.
- the electric motor 6 b is controlled to operate at the speed instructed by the controller 7.
- the power assist cart 1 is provided with an obstacle measuring unit 8 on the lower side surface of the loading platform 2 for measuring the distance and direction from the power assist cart 1 to the obstacle.
- the output information of the obstacle measuring unit 8 is information based on the truck coordinate system r r .
- the obstacle measuring unit 8 is, for example, a measuring device capable of acquiring information on the position (direction) and the distance of an obstacle within the range of 90 degrees or 180 degrees in the horizontal direction.
- a generally available laser scanning range sensor 8 a of a commercially available light scanning type is adopted as the obstacle measuring unit 8, and provided at four corners of the bed 2.
- the detection range of the laser range-finding sensor 8a is 270 degrees, so by providing the detection range at the four corners of the platform 2, the distance to the obstacle existing in all directions of the power assist cart 1 and The direction can be measured.
- FIG. 3 is a block diagram showing a system configuration of the power assist cart 1.
- the power assist cart 1 includes an operating force measurement unit 4, an obstacle measurement unit 8, a virtual repulsive force calculation unit 9, an assist force calculation unit 10, an assist operation calculation unit 11, a drive control unit 12, and wheel drive.
- the unit 6 and the wheel 5 are provided as functional units.
- the operation force measurement unit 4 is a device that measures the magnitude and direction of the operation force applied by the operator 13 to the handle 3 of the power assist carriage 1.
- the obstacle measurement unit 8 is a device that measures the distance and direction from the power assist carriage 1 to the obstacle 14 (the position vector of the obstacle 14 with respect to the power assist carriage 1).
- the virtual repulsive force calculation unit 9 has a size that is inversely proportional to the distance to the obstacle 14 measured by the obstacle measurement unit 8 and is opposite to the direction from the power assist cart 1 toward the obstacle 14 (direction of position vector) It is a processing unit that calculates a virtual repulsive force acting in a direction.
- the virtual repulsive force is information for avoiding a collision with the obstacle 14 by acting on the power assist cart 1.
- the assist force calculation unit 10 calculates an assist force for controlling the power assist cart 1 from the resultant force of the operation force measured by the operation force measurement unit 4 and the virtual repulsive force calculated by the virtual repulsive force calculation unit 9, It is a processing unit that outputs to the operation calculation unit 11. At this time, the virtual repulsive force and the assist force are information based on the dolly coordinate system r r .
- the assist operation calculation unit 11 is a processing unit that generates an assist operation speed of the power assist cart 1 based on the assist force calculated by the assist force calculation unit 10 and outputs the assist operation speed to the drive control unit 12.
- the drive control unit 12 is a processing unit that converts the assist operation speed calculated by the assist operation calculation unit 11 into a command rotational speed of the wheel 5 and issues a command to the wheel drive unit 6.
- the wheel drive unit 6 is a device that controls the rotation of the wheel such that the command rotational speed generated by the drive control unit 12 is achieved.
- the virtual repulsive force calculation unit 9, the assist force calculation unit 10, the assist operation calculation unit 11, and the drive control unit 12 are realized by an arithmetic element or the like provided in the controller 7 and a program.
- the operating force measuring unit 4 measures the magnitude and the direction of the operating force applied to the handle 3 by the operator based on (Expression 1) (step S1).
- f x openMosix is per the X r-axis direction force of the cart coordinate system ⁇ r
- f y ope is Y r axis direction force of the cart coordinate system ⁇ r
- n ope ⁇ R is trolley coordinate system sigma r of It is a moment defined around Z r axis.
- the obstacle measuring unit 8 measures the distance and direction (position vector) from the power assist cart 1 to the obstacle (step S2).
- the virtual repulsive force calculation unit 9 calculates a virtual repulsive force for moving the power assist cart 1 away from the obstacle.
- the virtual repulsive force calculation unit 9 generates a repulsive force potential U obj (X) ⁇ R according to the distance to the obstacle based on (Expression 2) (step S3).
- ⁇ ⁇ R is a positive weighting coefficient
- ⁇ (X) ⁇ R is the closest proximity to X to the obstacle Expressing the distance
- ⁇ 0 (X) ⁇ R is a positive constant.
- Repulsive potential U obj (X) is greater than or equal to zero, the closer to about infinity power assisted trolley 1 approaches the obstacle region, the distance from the power assisted trolley 1 to the obstacle becomes zero when [rho 0 or more.
- ⁇ U obj (X) means the gradient vector of U obj (X) at the current position X of the power assist cart 1. From (Expression 2) and (Expression 3), the virtual repulsive force at the current position X of the power assist carriage 1 can be expressed as (Expression 4).
