WO2016027481A1 - Power assist vehicle - Google Patents

Abstract

A power assist vehicle (1) includes a handle part (152) that a user grips in order to cause the power assist vehicle (1) to move. At a drive part for driving wheels, generated is assist power in accordance with a force with which the handle (152) is pushed toward the front of the power assist vehicle (1) and a force with which the handle (152) is pulled toward the rear of the power assist vehicle (1). The handle (152) includes: a pipe (103) that extends in a direction perpendicular to the direction of the pushing force and the direction of the pulling force; an outer sleeve (104) that is attached to part of an outer circumferential surface of the pipe (103); and a spring switch (105) for detecting the pushing force and a spring switch (106) for detecting the pulling force, both of which are provided between the pipe (103) and the outer sleeve (104). The power assist vehicle (1) has excellent strength and can precisely generate the assist power intended by a user.

Description

Electric assist vehicle

The present invention relates to an electric assist vehicle that generates assist force by a motor.

Conventionally, various electric assist vehicles for reducing the burden on the user are known.
For example, Patent Document 1 discloses an electric auxiliary transport vehicle (particularly, a handcart) that generates auxiliary power with a motor in accordance with a manual operation force as the electric assist vehicle. Specifically, the electric auxiliary transport vehicle includes a sliding grip, an elastic member that pushes the grip toward the operator side, and a movement of the grip toward the body frame at the end of the operation handle that extends rearward and upward from the body frame. A movement amount detection unit for detecting the amount. In addition, the electric auxiliary transport vehicle includes a control unit that controls the motor according to the output of the movement amount detection unit in the body frame.

Further, in Patent Document 2, as the electric assist vehicle, a body frame on which a load can be placed via a loading platform, an operation handle pressed by an operator, and an assist force according to a pressing operation of the operation handle are provided. An electric assist cart including an electric assist unit to be applied is disclosed. Specifically, the electric assist unit is connected to the main body portion attached to the lower surface of the vehicle body frame, a pair of drive wheels provided on the main body portion with a space between the left and right sides, and the operation handle and attached to the main body portion. A pair of torque sensors that detect drive torque acting on the left and right sides of the frame, a controller that is attached to the main body and calculates an assist force applied to the drive wheels according to the drive torque detected by the torque sensor, and a controller And a pair of electric motors that apply the calculated assist force to each drive wheel.

Japanese Patent Laid-Open No. 11-124037 JP 2012-148611 A JP 10-338143 A JP 2014-65354 A

However, in the electric auxiliary transport vehicle described in Patent Document 1, the operation handle extends in a direction parallel to the direction in which the sliding grip is pushed. That is, the extending direction of the operation handle is parallel to the direction in which the sliding grip slides. For this reason, when the movement of the electric auxiliary transport vehicle is stopped, a large force is generated to pull out the sliding clip from the operation handle. For this reason, the electric auxiliary transport vehicle described in Patent Document 1 has a disadvantageous structure in terms of strength and durability.

Further, in the electric assist cart described in Patent Document 2, the torque sensor is attached to the bottom of the cargo bed (the lower surface of the vehicle body frame), so that the user at the operation handle grips between the torque sensor and the user. Location (grip part) is located. That is, for the user, the torque sensor is located at a considerably distant position. Furthermore, a structure such as an operation handle is interposed between the torque sensor and the user. For this reason, in the electric assist cart of Patent Document 2, it is difficult to accurately measure the force applied by the user to the operation handle. Therefore, it is difficult for the user to accurately generate the intended assist force.

The present invention has been made in view of the above-described problems, and an object thereof is to provide an electric assist vehicle that is excellent in strength and capable of accurately generating an assist force intended by a user. It is in.

According to one aspect of the present invention, an electric assist vehicle includes a drive unit that drives wheels of the electric assist vehicle, a handle unit that a user of the electric assist vehicle holds to move the electric assist vehicle, and the electric assist vehicle. And a controller that causes the drive unit to generate an assist force corresponding to at least one of a force that pushes the handle portion toward the front of the vehicle and a force that pulls the handle portion toward the rear of the electric assist vehicle. The handle portion includes a first member extending in a direction perpendicular to the direction of the pushing force and the direction of the pulling force, and a second member attached to all or a part of the outer peripheral surface of the first member. A member, and a detection unit that is provided between the first member and the second member and detects at least one force.

Preferably, the detection unit includes a first detection unit provided in front of the electric assist vehicle with respect to the first member, and a second detection provided in the rear of the electric assist vehicle with respect to the first member. Part. The first detection unit detects one predetermined force out of the pushing force and the pulling force. A 2nd detection part detects the other force different from one force among the pushing force and the pulling force. The control unit causes the drive unit to generate an assist force corresponding to the detected force among the one force and the other force.

Preferably, the detection unit is a spring switch.
Preferably, the detection unit is a pressure sensor.

Preferably, the second member is attached to the first member in a state of being separated into a left hand member and a right hand member. The first detection unit includes a first left-hand detection unit provided between the first member and the left-hand member, and a first detection unit provided between the first member and the right-hand member. And a right-hand detection unit. The second detection unit includes a second left-hand detection unit provided between the first member and the left-hand member, and a second detection unit provided between the first member and the right-hand member. And a right-hand detection unit.

Preferably, the control unit causes the drive unit to generate an assist force for advancing the electric assist vehicle when a force pushing the handle portion is detected. When the force for pulling the handle is detected, the control unit causes the drive unit to generate an assist force for moving the electric assist vehicle backward.

According to the above invention, it is possible to generate the assist force that is excellent in strength and intended by the user with high accuracy.

It is a figure for demonstrating schematic structure of the electric assist vehicle 1 which concerns on this Embodiment. It is a figure for demonstrating the movement of the outer sleeve 104. FIG. It is a figure for demonstrating the structure inside the operation handle 10 hidden in the outer sleeve 104. FIG. It is a figure for demonstrating the structure inside the operation handle 10 hidden in the outer sleeve 104 from a different viewpoint from FIG. 2 is a block diagram showing a part of the hardware configuration of the electric assist vehicle 1. FIG. 2 is a block diagram for explaining a functional configuration of the electric assist vehicle 1. FIG. 4 is a flowchart for explaining processing executed in the electric assist vehicle 1; It is a figure for demonstrating the structure of 10 A of operation handles which are the modifications of the operation handle. It is a figure for demonstrating the structure of the operation handle 10B which is a modification of the operation handle 10. FIG. It is a figure for demonstrating the structure of 10 C of operation handles which are the modifications of the operation handle. It is a figure for demonstrating the structure of 10D of operation handles which are the modifications of the operation handle. It is a figure for demonstrating schematic structure of the electric assist vehicle 2 which concerns on this Embodiment. It is a figure for demonstrating the movement of the outer sleeves 104L and 104R. It is a figure for demonstrating the internal structure of the operation handle 60 hidden in the outer sleeves 104L and 104R. FIG. 6 is a diagram for explaining a forward / backward assist force generated based on an operation of the electric assist vehicle 2. FIG. 4 is a diagram for explaining a turning assist force generated based on an operation of the electric assist vehicle 2. 4 is a block diagram showing a part of the hardware configuration of the electric assist vehicle 2. FIG. 3 is a block diagram for explaining a functional configuration of the electric assist vehicle 2. FIG. 4 is a flowchart for explaining the first half of processing executed by the electric assist vehicle 2; 4 is a flowchart for explaining the latter half of the process executed by the electric assist vehicle 2. It is a figure for demonstrating the operation example different from the operation example of the electric assist vehicle 2 demonstrated based on FIG. 15 and FIG.

Hereinafter, the electric assist vehicle according to each embodiment of the present invention will be described with reference to the drawings. In the following description, the same reference numerals are assigned to the same members. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

In the following description, a cart is taken as an example of the electric assist vehicle, but the present invention is not limited to this. For example, there is no particular limitation as long as it is a structure such as a shopping cart or a stroller that moves when the user applies force from the outside (that is, a structure that moves when pushed or pulled).

[Embodiment 1]
<A1. Appearance>
FIG. 1 is a diagram for explaining a schematic configuration of an electrically assisted vehicle 1 according to the present embodiment. FIG. 1A is a perspective view of the electric assist vehicle 1. FIG. 1B is a top view of the electric assist vehicle 1. FIG. 1C is a side view of the electric assist vehicle 1.

Referring to FIG. 1A, an electrically assisted vehicle 1 includes an operation handle 10, a loading platform 20, an underfloor box 30, motors 41 and 42 as drive devices 40, a left rear wheel 51, and a right side wheel. A rear wheel 52, a left front wheel 53, and a right front wheel 54 are provided.

The operation handle 10 includes two straight pipes 101 fixed to the loading platform 20, two bent pipes 102 connected to the upper ends of the pipes 102, and straight lines having both ends connected to the two pipes 102. A pipe 103 and an outer sleeve 104 are included. The pipes 101, 102, and 103 are typically metallic pipes. The outer sleeve 104 is typically made of resin. The pipes 101, 102, and 103 constitute a frame of the operation handle 10.

Referring to FIGS. 1A and 1B, the outer sleeve 104 is a cylindrical tube. The outer sleeve 104 is installed on the pipe 103 so as to be movable with respect to the pipe 103 in a state where the pipe 103 penetrates the opening of the outer sleeve 104. Specifically, the outer sleeve 104 is configured to be movable in the forward direction and the reverse direction of the electric assist vehicle 1. Details of the configuration will be described later.

The motor 41 drives the rear wheel 51. The motor 42 drives the rear wheel 52. The motors 41 and 42 are installed under the loading platform (under the floor).

In the above description, the configuration including the two pipes 101, the two pipes 102, and the pipe 103 has been described as an example, but these may be configured as a single pipe.

Referring to FIG. 1C, the underfloor box 30 stores a battery 301 and a control device 302. Although details will be described later, the control device 302 drives the motors 41 and 42 based on a user operation on the operation handle 10.

<B1. Detection of force applied to the handle portion of the operation handle 10>
FIG. 2 is a view for explaining the movement of the outer sleeve 104. FIG. 2A is a diagram illustrating a state of the operation handle 10 when a user's force is not applied to the outer sleeve 104. FIG. 2B is a diagram illustrating a state of the operation handle 10 when a forward force F1 (that is, a pressing force) is applied to the outer sleeve 104. FIG. 2C is a diagram illustrating a state of the operation handle 10 when a reverse force F2 (that is, pulling force) is applied to the outer sleeve 104.

Referring to FIG. 2A, when the user's force is not acting on outer sleeve 104, outer sleeve 104 assumes a default position with respect to pipe 103. Specifically, a restoring force is applied to the outer sleeve 104 in advance so as to take a default position.

Referring to FIG. 2B, when a forward force F <b> 1 is applied to the outer sleeve 104 by the user, the outer sleeve 104 moves to the front of the electric assist vehicle 1 with respect to the pipe 103. . The outer sleeve 104 returns to the default position shown in FIG. 2A when the force F1 is no longer applied.

Referring to FIG. 2C, when a reverse force F <b> 2 by the user acts on the outer sleeve 104, the outer sleeve 104 moves to the rear of the electric assist vehicle 1 with respect to the pipe 103. . The outer sleeve 104 returns to the default position shown in FIG. 2A when the force F2 is no longer applied.

Hereinafter, the characteristics of the outer sleeve 104 will be described. The outer sleeve 104 has a hardness that does not deform even when the user grips it. This is to prevent spring switches 105 and 106, which will be described later, from being simultaneously pressed (turned on). The outer sleeve 104 is designed to have a play (gap) in the forward and backward directions with the pipe 103 so that the outer sleeve 104 can move as described above.

The outer sleeve 104 is preferably lightweight. This is because if the mass of the outer sleeve 104 is increased, the outer sleeve 104 may not be easily moved by the user's force, or the outer sleeve 104 may be arbitrarily moved by inertial force. In addition, as said restoring force, the reaction force by the spring switch mentioned later may be utilized, and reaction force other than that may be used. The mechanism for generating the restoring force is not particularly limited.

FIG. 3 is a view for explaining the internal structure of the operation handle 10 hidden behind the outer sleeve 104. FIG. 3A is a cross-sectional view taken along the line III-III in FIG. That is, FIG. 3A is an arrow cross-sectional view corresponding to the state of FIG. FIG. 3B is a cross-sectional view taken along the arrow when a forward force F1 acts on the outer sleeve 104. That is, FIG. 3B is a cross-sectional view taken along the arrow corresponding to the state of FIG. FIG. 3C is a cross-sectional view taken along the arrow when a reverse force F2 acts on the outer sleeve 104. That is, FIG. 3C is an arrow cross-sectional view corresponding to the state of FIG.

Referring to FIG. 3A, the operation handle 10 further includes spring switches 105 and 106 as detectors between the pipe 103 and the outer sleeve 104. The spring switches 105 and 106 have a spring 190 inside. Hereinafter, a configuration in which the pipe 103, the outer sleeve 104, and the spring switches 105 and 106 are combined is referred to as a “grip part 152”.

The spring switch 105 is used to detect a force pushing the handle portion 152 toward the front of the electric assist vehicle 1. The spring switch 106 is used to detect a force that pushes the handle portion 152 toward the rear of the electric assist vehicle 1. The spring switches 105 and 106 are configured to expand and contract in length in the spring arrangement direction in accordance with the force acting in the spring arrangement direction.

More specifically, the spring switches 105 and 106 typically transition from the off state to the on state when a force equal to or greater than a threshold value is applied (force that pushes the handle portion 152, force that pulls the handle portion 152). When the spring switch 105 is turned on, the control device 302 determines that a force pushing the handle portion 152 of the electric assist vehicle 1 is applied. On the other hand, when the spring switch 106 is turned on, the control device 302 determines that a force that pulls the handle portion 152 of the electric assist vehicle 1 is applied. The forces F1 and F2 are assumed to be equal to or greater than the threshold value.

With reference to FIG. 3 (B), when the forward force F1 by the user acts on the outer sleeve 104, the outer sleeve 104 moves the electric assist vehicle 1 against the pipe 103 as described above. Move forward. The movable part of the spring switch 105 is pushed into the fixed part of the spring switch 105 by the movement of the outer sleeve 104, and the spring switch 105 is turned on. Thereby, the force F1 acting on the outer sleeve 104 is detected by the spring switch 105. Precisely, it is detected by the spring switch 105 that a force equal to or greater than a threshold value is acting on the outer sleeve 104. Note that the movable portions of the outer sleeve 104 and the spring switch 105 return to the default positions shown in FIG. 3A when the force F1 does not act.

Referring to FIG. 3C, when a reverse force F2 is applied by the user to the outer sleeve 104, the outer sleeve 104 moves the electric assist vehicle 1 against the pipe 103 as described above. Move backwards. The movable part of the spring switch 106 is pushed into the fixed part of the spring switch 106 by the movement of the outer sleeve 104, and the spring switch 106 is turned on. As a result, the force F <b> 2 acting on the outer sleeve 104 is detected by the spring switch 106. Precisely, it is detected by the spring switch 106 that a force equal to or greater than a threshold value is acting on the outer sleeve 104. Note that the movable portions of the outer sleeve 104 and the spring switch 106 return to the default positions shown in FIG. 3A when the force F2 stops working.

As described above, the handle portion 152 extends in a direction perpendicular to the direction of the force pushing the handle portion 152 forward of the electric assist vehicle 1 and the direction of the force pulling backward of the electric assist vehicle 1. A pipe 103, an outer sleeve 104 attached to a part of the outer peripheral surface of the pipe 103, a spring switch 105 provided between the pipe 103 and the outer sleeve 104 for detecting the pushing force, and the pipe 103 And an outer sleeve 104, and a spring switch 106 for detecting the pulling force.

Note that the outer sleeve 104 may be attached to the entire outer peripheral surface of the pipe 103.