- the generated virtual repulsion is a magnitude that is inversely proportional to the distance to the obstacle 14 and is a virtual force acting in the opposite direction to the direction of the obstacle 14 (direction of the position vector). This virtual repulsion can move the power assist cart 1 away from the obstacle 14.
- the assist force calculation unit 10 calculates the assist force F a (step S7).
- curves as shown in FIGS. 5 to 8 are set as an example of F lim ( ⁇ ope sum ) which is the upper limit value X of the assist force F a (step S6).
- F lim ( ⁇ ope sum ) which is the upper limit value X of the assist force F a
- F lim ( ⁇ ope sum ) which is the upper limit value X of the assist force F a
- it is set equal to the magnitude of the operating force F ope .
- the angle ⁇ ope sum formed by the direction of the operating force F ope and the direction of the resultant F sum is a predetermined angular range B ( ⁇ + B > ⁇ ope sum ⁇ ⁇ + A or- ⁇ - A > ⁇ ope sum >- theta - when in B), the absolute value of the angle theta openMosix is per sum of the direction of the operating force direction and force of F ope F sum
- angle ⁇ ope sum formed by the direction of the operation force F ope and the direction F sum of the resultant force is within a predetermined angle range C ( ⁇ ope sum ⁇ + B or ⁇ ⁇ B > ⁇ ope sum ).
- the upper limit value X of assist force F a , F lim ( ⁇ ope sum ) is set to be zero.
- an angle ⁇ ope sum formed by the direction of the operating force F ope and the direction of the resultant F sum is in a predetermined angle range A ( ⁇ + A > ⁇ ope sum >- ⁇ - A ), and the resultant F the size of the sum is indicative of the determination example of the assist force F a of smaller than the upper limit value X of the assisting force F a.
- an angle ⁇ ope sum formed by the direction of the operating force F ope and the direction of the resultant F sum is in a predetermined angle range A ( ⁇ + A > ⁇ ope sum >- ⁇ - A ), and the resultant F the size of the sum is indicative of the determination example of the assist force F a of greater than the upper limit value X of the assisting force F a.
- the angle ⁇ ope sum formed by the direction of the operating force F ope and the direction of the resultant F sum is a predetermined angle range B ( ⁇ + B > ⁇ ope sum ⁇ + A or ⁇ ⁇ A ⁇ ope sum > - [theta] - is in the B), and the magnitude of the resultant force F sum is indicative of the determination example of the assist force F a of greater than a certain upper limit value X of the assisting force F a.
- FIG. 8 shows the case where the angle ⁇ ope sum formed by the direction of the operating force F ope and the direction of the resultant F sum is within a predetermined angle range C ( ⁇ ope sum ⁇ + B or ⁇ ⁇ B ⁇ ope sum ) 7 shows an example of determination of the assist force F a of FIG.
- k 1 ( ⁇ ope sum ) ⁇ R is a variable for changing the magnitude of the upper limit value of the assist force F a , and the angle ⁇ ope between the direction of the operating force F ope and the direction of the resultant force F sum It is a value defined based on sum (0 ⁇ k 1 ( ⁇ ope sum ) ⁇ 1).
- accordance becomes larger is set to gradually decrease from the magnitude of the operating force F openMosix is per Ru.
- the assist force F a is set to be zero.
- a predetermined angular range B 60 °> ⁇ openMosix is per sum if ⁇ 30 ° or -30 ° ⁇ ⁇ ope sum> are shifted by -60 °
- the upper limit value X of the assisting force F a is set based on the formed angle ⁇ ref ope.
- the reference direction based on the angle theta ref openMosix is per the ( positive direction of the X r-axis of the trolley coordinate system sigma r) and direction of the operating force F openMosix is per, corrects the upper limit value of the assist force F a.
- the upper limit value of the assist force F a is set based on (Equation 8).
- k 2 ( ⁇ ref ope ) ⁇ R is a variable for changing the magnitude of the upper limit value X of the assist force F a , and the angle ⁇ between the set reference direction and the direction of the operating force F ope It is a value defined based on ref ope (0 ⁇ k 2 ( ⁇ ref ope ) ⁇ 1).
- angular range D shows an example of setting the upper limit value of the assist force F a if (
- the operator 13 is set to the operation easy direction (or, better visibility direction that can operate safely) (
- the two directions may be set as the reference direction.
- the reference direction is set in two directions (forward and backward directions) perpendicular to the axle.
- the set two directions forward and backward directions
- the control system can be configured more easily.
- B may be changed.