FIG. 4 is a diagram for explaining the internal structure of the operation handle 10 hidden behind the outer sleeve 104 from a viewpoint different from that in FIG. 4A is a cross-sectional view taken along line IV-IV in FIG. That is, FIG. 4 (A) is a cross-sectional view taken along the arrow corresponding to the states of FIG. 2 (A) and FIG. 3 (A). 4B is a cross-sectional view taken along the arrow when a forward force F1 is applied to the outer sleeve 104. FIG. That is, FIG. 4B is an arrow cross-sectional view corresponding to the states of FIG. 2B and FIG. FIG. 4C is a cross-sectional view taken in the direction of the arrow when a reverse force F <b> 2 acts on the outer sleeve 104. That is, FIG. 4C is an arrow cross-sectional view corresponding to the states of FIG. 2C and FIG.

Referring to FIG. 4A, as described above, the handle portion 152 includes spring switches 105 and 106 as detectors between the pipe 103 and the outer sleeve 104. The outer sleeve 104 is provided with a space (dent) for accommodating the spring switches 105 and 106. In the handle portion 152, a play (gap) is provided between the pipe 103 and the outer sleeve 104.

Referring to FIG. 4B, when the forward force F1 is applied to the outer sleeve 104 by the user, the outer sleeve 104 moves to the front of the electric assist vehicle 1 as described above. Thus, the force F1 acting on the outer sleeve 104 is detected by the spring switch 105. That is, as described above, it is detected by the spring switch 105 that a force equal to or greater than the threshold is acting on the outer sleeve 104.

Referring to FIG. 4C, when the reverse force F2 by the user acts on the outer sleeve 104, the outer sleeve 104 moves to the rear of the electric assist vehicle 1 as described above. Thus, the force F <b> 2 acting on the outer sleeve 104 is detected by the spring switch 106. That is, as described above, it is detected by the spring switch 106 that a force greater than the threshold value is acting on the outer sleeve 104.

<C1. Assist power>
Control is performed when force F1 in the forward direction (that is, a force pushing the handle portion 152) is applied to the handle portion 152 (the states shown in FIGS. 2B, 3B, and 4B). The device 302 controls the motors 41 and 42 constituting the drive device 40 to generate an assist force in the forward direction. Thereby, the user can obtain the assist force in the forward direction by applying a pressing force (forward force) to the outer sleeve 104.

When a reverse force F2 (that is, a force pulling the handle 152) is applied to the handle portion 152 (the state shown in FIGS. 2C, 3C, and 4C), control is performed. The device 302 controls the motors 41 and 42 constituting the driving device 40 to generate an assist force in the reverse direction. Thereby, the user can obtain the assist force in the reverse direction by applying a pulling force (rearward force) to the outer sleeve 104.

When the electric assist vehicle 1 is moving forward and the force F2 in the reverse direction is applied to the handle portion 152, the control device 302 applies a force (braking force) for braking the electric assist vehicle 1 to the motor 41,. The control generated in 42 is performed. In addition, when the electric assist vehicle 1 is moving backward, when the forward force F1 is applied to the handle portion 152, the control device 302 applies a force (braking force) for braking the electric assist vehicle 2 to the motor. Control generated in 41 and 42 is performed.

Note that when neither the forward force F1 nor the reverse force F2 is applied to the handle portion 152, the control device 302 applies the force that keeps the electric assist vehicle 1 stopped to the motors 41, 42. Control to be generated.

(How to adjust assist strength)
Next, a method for adjusting the strength of the assist force will be described. In the present embodiment, the assist force can be adjusted by the following method (i) or (ii).

(I) The assist amount is changed according to the rotation speed of the motors 41 and 42. Specifically, an encoder is attached to each of the motors 41 and 42, and the rotation speed of each of the motors 41 and 42 is detected. The CPU 321 adjusts the assist amount based on the detected rotation speed.

(Ii) Prepare a volume for speed adjustment and adjust it as necessary.
In the present embodiment, the electric assist vehicle 1 has only two switches, the forward spring switch 105 and the reverse spring switch 106. Therefore, in order to perform the operation smoothly, as described above, It is preferable to apply a method of changing the assist amount in accordance with the rotation speed of the motors 41 and 42. The CPU 321 detects the intentions of the forward and backward users by the spring switches 105 and 106, and controls the assist amount based on the number of rotations of the motors 41 and 42, thereby realizing an operation without a sense of incongruity. Become. In this case, since the states of the left and right motors 41 and 42 are detected, it is possible to cope with turning.

<D1. Hardware configuration>
FIG. 5 is a block diagram showing a part of the hardware configuration of the electric assist vehicle 1. Referring to FIG. 5, the electric assist vehicle 1 includes an operation handle 10, a battery 301, a control device 302, a drive device 40, a left rear wheel 51, and a right rear wheel 52. The operation handle 10 has the spring switches 105 and 106 as described above. The control device 302 includes a CPU (Central Processing Unit) 321 and a nonvolatile memory 322. As described above, the drive device 40 includes the motor 41 that drives the left rear wheel and the motor 42 that drives the right rear wheel.

The battery 301 supplies power to the spring switches 105 and 106, the CPU 321, the memory 322, and the motors 41 and 42.

The memory 322 stores in advance an OS (Operating System) and a program for controlling the electric assist vehicle 1. The CPU 321 controls the rotational force of the motors 41 and 42 by executing the program based on the detection results by the spring switches 105 and 106. That is, the CPU 321 controls (adjusts) the above-described generation and stop of the assist force and the strength of the assist force.

<E1. Functional configuration>
FIG. 6 is a block diagram for explaining a functional configuration of the electric assist vehicle 1. Referring to FIG. 6, the electrically assisted vehicle 1 includes a power supply unit 151 corresponding to the battery 301, a handle unit 152, a control unit 153 corresponding to the control device 302, and a drive unit 154 corresponding to the drive device 40. It has. The handle part 152 includes detection parts 1521 and 1522. The detection unit 1521 corresponds to the spring switch 105. The detection unit 1522 corresponds to the spring switch 106.

The power supply unit 151 supplies power to the detection units 1521, 1522, the control unit 153, and the drive unit 154. The drive unit 154 drives the left and right rear wheels 51 and 52 of the electric assist vehicle 1. The handle portion 152 is a portion that the user of the electric assist vehicle 1 holds to move the electric assist vehicle 1.

The control unit 153 controls the entire operation of the electric assist vehicle 1. The control unit 153 is configured to assist force (that is, forward or backward) in accordance with a force that pushes the handle portion 152 toward the front of the electric assist vehicle 1 and a force that pulls the handle portion 152 toward the rear of the electric assist vehicle 1. Assist force) is generated in the drive unit 154.

The detection unit 1521 is provided in front of the electric assist vehicle 1 with respect to the pipe 103. The detection unit 1521 is a member for detecting a force pushing the handle unit 152. Specifically, the detection unit 1521 detects whether or not a pressing force equal to or greater than a threshold is applied to the handle unit 152.

The detection unit 1522 is provided behind the electric assist vehicle 1 with respect to the pipe 103. The detection unit 1522 is a member for detecting a force pulling the handle unit 152. Specifically, the detection unit 1521 detects whether or not a pulling force of a threshold value or more is applied to the handle unit 152.

<F1. Control structure>
FIG. 7 is a flowchart for explaining processing executed in the electrically assisted vehicle 1. With reference to FIG. 7, in step S <b> 2, the CPU 321 determines whether or not the spring switch 105 detects a force pushing the handle portion 152 of the operation handle 10 (specifically, a force pushing the handle portion 152). To do. Specifically, the CPU 321 determines whether or not the spring switch 105 has been turned on. If it is determined that it has been detected (YES in step S2), CPU 321 causes motors 41 and 42 to generate forward assist force in step S4.

In step S <b> 6, the CPU 321 determines whether or not the force for pressing the handle portion 152 is no longer detected. Specifically, the CPU 321 determines whether or not the spring switch 105 has been turned off. If it is determined that the pressing force is no longer detected (YES in step S6), CPU 321 stops the generation of the forward assist force in step S8. When CPU 321 determines that the detection continues (NO in step S6), CPU 321 returns the process to step S4.

When it is determined by the spring switch 105 that the force pushing the handle portion 152 is not detected (NO in step S2), the CPU 321 pulls the handle portion 152 by the spring switch 106 in step S10 (specifically, in detail). It is determined whether or not a force for pulling the handle portion 152 is detected. Specifically, the CPU 321 determines whether or not the spring switch 106 has been turned on.

If it is determined that a pulling force has been detected (YES in step S10), the CPU 321 causes the motors 41 and 42 to generate a reverse assist force corresponding to the detected force in step S12. If it is determined that the pulling force is not detected (NO in step S10), CPU 321 returns the process to step S2.

In step S14, the CPU 321 determines whether or not the force to pull the handle portion 152 is no longer detected. Specifically, the CPU 321 determines whether or not the spring switch 106 has been turned off. If it is determined that the pulling force is no longer detected (YES in step S14), CPU 321 stops the generation of the backward assist force in step S16. If it is determined that the detection continues (NO in step S14), CPU 321 returns the process to step S12.

<G1. Advantage>
The electric assist vehicle 1 has a configuration in which it is difficult to influence the influence of the weight of the main body itself or the operation handle or disturbance because the member for sensing the operation force of the user is near the user. Therefore, the user's operation force can be accurately read. That is, it is possible to accurately measure the force applied to the operation handle by the user. Therefore, according to the electric assist vehicle 1, the user can generate the intended assist force with high accuracy.

Further, the configuration in which the spring switches 105 and 106 are pushed by the outer sleeve 104 makes the operation intuitive, and can prevent an accident due to unintended assist force generation (accident due to excessive progress).

Furthermore, in the handle portion 152 of the operation handle 10, the extending direction of the outer sleeve 104 and the direction of the force that the user acts on the handle portion 152 (that is, the direction in which the spring switches 105 and 106 are turned on) are orthogonal. is doing. For this reason, compared with the structure where these directions are parallel, it is excellent in terms of strength and durability.

<H1. Modification>
(H1. First modification)
FIG. 8 is a diagram for explaining a configuration of an operation handle 10A that is a modification of the operation handle 10. Referring to FIG. 8, the operation handle 10 </ b> A includes two pressure sensors 108 and 109 as a detector and a cushion member 107 between the pipe 103 and the outer sleeve 104.

The cushion member 107 is disposed in contact with two main surfaces of each of the pressure sensors 108 and 109. That is, the cushion member 107 is disposed before and after each of the pressure sensors 108 and 109.

As described above, the operation handle 10 </ b> A has the pressure sensor 108 and the cushion member 107 instead of the spring switch 105, and has the pressure sensor 109 and the cushion member 107 instead of the spring switch 106. Hereinafter, a configuration in which the pipe 103, the outer sleeve 104, the pressure sensors 108 and 109, and the cushion member 107 are combined is referred to as a “grip part 152A”.

The pressure sensor 108 detects a force (more precisely, a pressure value) that pushes the handle portion 152A toward the front of the electric assist vehicle 1. The pressure sensor 109 detects a force (pressure value) that pushes the handle portion 152 </ b> A toward the rear of the electric assist vehicle 1.

Even when the electric assist vehicle 1 has the operation handle 10 </ b> A instead of the operation handle 10, the same advantages as the advantages (effects) obtained with the configuration having the operation handle 10 can be obtained. Further, by using a pressure sensor in the electric assist vehicle 1, the user's operation force can be detected stepwise (substantially linearly). Therefore, according to the configuration using the pressure sensors 108 and 109 instead of the spring switches 105 and 106, the assist force can be arbitrarily changed by the user's operation force.

In this modification, the assist force can be adjusted by the following method (i) or (ii).

(I) The assist force is changed according to the value (output value) of the pressure sensor.
(Ii) Prepare a volume for speed adjustment and adjust it as necessary.

When the method (i) is adopted, the user's intention (direction, assist amount) is more accurately measured and fed back to the operation than the above-described configuration in which the rotational speeds of the motors 41 and 42 are viewed. Is possible.

(H2. Second modification)
Below, three typical examples are demonstrated and demonstrated about the structure of the operation handle of the structure provided with only one detector.

(1) First Example FIG. 9 is a diagram for explaining a configuration of an operation handle 10B which is a modified example of the operation handle 10. FIG. 9A is a cross-sectional view of the operation handle 10B when the user is not acting on the operation handle 10B.

Referring to FIG. 9A, the operation handle 10B has an outer sleeve 104B instead of the outer sleeve 104, and has a spring switch 110 instead of the spring switches 105 and 106. The spring switch 110 is installed above the pipe 103 with the pipe 103 in contact therewith. The spring switch 110 has two movable parts facing each other and a fixed part.

FIG. 9B is a cross-sectional view taken along the arrow when a forward force F1 acts on the outer sleeve 104B. FIG. 9C is a cross-sectional view taken along the arrow when a reverse force F2 acts on the outer sleeve 104B.

Referring to FIG. 9B, when a forward force F1 is applied to the outer sleeve 104B by the user, the outer sleeve 104B moves to the front of the electric assist vehicle 1 with respect to the pipe 103. . One movable part (the movable part on the left side in the figure) of the spring switch 110 is pushed into the fixed part of the spring switch 110 by the movement of the outer sleeve 104B. Thus, the force F1 acting on the outer sleeve 104B is detected by the spring switch 110. Precisely, it is detected by the spring switch 110 that a forward force greater than or equal to the threshold value is acting on the outer sleeve 104B. Note that the movable portion pushed into the outer sleeve 104B and the fixed portion returns to the default position shown in FIG. 9A when the force F1 does not act.

With reference to FIG. 9C, when a reverse force F <b> 2 by the user acts on the outer sleeve 104 </ b> B, the outer sleeve 104 </ b> B moves to the rear of the electric assist vehicle 1 with respect to the pipe 103. . The other movable portion of the spring switch 110 (the movable portion on the right side in the figure) is pushed into the fixed portion of the spring switch 110 by the movement of the outer sleeve 104B. As a result, the force F2 acting on the outer sleeve 104B is detected by the spring switch 110. Precisely, it is detected by the spring switch 110 that a reverse force greater than the threshold value is acting on the outer sleeve 104B. Note that the movable portion pushed into the outer sleeve 104B and the fixed portion returns to the default position shown in FIG. 9A when the force F2 no longer acts.

Thus, by providing the spring switch 110 instead of the spring switches 105 and 106, it is possible to use one detector for detecting the force acting on the handle portion 152A.

The installation position of the spring switch 110 is not limited to the position shown in FIG. For example, the spring switch 110 may be installed below the pipe 103.

(2) Second Example Either one of the spring switch 105 and the spring switch 106 detects both a force pushing the handle (compression force) and a pulling force (tensile force). By adopting the configuration, one spring switch can be omitted.

(3) Third Example By installing a sensor on the surface of the pipe 103 that can detect the displacement of the outer sleeve 104 with respect to the pipe 103, the number of detectors can be reduced to one. The installation location of the sensor is not particularly limited as long as the displacement can be measured.

(H3. Third modification)
FIG. 10 is a diagram for explaining a configuration of an operation handle 10 </ b> C that is a modification of the operation handle 10. Specifically, FIG. 10 is a cross-sectional view of the operation handle 10C when the user does not apply a force to the operation handle 10C.

Referring to FIG. 10, the operation handle 10 </ b> C is different from the operation handle 10 in that a cushion member 119 such as a sponge is filled between the pipe 103 and the outer sleeve 104. As shown by such a configuration, play (gap) is not necessarily required between the pipe 103 and the outer sleeve 104.

(H4. Fourth modification)
FIG. 11 is a diagram for explaining a configuration of an operation handle 10D which is a modification of the operation handle 10. Specifically, FIG. 11 is a cross-sectional view of the operation handle 10D when the user is not acting on the operation handle 10D.

Referring to FIG. 11, the operation handle 10 </ b> D is provided with a member 104 </ b> D that covers about ¾ (about 270 degrees) in the circumferential direction of the outer periphery of the pipe 103 instead of the outer sleeve 104. That is, the member 104 </ b> D has a form in which about ¼ of the outer sleeve 104 is cut along the central axis of the outer sleeve 104. According to this configuration, the mass can be reduced as compared with the outer sleeve 104.

Note that the structure (shape) of the member 104D is not limited to the structure shown in FIG. 11 as long as it can store the spring switches 105 and 106 and does not come off the pipe 103.