- the values of ⁇ + A and ⁇ + B when the moment does not act The value of ⁇ + A and ⁇ + B is set large in proportion to the magnitude of the moment, with the magnitude two to three times the magnitude of the upper limit value as the upper limit value.
- the assist force can be generated voluntarily, or the assist force can be generated in a direction or size that is completely different from the direction or size operated by the operator 13 It can prevent.
- a highly safe electric vehicle power assist cart 1
- assist operations calculating unit 11 performs impedance control based on the assist force F a that is calculated by the assist force calculation unit 10 (step S8). Specifically, the assist operation of the power assist cart 1 is generated based on the apparent mass characteristic of (Expression 9) and the impedance characteristic shown in (Expression 11) composed of the apparent viscosity characteristic of (Expression 10).
- V a is the assist operation speed of the power assist cart 1
- V d a is the assist operation acceleration.
- the assisting movement calculation unit 11 as input an assist force calculated by the assist force calculation unit 10 (13), according to (Equation 12), calculates the assisting movement velocity V a power assisted trolley 1.
- the drive control unit 12 converts the assist operation speed of the power assist cart 1 calculated by the assist operation calculation unit 11 into the commanded rotational speed of the wheel 5 (step S9).
- the relational expression of (Expression 15) holds between
- Equation 15 can be transformed as (Equation 16).
- the drive control unit 12 can calculate the command rotational speed ⁇ a of the wheel 5 from (Equation 16), using the assist operation speed V a of the power assist cart 1 calculated by the assist operation calculation section 11 as an input.
- the wheel drive unit 6 operates the power assist cart 1 by driving the wheel 5 by performing speed control so that the wheel 5 follows the command rotational speed of the wheel 5 calculated by the drive control unit 12. (Step S10).
- the present invention is not limited to this configuration.
- the first embodiment can be applied to various operation type electric vehicles such as a power assist cart 15 as shown in FIG. 26 and a shopping cart.
- FIG. 12 is a perspective view of the electric wheelchair 101 according to the second embodiment of the present invention
- FIG. 13 is a view of the electric wheelchair 101 according to the second embodiment as viewed from below.
- the coordinate system fixed to the electric wheelchair 101 and moving with the movement of the electric wheelchair 101 is the electric wheelchair coordinate system w w (a coordinate system having three X w axes, Y w axes and Z w axes orthogonal to each other) See Figure 11).
- Plane formed from X w axis and Y w axis of the electric wheelchair coordinate system sigma w is a horizontal plane parallel to the ground, X w axis is assumed that faces forward of the electric wheelchair 101.
- the current position of the electric wheelchair 101 is defined as the position vector and attitude of the electric wheelchair coordinate system w w with respect to the reference coordinate system 0 0 set in FIG.
- the electric wheelchair 101 includes a seat portion 102 on which an operator (not shown) rides, a right armrest 103a on which the left and right arms of the operator are placed, and a left armrest 103b.
- the origin of the electric wheelchair coordinate system w w is set at the center of the seat portion 102 (the center of four wheels 105 described later).
- An operation amount measuring unit 104 is provided on the right armrest 103.
- the operation amount measuring unit 104 includes a joystick 104 a for the operator to issue an operation instruction to the electric wheelchair 101.
- the operation amount measuring unit 104 determines the operation amount of the joystick 104a, that is, the amount by which the operator tilts the joystick 104a, and the size and direction of the operation instruction given by the operator (X of the electric wheelchair coordinate system w w w-axis direction, is a device capable of measuring the Y w axis of translational movement instruction and Zw axis of rotation instruction).
- a wheel 105 for driving the electric wheelchair 101
- a wheel drive unit 106 for driving the wheel 105
- a controller 107 for configuring a control system of the electric wheelchair 101.
- the specific control law of the electric wheelchair 101 is realized by the controller 107.
- the wheels 105 In the second embodiment, four omni-directional wheels, which are generally available on the market, are used as the wheels 105, and the wheel configuration and the wheel arrangement are as shown in FIG.
- omitted you may take an independent 2-wheel drive type wheel structure using two hollow tires generally marketed. In this case, in order to support the power assist cart 1 stably, it is desirable to use a plurality of casters that are generally commercially available as an auxiliary wheel.
- the wheel drive unit 106 includes a reduction gear 106a, an electric motor 106b, an encoder 106c that measures the rotation angle of the electric motor, and a servo driver 106d for driving the electric motor 106b.
- the electric motor 106b is speed controlled to operate at a commanded speed.
- an obstacle measurement unit 108 which measures the distance and direction from the electric wheelchair 101 to the obstacle 14.
- the output information of the obstacle measurement unit 108 is information based on the electric wheelchair coordinate system w w .