(H5. Fifth modification)
(1) The force that the spring switch 105 pulls the handle portion 152 (more precisely, the pull force that is greater than or equal to the threshold value) and the force that the spring switch 106 pushes the handle portion 152 (more precisely, the force that is greater than or equal to the threshold value) The electric assist vehicle 1 may be configured so as to detect.

(2) In the first modified example shown in FIG. 8, the electric assist vehicle is configured such that the pressure sensor 108 detects the force pulling the handle portion 152 and the pressure sensor 109 detects the force pushing the handle portion 152. 1 may be configured.

[Embodiment 2]
In the first embodiment, the configuration including one outer sleeve has been described. In the present embodiment, a configuration in which the outer sleeve is attached to the pipe 103 in a state where the outer sleeve is separated for the right hand and the left hand will be described. That is, in the present embodiment, a configuration including two outer sleeves will be described.

<A2. Appearance>
FIG. 12 is a diagram for explaining a schematic configuration of the electric assist vehicle 2 according to the present embodiment. FIG. 12A is a perspective view of the electric assist vehicle 2. FIG. 12B is a top view of the electric assist vehicle 2. FIG. 12C is a side view of the electric assist vehicle 2.

Referring to FIG. 12A, the electrically assisted vehicle 2 includes an operation handle 60, a loading platform 20, an underfloor box 30, motors 41 and 42 as driving devices 40, a left rear wheel 51, and a right side wheel. A rear wheel 52, a left front wheel 53, and a right front wheel 54 are provided. That is, the electrically assisted vehicle 2 is different from the electrically assisted vehicle 1 according to the first embodiment in that it includes an operation handle 60 instead of the operation handle 10.

The operation handle 60 includes two pipes 101, two bent pipes 102, a pipe 103, outer sleeves 104L and 104R, and a spacer 111. The outer sleeves 104L and 104R and the spacer 111 are typically made of resin.

Referring to FIGS. 12A and 12B, outer sleeves 104L and 104R are tubular tubes. The outer sleeve 104L is installed on the pipe 103 so as to be movable with respect to the pipe 103 in the same manner as the outer sleeve 104 of the first embodiment, with the pipe 103 passing through the opening of each outer sleeve 104L. The outer sleeve 104R is installed on the pipe 103 so as to be movable with respect to the pipe 103 in the same manner as the outer sleeve 104 of the first embodiment, with the pipe 103 penetrating the opening of each outer sleeve 104R. Specifically, the outer sleeves 104 </ b> L and 104 </ b> R are configured to be movable in the forward direction and the reverse direction of the electric assist vehicle 2. More specifically, the outer sleeve 104L and the outer sleeve 104R are configured to be movable in an independent manner without being linked.

The outer sleeve 104L is a left hand sleeve. The outer sleeve 104R is a right hand sleeve. The outer sleeves 104 </ b> L and 104 </ b> R are cylindrical tubular bodies like the outer sleeve 104.

The spacer 111 is disposed between the outer sleeve 104L and the outer sleeve 104R. The spacer 111 is a cylindrical tube. In this embodiment, the spacer 111 separates the outer sleeve into a right hand and a left hand.

In the above description, the configuration including the two pipes 101, the two pipes 102, and the pipe 103 has been described as an example, but these may be configured as a single pipe.

Referring to FIG. 12C, underfloor box 30 stores battery 301 and control device 302 as described above. Although details will be described later, the control device 302 drives the motors 41 and 42 based on a user operation on the operation handle 60.

<B2. Detection of force applied to the handle portion of the operation handle 60>
FIG. 13 is a diagram for explaining the movement of the outer sleeves 104L and 104R. FIG. 13A is a diagram showing the state of the operation handle 60 when the user's force is not applied to the outer sleeves 104L and 104R. FIG. 13B is a diagram showing the state of the operation handle 60 when a forward force F1 (that is, a pushing force) is applied to the outer sleeves 104L and 104R. FIG. 13C is a diagram illustrating the state of the operation handle 60 when a reverse force F2 (that is, pulling force) is applied to the outer sleeves 104L and 104R.

Referring to FIG. 13A, when a user's force is not acting on outer sleeves 104L and 104R, outer sleeves 104L and 104R take a default position with respect to pipe 103. Specifically, a restoring force is applied to the outer sleeves 104L and 104R in advance so as to take a default position.

Referring to FIG. 13 (B), when a forward force F1 is applied to the outer sleeves 104L and 104R by the user, the outer sleeves 104L and 104R are not interlocked in an independent manner. It moves forward of the electric assist vehicle 1 with respect to the pipe 103. The outer sleeves 104L and 104R return to the default positions shown in FIG. 13A when the force F1 stops working.

Referring to FIG. 13C, when a reverse force F2 by the user acts on the outer sleeves 104L and 104R, the outer sleeves 104L and 104R are not interlocked in an independent manner, It moves to the rear of the electric assist vehicle 1 with respect to the pipe 103. The outer sleeves 104L and 104R return to the default positions shown in FIG. 13A when the force F2 is no longer applied.

Since the characteristics of the outer sleeves 104L and 104R are the same as the characteristics of the outer sleeve 104, description thereof will not be repeated here.

FIG. 14 is a view for explaining the internal structure of the operation handle 60 hidden behind the outer sleeves 104L and 104R. 14A is a cross-sectional view taken along line XIV-XIV in FIG. That is, FIG. 14A is an arrow cross-sectional view corresponding to the state of FIG. FIG. 14B is a cross-sectional view taken along the arrow when a forward force F1 is applied to the outer sleeves 104L and 104R. That is, FIG. 14B is a cross-sectional view taken along the arrow corresponding to the state of FIG. FIG. 14C is a cross-sectional view taken along the arrow when a reverse force F2 acts on the outer sleeves 104L and 104R. That is, FIG. 14C is a cross-sectional view taken along the arrow corresponding to the state of FIG.

14A, the operation handle 60 further includes spring switches 105L and 106L as detectors between the pipe 103 and the outer sleeve 104L. The operation handle 60 further includes spring switches 105R and 106R as detectors between the pipe 103 and the outer sleeve 104R.

Hereinafter, a configuration in which the pipe 103, the outer sleeves 104L and 104R, and the spring switches 105L, 105R, 106L, and 106R are combined is referred to as a “handle portion 162”. Further, a configuration in which a part of the pipe 103, the outer sleeve 104L, and the spring switches 105L and 106L are combined is referred to as a “grip part 162L”, and a part of the pipe 103, the outer sleeve 104R, and the spring switch 105R. , 106R together is referred to as a “handle portion 162R”. In other words, the handle portion 162 includes the handle portion 162L and the handle portion 162R.

The spring switches 105L and 105R are used to detect a force pushing the handle 162 toward the front of the electric assist vehicle 2. Specifically, the spring switch 105 </ b> L is used to detect a force pushing the handle portion 162 </ b> L toward the front of the electric assist vehicle 2. The spring switch 105 </ b> R is used to detect a force pushing the handle portion 162 </ b> R toward the front of the electric assist vehicle 2.

More specifically, the spring switch 105L typically transitions from an off state to an on state when a force equal to or greater than a threshold value (force that pushes the handle portion 162L) is applied. When the spring switch 105L is turned on, the control device 302 determines that a force that pushes the handle portion 162L of the electric assist vehicle 1 is applied. The spring switch 105R typically transitions from an off state to an on state when a force equal to or greater than a threshold value (force that pushes the handle portion 162R) is applied. When the spring switch 105R is turned on, the control device 302 determines that a force pushing the handle portion 162R of the electric assist vehicle 1 is applied.

The spring switches 106L and 106R are used to detect a force pushing the handle 162 toward the rear of the electric assist vehicle 2. Specifically, the spring switch 106L is used to detect a force pushing the handle portion 162L toward the rear of the electric assist vehicle 2. The spring switch 106 </ b> R is used to detect a force pushing the handle portion 162 </ b> R toward the rear of the electric assist vehicle 2.