- the obstacle measurement unit 108 generally available laser range finding sensors 108a are provided at the four corners of the seat portion 102. Since this laser range finding sensor 108a has a detection range of 270 degrees around, by providing it at the four corners of the seat portion 102, it is possible to measure the distance and direction to an obstacle existing in all directions of the electric wheelchair 101. it can.
- FIG. 14 is a block diagram showing a system configuration of the electric wheelchair 101. As shown in FIG. 14
- the electric wheelchair 101 includes an operation amount measurement unit 104, a target operation speed calculation unit 110, an obstacle measurement unit 108, an obstacle avoidance speed calculation unit 109, an assist operation speed calculation unit 111, and a drive control unit 112. , The wheel drive unit 106, and the wheel 105.
- the operation amount measurement unit 104 is a device that measures the magnitude and direction of the operation amount performed by the operator on the joystick 104 a.
- the target operating speed calculating unit 110 based on the operation amount measured by the operation amount measuring unit 104 (X w-axis direction of the electric wheelchair coordinate system sigma w, Y w axis direction, Z w axis of the operating amount), the target operating speed (X w-axis direction of the electric wheelchair coordinate system ⁇ w, Y w axis direction of the target operating translational velocity and Z w axis of the target operating speed) is a processing unit that calculates a.
- the obstacle measurement unit 108 is a device that measures the distance and direction between the electric wheelchair 101 and the obstacle 14.
- the obstacle avoidance speed calculation unit 109 calculates an obstacle avoidance speed for moving the electric wheelchair 101 away from the obstacle 14 based on the distance and direction to the obstacle 14 measured by the obstacle measurement unit 108. It is a department. By operating the electric wheelchair 101 based on the obstacle avoidance speed, a collision with the obstacle 14 can be avoided.
- the assist operation speed calculation unit 111 calculates the assist operation speed for the electric wheelchair 101 from the combined speed of the target operation speed calculated by the target operation speed calculation unit 110 and the obstacle avoidance speed calculated by the obstacle avoidance speed calculation unit 109. Are calculated and output to the drive control unit 112.
- the drive control unit 112 is a processing unit that converts the assist operation speed calculated by the assist operation speed calculation unit 111 into a command rotational speed of each wheel 105 and outputs the command rotation speed to the wheel drive unit 106.
- the target operation speed and the obstacle avoidance speed are information based on the electric wheelchair coordinate system w w .
- the wheel drive unit 106 is a processing unit that controls the wheel 105 so that the command rotational speed converted by the drive control unit 112 is obtained.
- the electric wheelchair 101 can be realized which performs an operation based on the operation of the operator.
- the operation amount measuring unit 104 measures the size and direction of the operation performed by the operator on the joystick 104a (step S101).
- ⁇ x joy, ⁇ y joy, ⁇ joy ⁇ R each, X w axis direction of the electric wheelchair coordinate system sigma w, Y w axis direction, the operation amount performed in Z w axis.
- K joy in (Expression 19) is a target operation speed calculation constant and has a positive value. Also, when the operation is not performed, the target operation speed is calculated as zero.
- the obstacle measurement unit 8 measures the distance and direction from the electric wheelchair 101 to the obstacle 14 (step S103).
- the obstacle avoidance speed calculation unit 109 calculates an obstacle avoidance speed for moving the electric wheelchair 101 away from the obstacle 14.
- a repulsive force potential U obj (X) ⁇ R according to the distance to the obstacle 14 is generated based on (Expression 2) (step S104).
- Repulsive potential U obj (X) is greater than or equal to zero, the electric wheelchair 101 is close enough to infinity approaches the obstacle region, the distance from the electric wheelchair 101 to the obstacle 14 becomes zero when [rho 0 or more.
- the obstacle avoidance speed V obj is calculated as (Equation 22) using the repulsive force potential calculated by (Equation 20) It can be determined (step S105).
- ⁇ U obj (X) means the gradient vector of U obj (X) at the current position X of the electric wheelchair 101. From (Equation 20) and (Equation 22), the obstacle avoidance speed at the current position X of the electric wheelchair 101 can be expressed as (Equation 23).
- the generated obstacle avoidance speed is a magnitude that is inversely proportional to the distance to the obstacle 14, and is a virtual speed for instructing in the direction opposite to the direction of the obstacle 14.
- V ope + V obj the assist operation speed
- the assisting movement velocity calculation unit 111 determines the magnitude of the assisting movement velocity V a.
- the target operating speed, the target operating speed V openMosix is per are operator is generated in proportion to the magnitude of the operating amount added to the electric wheelchair 101 speed.