More specifically, the spring switch 106L typically transitions from the off state to the on state when a force equal to or greater than a threshold (force to pull the handle portion 162L) is applied. When the spring switch 106L is turned on, the control device 302 determines that a force to pull the handle portion 162L of the electric assist vehicle 1 is applied. The spring switch 106R typically transitions from an off state to an on state when a force equal to or greater than a threshold value (force to pull the handle portion 162R) is applied. When the spring switch 106R is turned on, the control device 302 determines that a force for pulling the handle portion 162R of the electric assist vehicle 1 is applied.

The spring switches 105L, 105R, 106L, and 106R extend and contract in the spring arrangement direction according to the force acting in the spring arrangement direction, similar to the spring switches 105 and 106 of the first embodiment. It is configured as follows.

Referring to FIG. 14B, when a forward force F1 is applied to the outer sleeves 104L and 104R by the user, the outer sleeves 104L and 104R are applied to the pipe 103 as described above. It moves forward of the electric assist vehicle 2. The movable parts of the spring switches 105L and 105R are pushed into the fixed parts of the spring switches 105L and 105R by the movement of the outer sleeves 104L and 104R, respectively, and are turned on.

Thus, the forces F1 acting on the outer sleeves 104L and 104R are detected by the spring switches 105L and 105R, respectively. Precisely, it is detected by the spring switches 105L and 105R that forces above the threshold are acting on the outer sleeves 104L and 104R, respectively. Note that the movable portions of the outer sleeves 104L and 104R and the spring switches 105L and 105R return to the default positions shown in FIG. 14A when the force F1 stops working.

Referring to FIG. 14C, when the reverse force F2 by the user acts on the outer sleeves 104L and 104R, the outer sleeves 104L and 104R are applied to the pipe 103 as described above. It moves to the rear of the electric assist vehicle 2. The movable parts of the spring switches 106L and 106R are pushed into the fixed parts of the spring switches 106L and 106R by the movement of the outer sleeves 104L and 104R, respectively, and are turned on.

Thereby, the force F2 acting on the outer sleeves 104L and 104R is detected by the spring switches 106L and 106R. Precisely, it is detected by the spring switches 106L and 106R that forces exceeding the threshold value are acting on the outer sleeves 104L and 104R, respectively. Note that the movable portions of the outer sleeves 104L and 104R and the spring switches 106L and 106R return to the default positions shown in FIG. 14A when the force F2 is not applied.

As described above, the handle portion 162 extends in a direction perpendicular to the direction of the force pushing the handle portion 162 forward of the electric assist vehicle 2 and the direction of the force pulling rearward of the electric assist vehicle 2. The pipe 103 has outer sleeves 104 </ b> L and 104 </ b> R attached to a part of the outer peripheral surface of the pipe 103. The handle portion 162 is provided between the pipe 103 and the outer sleeve 104L. The spring switch 105L is provided between the pipe 103 and the outer sleeve 104R for detecting the pushing force. And a spring switch 105R for detecting the pressing force. Further, the handle portion 162 is provided between the pipe 103 and the outer sleeve 104L, and is provided between the pipe 103 and the outer sleeve 104R. A spring switch 106R for detecting a pulling force.

The handle portion 162 may be configured such that the entire outer peripheral surface of the pipe 103 is covered by the outer sleeve 104L and the outer sleeve 104R.

<C2. Assist power>
(C1. Assisting force in forward and reverse directions)
FIG. 15 is a diagram for explaining the forward / backward assist force generated based on the operation of the electric assist vehicle 2. FIGS. 15A, 15B, and 15C are diagrams for explaining an operation method for generating an assist force in the forward direction. FIGS. 15D, 15E, and 15F are diagrams for explaining an operation method for generating the assist force in the backward direction.

Referring to FIG. 15 (A), when the user grasps outer sleeve 104L and applies force F1 in the forward direction (that is, force to push handle portion 162L) to handle portion 162L, the control device 302 controls the motors 41 and 42 constituting the drive device 40 to generate an assist force in the forward direction. Accordingly, the user can obtain an assist force in the forward direction by applying a pressing force (forward force) to the outer sleeve 104L.

Referring to FIG. 15 (B), when the user grips outer sleeve 104R and applies force F1 in the forward direction (that is, force that pushes handle portion 162R) to handle portion 162R, the control device 302 controls the motors 41 and 42 constituting the drive device 40 to generate an assist force in the forward direction. Accordingly, the user can obtain an assist force in the forward direction by applying a pressing force (forward force) to the outer sleeve 104R.

Referring to FIG. 15C, control device 302 is driven even when force F1 in the forward direction (that is, force that pushes handle portions 162L, 162R) is applied to handle portions 162L, 162R. Control for generating assist force in the forward direction is performed on the motors 41 and 42 constituting the device 40.

When the electric assist vehicle 2 moves forward by the above-described operations, if the reverse direction force F2 acts on at least one of the handle portions 162L and 162R, the control device 302 brakes the electric assist vehicle 2. Control to cause the motors 41 and 42 to generate a force (braking force) to be performed is performed.

Referring to FIG. 15D, when the user grips outer sleeve 104L and applies a force F2 in the backward direction to grip part 162L (that is, a force that pulls handle part 162L), the control device 302 controls the motors 41 and 42 constituting the driving device 40 to generate an assist force in the reverse direction. As a result, the user can obtain the assist force in the reverse direction by applying a force (rearward force) applied to the outer sleeve 104L.

Referring to FIG. 15E, when the user grips outer sleeve 104R and applies a force F2 in the reverse direction to grip part 162R (that is, a force that pulls grip part 162R), the control device 302 controls the motors 41 and 42 constituting the driving device 40 to generate an assist force in the reverse direction. As a result, the user can obtain the assist force in the reverse direction by applying a force (rearward force) applied to the outer sleeve 104R.

Referring to FIG. 15 (F), control device 302 is driven even when reverse direction force F2 (that is, force that pulls handle portions 162L and 162R) is applied to handle portions 162L and 162R. Control for generating assist force in the reverse direction is performed on the motors 41 and 42 constituting the device 40.

When the electric assist vehicle 2 is moving backward by the above-described operations, if the forward force F1 is applied to at least one of the handle portions 162L and 162R, the control device 302 brakes the electric assist vehicle 2. Control to cause the motors 41 and 42 to generate a force (braking force) to be performed is performed.

When neither the forward force F1 nor the reverse force F2 is applied to the handle portion 162L and the handle portion 162R (that is, the user does not hold both outer sleeves 104L, 104R). ), The control device 302 performs control to cause the motors 41 and 42 to generate a force that keeps the electric assist vehicle 2 stopped.

(C2. Assist force in left turn direction and right turn direction)
FIG. 16 is a diagram for explaining a turning assist force generated based on an operation of the electric assist vehicle 2. FIG. 16A is a diagram for explaining an operation method for generating an assist force in the left-turning direction. FIG. 16B is a diagram for describing an operation method for generating an assist force in the right turn direction.

Referring to FIG. 16A, the user grasps the outer sleeves 104L and 104R and applies a force F2 in the reverse direction to the handle portion 162L (that is, a force that pulls the handle portion 162L). When a forward force F1 (that is, a force pushing the handle portion 162R) is applied to the handle portion 162R, the control device 302 turns leftward with respect to the motors 41 and 42 constituting the drive device 40. Control to generate direction assist force. Typically, the control device 302 is electrically driven by making the assist force in the forward direction of the motor 41 that drives the left rear wheel 51 weaker than the assist force in the forward direction of the motor 42 that drives the right rear wheel 52. Turn the assist vehicle 2 to the left.

With reference to FIG. 16 (B), the user grasps the outer sleeves 104L and 104R and applies a forward force F1 (that is, a force pushing the handle portion 162L) to the handle portion 162L. When a reverse force F2 (that is, a force that pulls the handle portion 162R) is applied to the handle portion 162R, the control device 302 turns the motor 41, 42 constituting the drive device 40 clockwise. Control to generate rotational assist force. Typically, the control device 302 is electrically driven by increasing the assist force in the forward direction of the motor 41 that drives the left rear wheel 51 to be greater than the assist force in the forward direction of the motor 42 that drives the right rear wheel 52. Turn the assist vehicle 2 to the right.

<D2. Hardware configuration>
FIG. 17 is a block diagram showing a part of the hardware configuration of the electric assist vehicle 2. Referring to FIG. 17, the electric assist vehicle 2 includes an operation handle 60, a battery 301, a control device 302, a drive device 40, a left rear wheel 51, and a right rear wheel 52. As described above, the operation handle 60 includes the spring switches 105L, 105R, 106L, and 106R. The control device 302 has a CPU 321 and a memory 322. The drive device 40 includes a motor 41 and a motor 42.

The battery 301 supplies power to 105L, 105R, 106L, and 106R, the CPU 321, the memory 322, and the motors 41 and 42.

The memory 322 stores an OS (Operating System) and a program for controlling the electric assist vehicle 2 in advance. The CPU 321 controls the rotational force of the motors 41 and 42 by executing the program based on the detection results by the spring switches 105 and 106. That is, the CPU 321 controls the generation and stop of the assist force and the strength of the assist force described above.

<E2. Functional configuration>
FIG. 18 is a block diagram for explaining a functional configuration of the electric assist vehicle 2. Referring to FIG. 18, the electrically assisted vehicle 2 includes a power supply unit 161 corresponding to the battery 301, a handle unit 162, a control unit 163 corresponding to the control device 302, and a drive unit 164 corresponding to the drive device 40. It has.

The handle unit 162 includes detection units 1626, 1627, 1628, and 1629. The detection unit 1626 corresponds to the spring switch 105L. The detection unit 1627 corresponds to the spring switch 106L. The detection unit 1628 corresponds to the spring switch 105R. The detection unit 1629 corresponds to the spring switch 106R. Note that the handle portion 162 includes a handle portion 162L and a handle portion 162R. The handle portion 162 </ b> L includes detection units 1626 and 1627. The handle portion 162 </ b> R includes detection units 1628 and 1629.

The driving unit 164 includes a rear wheel driving unit 1641 that drives the left rear wheel 51 and a rear wheel driving unit 1642 that drives the right rear wheel 51. The rear wheel drive unit 1641 corresponds to the motor 41. The rear wheel drive unit 1642 corresponds to the motor 42. Control unit 163 includes a drive control unit 1631 for controlling rear wheel drive unit 1641 and a drive control unit 1632 for controlling rear wheel drive unit 1642. The power supply unit 161 supplies power to the detection units 1626, 1627, 1628, and 1629, the control unit 163, and the drive unit 164.

The control unit 163 controls the entire operation of the electric assist vehicle 2. The control unit 163 is configured to assist the force according to the force pushing the handle 162 toward the front of the electric assist vehicle 2 and the force pulling the handle 162 toward the rear of the electric assist vehicle 2 (that is, forward, rear, The assisting force in the left turning direction or the right turning direction) is generated in the drive unit 154. The details are as follows.

The drive control unit 1631 of the control unit 163 controls the left rear wheel drive unit 1641 based on the detection results from the detection units 1626 to 1629. Thereby, the electric assist vehicle 2 can rotate the left rear wheel 51 by the assist force according to the detection result.

The drive control unit 1632 of the control unit 163 controls the right rear wheel drive unit 1642 based on the detection results from the detection units 1626 to 1629. Thereby, the electric assist vehicle 2 can rotate the right rear wheel 52 with the assist force according to the detection result.

As described above, in the present embodiment, the outer sleeve is attached to the pipe 103 in a state where it is separated into the outer sleeve 104L for the right hand and the outer sleeve 104R for the left hand. In the present embodiment, the detection unit for detecting the force applied to the handle portion 162 by the user in order to advance the electric assist vehicle 2 is a detection provided between the pipe 103 and the outer sleeve 104L. A portion 1626 (spring switch 105L) and a detection portion 1628 (spring switch 105R) provided between the pipe 103 and the outer sleeve 104R are configured. Further, a detection unit for detecting a force applied to the handle portion 162 by the user to move the electric assist vehicle 2 backward is a detection unit 1627 (spring switch 106L) provided between the pipe 103 and the outer sleeve 104L. ) And a detection portion 1629 (spring switch 106R) provided between the pipe 103 and the outer sleeve 104R.

<F2. Control structure>
FIG. 19 is a flowchart for explaining the first half of the process executed in the electric assist vehicle 2. FIG. 20 is a flowchart for explaining the latter half of the process executed by the electric assist vehicle 2. More specifically, FIGS. 19 and 20 relate to the generation of the assist force for forward, reverse, left turn, and right turn described above with reference to FIGS. 15 and 16, and the stop of the generated assist force. .

Referring to FIG. 19, in step S102, the CPU 321 determines whether or not the spring switch 105L has detected a force for pushing the handle portion 162L of the operation handle 60. Specifically, the CPU 321 determines whether or not the spring switch 105L has been turned on. When it is determined that it has been detected (YES in step S102), the CPU 321 determines in step S104 whether or not the spring switch 106R has detected a force for pulling the handle portion 162R of the operation handle 60. Specifically, the CPU 321 determines whether or not the spring switch 106R has been turned on.

If it is determined that a force pushing the handle portion 162R is detected (YES in step S104), the CPU 321 performs control to cause the motors 41 and 42 to generate an assist force for turning right in step S106. When it is determined that the force for pushing the handle portion 162R is not detected (NO in step S104), the CPU 321 performs control for causing the motors 41 and 42 to generate forward assist force in step S108.

When it is determined that the force for pushing the handle portion 162L is not detected (NO in step S102), the CPU 321 determines in step S110 whether the force for pushing the handle portion 162R is detected by the spring switch 105R. to decide. Specifically, the CPU 321 determines whether or not the spring switch 105R has been turned on. If it is determined that a force pushing the handle portion 162R is detected (YES in step S110), the CPU 321 determines whether or not a force pulling the handle portion 162L is detected by the spring switch 106L in step S112. . Specifically, the CPU 321 determines whether or not the spring switch 106L has been turned on.

When a force to pull the handle portion 162L is detected (YES in step S112), the CPU 321 performs control for causing the motors 41 and 42 to generate an assist force for turning left in step S114. When the force to pull the handle portion 162L is not detected (NO in step S112), the CPU 321 advances the process to step S108 and performs control to cause the motors 41 and 42 to generate forward assist force.

If it is determined that the force pushing the handle portion 162R has not been detected (NO in step S110), the CPU 321 determines in step S116 whether or not the spring switch 106R has detected a force for pulling the handle portion 162R. to decide. Specifically, the CPU 321 determines whether or not the spring switch 106R has been turned on. If it is determined that the force to pull the handle portion 162R has been detected (YES in step S116), the CPU 321 performs control to cause the motors 41 and 42 to generate the assist force for backward travel in step S118.

If it is determined that the force to pull the handle portion 162R is not detected (NO in step S116), the CPU 321 determines in step S120 whether the force to pull the handle portion 162L is detected by the spring switch 106L. to decide. Specifically, the CPU 321 determines whether or not the spring switch 106L has been turned on. If a force that pulls the handle portion 162L is detected (YES in step S120), the CPU 321 advances the process to step S118, and performs control to cause the motors 41 and 42 to generate backward assist force. When the force to pull the handle portion 162L is not detected (YES in step S120), the CPU 321 ends the series of processes (see FIG. 20).

Referring to FIG. 20, after step S <b> 106, CPU 321 determines in step S <b> 122 whether a force (that is, a force for pushing handle part 162 </ b> L and a force for pulling handle part 162 </ b> R) is not detected. To do. That is, the CPU 321 determines whether all the spring switches 105L, 105R, 106L, and 106R have been turned off. If it is determined that the force is no longer detected (YES in step S122), CPU 321 performs control to stop the generation of the assist force for turning right in step S124. When it is determined that the force is detected (NO in step S122), CPU 321 continues to generate the assist force for turning right (step S106).

The CPU 321 determines whether or not the force (that is, the force that pushes the handle portion 162) is no longer detected in Step S126 after the process of Step S108. That is, the CPU 321 determines whether all the spring switches 105L, 105R, 106L, and 106R have been turned off. If it is determined that the force is no longer detected (YES in step S126), CPU 321 performs control to stop the generation of the advance assist force in step S128. If it is determined that the force is detected (NO in step S126), CPU 321 continues to generate the forward assist force (step S108).