- the assist operation speed calculation unit calculates the assist operation speed V a according to (Equation 25) (step S108).
- V lim ( ⁇ ope sum ) which is the upper limit value Y of the assist operation speed V a (step S107).
- V lim ( ⁇ ope sum ) which is the upper limit value Y of the assist operation speed V a
- V lim ( ⁇ ope sum ) which is the upper limit value Y of the assist operation speed V a
- ⁇ ope is an angle ⁇ ope between the direction of the target operation speed V ope and the direction of the combined speed V sum.
- the angle formed by the direction of the target operating speed V ope and the direction of the combined speed V sum is a predetermined angular range B ( ⁇ + B > ⁇ ope sum ⁇ ⁇ + A or- ⁇ - A ⁇ ⁇ ope sum >- ⁇ + if there is the B), the absolute value of the angle theta openMosix is per sum between the direction of the target movement velocity V openMosix is per the direction of the resultant velocity V sum
- angle ⁇ ope sum formed by the direction of the target operation speed V ope and the direction of the synthetic speed V sum is within a predetermined angle range C ( ⁇ ope sum ⁇ + B or ⁇ ⁇ B sum ⁇ ope sum ) Is set so that V lim ( ⁇ ope sum ), which is the upper limit value Y of the assist operation speed V a , becomes zero.
- the angle ⁇ ope sum formed by the direction of the target operation velocity V ope and the direction of the combined velocity V sum is within a predetermined angle range A ( ⁇ ⁇ A > ⁇ ope sum - ⁇ + A ) and the magnitude of the resultant velocity V sum is indicative of the determination example of the assist operation speed V a of smaller than the upper limit value Y of the assisting movement speed Va.
- the target operating speed V openMosix is per direction and composite speed V angular range angle theta openMosix is per sum of predetermined and direction of sum A - is in the ( ⁇ A> ⁇ ope sum ⁇ - ⁇ + A), and, the magnitude of the resultant velocity V sum is indicative of the determination example of the assist operation speed V a of greater than the upper limit value Y of the assisting movement velocity V a.
- an angle formed by the direction of the target operation velocity V ope and the direction of the combined velocity V sum is a predetermined angle range B ( ⁇ + B > ⁇ ope sum ⁇ + A or ⁇ ⁇ A > ⁇ ope sum ⁇ - [theta] - is in the B), and, the magnitude of the resultant velocity V sum is indicative of the determination example of the assist force F a of greater than the upper limit value Y of the assisting movement velocity V a.
- FIG. 19 shows that the angle ⁇ ope sum formed by the direction of the target operating speed V ope and the direction of the combined speed V sum is within a predetermined angle range C ( ⁇ ope sum ⁇ + B or ⁇ ⁇ B ⁇ ope sum ) An example of determination of assist power Fa in a certain case is shown.
- k 1 ( ⁇ ope sum ) ⁇ R is a variable for changing the magnitude of the assist operation speed V a , and the angle ⁇ ope between the direction of the target operation speed V ope and the direction of the synthetic speed V sum It is a value defined based on sum (0 ⁇ k 1 ( ⁇ ope sum ) ⁇ 1).
- V lim ( ⁇ ope sum) which is an upper limit value Y of the assisting movement velocity V a is the angle theta openMosix is per sum between the direction of the target movement velocity V openMosix is per the direction of the resultant velocity V sum reaches a predetermined angle range A
- ⁇ ope sum (30 °> ⁇ ope sum > ⁇ 30 °)
- the angle between the direction of the target operating speed V ope and the direction of the synthetic speed V sum is within a predetermined angular range B (60 °> ⁇ ope sum 3030 ° or -30 ° ⁇ ⁇ ope sum > ⁇ 60 °)
- the magnitude of the target operating speed V ope gradually It is set to be smaller.
- the angle ⁇ ope sum formed by the direction of the target operation speed V ope and the direction of the synthetic speed V sum is within a predetermined angle range C ( ⁇ ope sum or 30 ° or -30 ° sum ⁇ ope sum )
- the upper limit value Y of the assist operation speed V a is set such that V lim ( ⁇ ope sum ) becomes zero.
- the angle ⁇ ope sum formed by the direction of the target operating speed V ope and the direction of the synthetic speed V sum is a predetermined angular range B ( ⁇ + B > ⁇ ope sum ⁇ ⁇ + A or- ⁇ - A ⁇ ⁇ ope sum
- the direction of the target operating speed V ope and the combined speed V sum As the absolute value
- the assist operation speed V a is further determined based on the formed angle ⁇ ref ope .