After step S114, the CPU 321 determines whether or not the force (that is, the force that pushes the handle portion 162R and the force that pulls the handle portion 162L) is not detected in step S130. That is, the CPU 321 determines whether all the spring switches 105L, 105R, 106L, and 106R have been turned off. When it is determined that the force is no longer detected (YES in step S130), in step S132, CPU 321 performs control for stopping the generation of the assist force for turning left. If it is determined that the force is detected (NO in step S130), CPU 321 continues to generate the assist force for turning left (step S114).

After step S118, the CPU 321 determines whether or not a force (that is, a force that pulls the handle portion 162R or a force that pulls the handle portion 162L) is not detected in step S134. That is, the CPU 321 determines whether all the spring switches 105L, 105R, 106L, and 106R have been turned off. When it is determined that the force is no longer detected (YES in step S134), the CPU 321 performs control to stop the generation of the backward assist force in step S136. When it is determined that the force is detected (NO in step S134), CPU 321 continues to generate the assist force for reverse travel (step S118).

<G2. Advantage>
According to the electric assist vehicle 2, in addition to the advantages (effects) obtained by the electric assist vehicle 1 according to the first embodiment, the following advantages can be obtained. That is, since the handle portion 162L and the handle portion 162R are independent, more complicated operation setting is possible as compared with the configuration having one handle portion (configuration in the first embodiment). For example, as described with reference to FIGS. 16A and 16B, it is possible to generate a turning assist force by a method in line with the user's intuition.

<H2. Modification>
(H1. First modification)
When the operations shown in FIGS. 15D, 15 </ b> E, and 15 </ b> F are performed, the CPU 321 uses the rear wheels 51 and 52 instead of causing the motors 41 and 42 to generate the reverse drive force. It is good also as a state (free state) where a user can rotate freely.

(H2. Second modification)
FIG. 21 is a diagram for explaining an operation example different from the operation example of the electric assist vehicle 2 described based on FIGS. 15 and 16. FIG. 21A is a diagram for explaining an operation method for generating an assist force in the forward direction. FIG. 21B is a diagram for explaining an operation method for generating the assist force in the backward direction. FIGS. 21C and 21D are diagrams for explaining an operation method for generating an assist force in the left-turning direction. FIGS. 21E and 21F are diagrams for explaining an operation method for generating an assist force in the right turn direction.

Referring to FIG. 21A, when a forward force F1 (that is, a force pushing the handle portions 162L, 162R) is applied to the handle portions 162L, 162R, the control device 302 causes the drive device 40 to move. Control for generating an assist force in the forward direction is performed on the motors 41 and 42 constituting the motor.

Referring to FIG. 21 (B), when a force F2 in the backward direction (that is, a force that pulls the handle portions 162L, 162R) is applied to the handle portions 162L, 162R, the control device 302 causes the drive device 40 to Control for generating assist force in the reverse direction is performed on the motors 41 and 42 constituting the motor.

Referring to FIG. 21C, when force F1 in the forward direction (that is, a force that pushes only handle portion 162R) is applied only to handle portion 162R, control device 302 causes drive device 40 to move. Control is performed to generate assist force in the left-turning direction for the motors 41 and 42 that constitute the motor.

Referring to FIG. 21D, a force F2 in the backward direction (that is, a force for pulling the handle portion 162L) is applied to the handle portion 162L, and a force in the forward direction is applied to the handle portion 162R. When F <b> 1 (that is, a force that pushes the handle portion 162 </ b> R) is applied, the control device 302 controls the motors 41 and 42 that constitute the drive device 40 to generate an assist force in the left-turning direction. Note that this control is the same as the control described with reference to FIG.

Referring to FIG. 21E, when a forward force F1 (that is, a force that pushes only the handle portion 162L) is applied only to the handle portion 162L, the control device 302 causes the drive device 40 to move. Control is performed to generate assist force in the right turning direction with respect to the motors 41 and 42 that constitute the motor.

Referring to FIG. 21F, a forward force F1 (that is, a force pushing the handle portion 162L) is applied to the handle portion 162L, and a reverse force is applied to the handle portion 162R. When F <b> 2 (that is, a force that pulls the handle portion 162 </ b> R) is applied, the control device 302 controls the motors 41 and 42 that constitute the drive device 40 to generate an assist force in the right turn direction. . Note that this control is the same as the control described with reference to FIG.

Even with the electric assist vehicle 2 having the above-described configuration, it is possible to realize control according to the user's intention.

When the operation shown in FIG. 21B is performed, the CPU 321 causes the user to freely rotate the rear wheels 51 and 52 instead of causing the motors 41 and 42 to generate the reverse drive force. It is good also as a state (free state) which can be performed.

Further, the electric assist vehicle 2 is configured such that the assist force in the left turn direction is generated by only one of the operation shown in FIG. 21C and the operation shown in FIG. Also good. Similarly, the electric assist vehicle 2 is configured so that the assist force in the right turn direction is generated by only one of the operation shown in FIG. 21E and the operation shown in FIG. May be.

(H3. Third modification)
The first to fifth modifications described in “<H1. Modification>” of the first embodiment can also be applied to this embodiment.

The embodiment disclosed this time is an example, and is not limited to the above contents. The scope of the present invention is defined by the terms of the claims, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1, 2 Electric assist vehicle 10, 10A, 10B, 10C, 10D, 60 Operation handle, 20 cargo bed, 30 underfloor box, 40 drive unit, 41, 42 motor, 51, 52 rear wheel, 53, 54 front wheel, 101, 102, 103 pipe, 104, 104B, 104L, 104R outer sleeve, 104D member, 105, 105L, 105R, 106, 106L, 106R, 110 spring switch, 107, 119 cushion member, 108, 109 pressure sensor, 111 spacer, 151 , 161 power supply unit, 152, 152A, 162, 162L, 162R handle part, 153, 163 control unit, 154, 164 drive unit, 190 spring, 301 battery, 302 control device, 322 memory, 1521, 1522, 162 , 1627,1628,1629 detection unit, 1631 and 1632 drive controller, 1641,1642 rear wheel drive.

Claims (6)

1. An electric assist vehicle,
   A drive unit for driving wheels of the electric assist vehicle;
   A handle part that a user of the electric assist vehicle grips to move the electric assist vehicle;
   An assist force corresponding to at least one of a force pushing the handle portion toward the front of the electric assist vehicle and a force pulling the handle portion toward the rear of the electric assist vehicle is generated at the drive portion. A control unit,
   The handle portion is
   A first member extending in a direction perpendicular to the direction of the pushing force and the direction of the pulling force;
   A second member attached to all or part of the outer peripheral surface of the first member;
   An electric assist vehicle including a detection unit provided between the first member and the second member for detecting the at least one force.
2. The detection unit includes a first detection unit provided in front of the electric assist vehicle with respect to the first member, and a second detection unit provided behind the electric assist vehicle with respect to the first member. And a detection unit of
   The first detection unit detects one predetermined force out of the pushing force and the pulling force,
   The second detection unit detects the other force different from the one force among the pushing force and the pulling force,
   2. The electric assist vehicle according to claim 1, wherein the control unit causes the drive unit to generate an assist force corresponding to a detected force among the one force and the other force.
3. The electric assist vehicle according to claim 1 or 2, wherein the detection unit is a spring switch.
4. The electric assist vehicle according to claim 1 or 2, wherein the detection unit is a pressure sensor.
5. The second member is attached to the first member in a state separated into a left hand member and a right hand member,
   The first detection unit is provided between a first left-hand detection unit provided between the first member and the left-hand member, and between the first member and the right-hand member. The first right-hand detection unit
   The second detector is provided between the first member and the left-hand member, and between the first member and the right-hand member. The electrically assisted vehicle according to claim 2, comprising the second right-hand detection unit.
6. The controller is
   When a force pushing the handle portion is detected, an assist force for advancing the electric assist vehicle is generated in the drive unit,
   The electric assist vehicle according to any one of claims 1 to 5, wherein when a force for pulling the handle portion is detected, an assist force for causing the electric assist vehicle to move backward is generated in the drive unit. .

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