- the upper limit value Y By changing the upper limit value Y, a safer operation can be realized. For example, in the electric wheelchair 101, the visibility in the front is good but the visibility in the back is poor. Therefore, to set the direction of the reference in the positive direction of the X w axis of the electric wheelchair coordinate system sigma w.
- the upper limit value Y of the assist operating speed V a is set based on (Expression 28).
- k 2 ( ⁇ ref ope ) ⁇ R is a variable for changing the magnitude of the upper limit value Y of the assist operation speed V a , and is formed by the reference direction set and the direction of the target operation speed V ope It is a value (0 ⁇ k 2 ( ⁇ ref ope ) ⁇ 1) defined based on the angle ⁇ ref ope .
- ⁇ ⁇ C ) In the case, set k 2 ( ⁇ ref ope ) 0.
- FIG. 20 (b) shows the absolute value
- of the angle ⁇ ref ope between the direction of the reference ( the positive direction of the X w axis of the electric wheelchair coordinate system w w ) and the direction of the target operating speed V ope.
- This shows an example of setting the upper limit value Y of the assist operation speed V a when the value is within a predetermined angular range D (
- FIG. 20 (c) shows the absolute value
- of the angle ⁇ ref ope between the direction of the reference ( positive direction of the X w axis of the electric wheelchair coordinate system w w ) and the direction of the target operating speed V ope.
- 7 shows an example of setting the upper limit value Y of the assist operation speed V a when the angle ⁇ is larger than a predetermined angle range D (
- the assist operation speed V a By setting the upper limit value Y of the assist operation speed V a in this manner, the direction (or the direction in which the operator can easily operate (or the direction in which the visibility can be safely operated) (
- an electrically powered vehicle with higher safety can be configured.
- 7 shows an example of setting the upper limit value Y of the assist operation speed V a when there is a certain angle (an angle that is not zero).
- FIG. 21 (c) shows the absolute value
- of the angle ⁇ ref ope between the direction of the reference ( positive direction of the X w axis of the electric wheelchair coordinate system w w ) and the direction of the target operating speed V ope.
- 21 shows an example of setting the upper limit value Y of the assist operation speed V a in the case where it is larger than that of FIG.
- ⁇ + A , ⁇ ⁇ A , ⁇ + B based on the magnitude and direction of the target rotational velocity
- ⁇ - B may be changed. For example, as shown in FIG. 22, when the target rotational speed acts not only on the target translational speed but also in the counterclockwise direction as the target operating speed V ope , ⁇ in proportion to the magnitude of the target rotational speed. Increase the values of + A and ⁇ + B.
- the assist operation speed can be generated without permission, and the assist operation speed can be generated in a direction or size that is completely different from the direction or the size operated by the operator. It can prevent.
- an electric vehicle (electric wheelchair 101) with high safety can be configured.
- an assist operation speed V a of the electric wheelchair 101 assisting movement velocity calculation unit 111 calculates the command rotational speed of each wheel (step S109).
- Equation (29) can be transformed into equation (30).
- the drive control section 112 as input assisting movement velocity V a of the electric wheelchair 101 assisting movement velocity calculation unit 111 calculates, it is possible to calculate the instruction rotational speed Omega a wheel 105 from (Equation 30).
- the wheel drive unit 106 operates the electric wheelchair 101 by driving the wheel 105 by performing speed control so that the wheel 105 follows the command rotational speed of the wheel 105 calculated by the drive control unit 112. It can do (step S110).
- the operation of the electric wheelchair 101 based on the operation performed by the operator on the joystick 104 a can be realized.
- the present invention is not limited to the above embodiment.
- another embodiment realized by arbitrarily combining the components described in this specification may be used as an embodiment of the present invention.
- the present invention also includes modifications obtained by applying various modifications to those skilled in the art without departing from the spirit of the present invention, that is, the meaning described in the claims with respect to the above embodiment.
- the electric vehicle operates without permission while the operator is not operating, or the direction or size largely different from the direction or size the operator attempted to operate.
- the electric powered vehicle is not assisted, and highly safe operation can be realized. Therefore, it is useful as an electric vehicle that operates based on the operation of an operator such as a power assist cart, an electric wheelchair, or a shopping cart.
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Abstract
Description
ここで、操作力201は、操作者206がパワーアシスト台車の操作部205aに加えた力であり、仮想斥力202は、障害物204と反対方向に作用する力である。これにより、自動で障害物回避動作を行いながら、操作者206が加えた操作力201に基づくパワーアシスト台車205の動作を行うことができる。
図1は、本発明の実施の形態1におけるパワーアシスト台車1の斜視図、図2は、同実施の形態1におけるパワーアシスト台車1を下方から見た図である。
以下、本発明の他の実施の形態に係る電動車両である電動車いすを説明する。
2 荷台
3 ハンドル
4 操作力計測部
4a 力センサ(3軸)
5 車輪
6 車輪駆動部
6a 減速機
6b 電動モータ
6c エンコーダ
6d サーボドライバ
7 コントローラ
8 障害物計測部
8a レーザー測域センサ
9 仮想斥力算出部
10 アシスト力算出部
11 アシスト動作算出部
12 駆動制御部
13 操作者
14 障害物
15 パワーアシストカート
101 電動車いす
102 座面部
103a 右側アームレスト
103b 左側アームレスト
104 操作量計測部
104a ジョイスティック
105 車輪
106 車輪駆動部
106a 減速機
106b 電動モータ
106c エンコーダ
106d サーボドライバ
107 コントローラ
108 障害物計測部
108a レーザー測域センサ
109 障害物回避速度算出部
110 目標操作速度算出部
111 アシスト動作速度算出部
112 駆動制御部
201 操作力
202 仮想斥力
203 合力
204 障害物
205 パワーアシスト台車
205a 操作部
206 操作者
Claims (19)
- 操作者が電動車両に加えた操作力を計測する操作力計測部と、
前記電動車両に対する障害物の位置ベクトルを計測する障害物計測部と、
前記位置ベクトルの大きさに反比例する大きさであり、かつ、前記位置ベクトルの方向と反対方向の仮想斥力を算出する仮想斥力算出部と、
前記電動車両を動作させるためのアシスト力を、前記操作力と前記仮想斥力の合力に基づいて算出し、算出するアシスト力の大きさの上限値Xを前記操作力に基づいて算出し、前記アシスト力が前記上限値Xを超えている場合、前記上限値X以下の大きさのアシスト力を出力するアシスト力算出部と
を備える電動車両。 - 前記アシスト力算出部は、前記操作力の大きさを上限値Xとする
請求項1に記載の電動車両。 - 前記アシスト力算出部は、前記操作力の方向と前記合力の方向とのなす角に基づいて上限値Xを算出する
請求項1または2に記載の電動車両。 - 前記アシスト力算出部は、前記操作力の方向と前記合力の方向とのなす角の大きさが大きくなるに従って上限値Xが小さくなるように算出する
請求項1~3いずれかに記載の電動車両。 - 前記操作力の方向と前記合力の方向とのなす角の大きさθope sumが、(60°>θope sum>-60°)の範囲にある場合、
前記アシスト力算出部は、前記操作力の大きさを上限値Xとする
請求項1~4いずれかに記載の電動車両。 - 前記操作力の方向と前記合力の方向とのなす角の大きさθope sumが、θope sum≧60° or -60°≧θope sumの場合、
前記アシスト力算出部は、上限値Xの大きさをゼロとする
請求項1~5いずれかに記載の電動車両。 - 前記アシスト力算出部は、前記操作力の方向と前記電動車両に設定された所定の方向Eとのなす角の大きさが大きくなるに従って上限値Xが小さくなるように算出する
請求項1~6いずれかに記載の電動車両。 - 前記操作力の方向と前記電動車両に設定された所定の方向Eとのなす角の大きさが、0以上、45°以下の範囲にある場合、
前記アシスト力算出部は、前記操作力の大きさを上限値Xとする、または、すでに設定されている上限値Xを変更しないとする
請求項1~7いずれかに記載の電動車両。 - 前記操作力がモーメント成分を有する場合は、操作力と合力とのなす角度、操作力と所定の方向とのなす角度の少なくとも何れか一方の大きさを、前記モーメント成分の方向に大きくする
請求項5~8のいずれかに記載の電動車両。 - 操作者が電動車両に加えた操作量の大きさ及び方向を計測する操作量計測部と、
前記電動車両に対する障害物の位置ベクトルを計測する障害物計測部と、
前記操作量計測部が計測した操作量の大きさ及び方向に基づく前記電動車両の目標操作速度を算出する目標操作速度算出部と、
前記障害物計測部が計測した前記位置ベクトルに基づいて、前記電動車両を前記障害物から遠ざけるための障害物回避速度を算出する障害物回避速度算出部と、
前記電動車両を動作させるためのアシスト動作速度を、前記目標操作速度と前記障害物回避速度の合成速度に基づいて算出し、算出するアシスト動作速度の大きさの上限値Yを前記目標操作速度に基づいて算出し、前記アシスト動作速度が前記上限値Yを超えている場合、前記上限値Y以下の大きさのアシスト動作速度を出力するアシスト動作速度算出部と
を備える電動車両。 - 前記アシスト動作速度算出部は、前記目標操作速度の大きさを上限値Yとする
請求項10に記載の電動車両。 - 前記アシスト動作速度算出部は、前記目標操作速度の方向と前記合成速度の方向とのなす角に基づいて上限値Yを算出する
請求項10または11に記載の電動車両。 - 前記アシスト動作速度算出部は、前記目標操作速度の方向と前記合成速度の方向とのなす角の大きさが大きくなるに従って上限値Yが小さくなるように算出する
請求項10~12いずれかに記載の電動車両。 - 前記目標操作速度の方向と前記合成速度の方向とのなす角の大きさθope sumが、60°>θope sum>-60°の範囲にある場合、
前記アシスト動作速度算出部は、前記目標操作速度の大きさを上限値Yとする
請求項10~13いずれかに記載の電動車両。 - 前記目標操作速度の方向と前記合成速度の方向とのなす角の大きさθope sumが、θope sum≧60° or -60°≧θope sumの場合、
前記アシスト動作速度算出部は、上限値Yの大きさをゼロにとする
請求項10~14いずれかに記載の電動車両。 - 前記アシスト動作速度算出部は、前記目標操作速度の方向と前記電動車両に設定された所定の方向Iとのなす角の大きさが大きくなるに従って上限値Yが小さくするように算出する
請求項10~15いずれかに記載の電動車両。 - 前記目標操作速度の方向と前記電動車両に設定された所定の方向Iとのなす角の大きさが、0°以上、45°以下の範囲にある場合、
前記アシスト動作速度算出部は、前記目標操作速度の大きさを上限値Yとする、または、設定されている上限値Yを変更しないとする
請求項10~16いずれかに記載の電動車両。 - 前記目標操作速度が回転成分を有する場合は、前記角度θope sum、θref opeの少なくとも何れか一方の大きさを、前記回転成分の方向に大きくする
ことを特徴とする請求項14~17のいずれかに記載の電動車両。 - 請求項1~18のいずれかに記載の電動車両に操作者が加えた操作力、または、操作量の大きさ及び方向に基づいて前記アシスト動作算出部がアシスト動作速度を生成し、
前記アシスト動作速度に基づき駆動制御部が電動車両の動作を制御することを特徴とする電動車両の制御方法。
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US8676420B2 (en) * | 2010-10-19 | 2014-03-18 | Panasonic Corporation | Electric vehicle and method for controlling the same |
US20120095633A1 (en) * | 2010-10-19 | 2012-04-19 | Yohei Kume | Electric vehicle and method for controlling the same |
US8910733B2 (en) | 2011-02-14 | 2014-12-16 | Android Industries Llc | Chassis for a vehicle |
EP2675653A2 (en) * | 2011-02-14 | 2013-12-25 | Android Industries LLC | Chassis |
JP2014510661A (ja) * | 2011-02-14 | 2014-05-01 | アンドロイド インダストリーズ エルエルシー | シャーシ |
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EP2675653A4 (en) * | 2011-02-14 | 2014-08-13 | Android Ind Llc | FRAME |
CN103717442A (zh) * | 2011-08-08 | 2014-04-09 | 松下电器产业株式会社 | 电动车辆及其控制方法 |
US8718898B2 (en) | 2012-02-14 | 2014-05-06 | Leica Microsystems (Schweiz) Ag | Stand for holding at least one medical device, having assistively driven casters |
JP2020516543A (ja) * | 2017-04-13 | 2020-06-11 | エフォートレス モビリティ エス アール エルEffortless Mobility S.R.L. | 手押し電動化移動装置 |
CN110371170A (zh) * | 2018-04-13 | 2019-10-25 | 灵动科技(北京)有限公司 | 智能助力装置、系统以及用于控制其提供助力的方法 |
CN110371170B (zh) * | 2018-04-13 | 2023-08-22 | 灵动科技(北京)有限公司 | 智能助力装置、系统以及用于控制其提供助力的方法 |
FR3136733A1 (fr) * | 2022-06-21 | 2023-12-22 | Psa Automobiles Sa | Interface homme-machine pour le pilotage d’un conteneur motorisé |
Also Published As
Publication number | Publication date |
---|---|
US8706332B2 (en) | 2014-04-22 |
JP5186041B2 (ja) | 2013-04-17 |
EP2383163A1 (en) | 2011-11-02 |
CN102333689B (zh) | 2014-09-03 |
CN102333689A (zh) | 2012-01-25 |
EP2383163A4 (en) | 2014-02-05 |
EP2383163B1 (en) | 2017-07-05 |
US20110313604A1 (en) | 2011-12-22 |
JPWO2010140321A1 (ja) | 2012-11-15 |
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