WO2017068621A1 - 補助動力付き電動車椅子、補助動力付き電動車椅子の制御方法 - Google Patents
補助動力付き電動車椅子、補助動力付き電動車椅子の制御方法 Download PDFInfo
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- WO2017068621A1 WO2017068621A1 PCT/JP2015/079433 JP2015079433W WO2017068621A1 WO 2017068621 A1 WO2017068621 A1 WO 2017068621A1 JP 2015079433 W JP2015079433 W JP 2015079433W WO 2017068621 A1 WO2017068621 A1 WO 2017068621A1
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- 230000036962 time dependent Effects 0.000 description 28
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- 238000013016 damping Methods 0.000 description 1
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- 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
-
- 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
- A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
-
- 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
- A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
- A61G5/024—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular operating means
-
- 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
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/1008—Wheelchairs having brakes for gradually slowing down the wheelchair
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
-
- 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
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
-
- 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
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
- B60W2422/70—Indexing codes relating to the special location or mounting of sensors on the wheel or the tire
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Health & Medical Sciences (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
13L、13R…ハンドリム
15L、15R…駆動モーター
21L、21R…車輪
4L、4R…トルクセンサー
8…制御装置
80L、80R…コントローラー
Rt…時間依存変換規則
Rs…速度依存変換規則
Claims (11)
- ハンドリムと、
前記ハンドリムに加えられたトルクを受けて回転する車輪と、
前記ハンドリムに加えられたトルクに応じた補助動力を前記車輪に加える駆動制御部と
を備え、
前記駆動制御部は、前記車輪の回転方向の逆方向に働くブレーキトルクを前記車輪に加えるブレーキモードを実行することで、前記ハンドリムに加えられたトルクが無い状態で回転する前記車輪の回転を減速させる補助動力付き電動車椅子。 - 前記駆動制御部は、前記ハンドリムに加えられていたトルクが消失した時点以後に前記ブレーキモードを実行して、前記ハンドリムに加えられていたトルクが消失した時点以後における前記車輪の回転を減速させる請求項1に記載の補助動力付き電動車椅子。
- 前記駆動制御部は、前記ハンドリムに加えられるトルクを検出するトルクセンサーを有し、前記トルクセンサーにより前記ハンドリムに加えられていたトルクの消失を検出してから前記ブレーキモードを実行する請求項2に記載の補助動力付き電動車椅子。
- 2個の前記車輪に応じて設けられた2個の前記ハンドリムの両方へ加えられていたトルクが消失した時点以後に前記ブレーキモードを前記各車輪に対して実行する請求項2または3に記載の補助動力付き電動車椅子。
- 前記駆動制御部は、前記ハンドリムに加えられていたトルクが消失した後の時間の経過に伴って前記ブレーキトルクを増加させる第1変換規則に基づき決定した前記ブレーキトルクを、前記ブレーキモードにおいて前記車輪に加える請求項1ないし4のいずれか一項に記載の補助動力付き電動車椅子。
- 前記駆動制御部は、前記車輪の速度の増大に応じて前記ブレーキトルクを増大させる第2変換規則に基づき決定した前記ブレーキトルクを、前記ブレーキモードにおいて前記車輪に加える請求項1ないし5のいずれか一項に記載の補助動力付き電動車椅子。
- 前記駆動制御部は、前記ブレーキモードにおいて、前記ブレーキトルクの前記車輪への印加が開始した時点から時間の経過に伴って前記ブレーキトルクを増大させる請求項1ないし6のいずれか一項に記載の補助動力付き電動車椅子。
- 前記駆動制御部は、前記ブレーキモードにおいて、前記車輪の回転速度の減少に伴って前記ブレーキトルクを減少させる請求項1ないし7のいずれか一項に記載の補助動力付き電動車椅子。
- 前記駆動制御部は、前記ブレーキモードにおいて、前記車輪の回転が停止する時点以前に前記ブレーキトルクをゼロにする請求項8に記載の補助動力付き電動車椅子。
- 前記駆動制御部は、前記補助動力を前記車輪に加えるモーターを有し、前記ブレーキモードでは前記モーターに前記ブレーキトルクを発生させる請求項1ないし9のいずれか一項に記載の補助動力付き電動車椅子。
- ハンドリムと、前記ハンドリムに加えられたトルクを受けて回転する車輪とを備える補助動力付き電動車椅子の前記ハンドリムに加えられたトルクに応じた補助動力を前記車輪に加える工程と、
前記車輪の回転方向の逆方向に働くブレーキトルクを前記車輪に加えるブレーキモードを実行することで、前記ハンドリムに加えられたトルクが無い状態で回転する前記車輪の回転を減速させる工程と
を備える補助動力付き電動車椅子の制御方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP15906629.9A EP3366267B1 (en) | 2015-10-19 | 2015-10-19 | Electric wheelchair with auxiliary power, and method for controlling electric wheelchair with auxiliary power |
US15/767,662 US10285881B2 (en) | 2015-10-19 | 2015-10-19 | Electrically power assisted wheelchair and method of controlling electrically power assisted wheelchair |
PCT/JP2015/079433 WO2017068621A1 (ja) | 2015-10-19 | 2015-10-19 | 補助動力付き電動車椅子、補助動力付き電動車椅子の制御方法 |
JP2017546287A JP6535100B2 (ja) | 2015-10-19 | 2015-10-19 | 補助動力付き電動車椅子、補助動力付き電動車椅子の制御方法 |
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PCT/JP2015/079433 WO2017068621A1 (ja) | 2015-10-19 | 2015-10-19 | 補助動力付き電動車椅子、補助動力付き電動車椅子の制御方法 |
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WO2017068621A1 true WO2017068621A1 (ja) | 2017-04-27 |
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US (1) | US10285881B2 (ja) |
EP (1) | EP3366267B1 (ja) |
JP (1) | JP6535100B2 (ja) |
WO (1) | WO2017068621A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019053859A1 (ja) * | 2017-09-14 | 2019-03-21 | ヤマハ発動機株式会社 | 電動アシスト車いす、車いす用電動アシストユニット、電動アシスト車いすの制御装置、電動アシスト車いすの制御方法、プログラム、及び端末 |
US11432977B2 (en) * | 2017-06-26 | 2022-09-06 | Yamaha Hatsudoki Kabushiki Kaisha | Power assist wheelchair, power assist unit for wheelchair, control device for power assist wheelchair, control method for power assist wheelchair, and program |
WO2022249406A1 (ja) * | 2021-05-27 | 2022-12-01 | 日本電信電話株式会社 | 状態判定装置、状態判定方法、及びプログラム |
Families Citing this family (2)
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JP2022138312A (ja) * | 2021-03-10 | 2022-09-26 | ヤマハ発動機株式会社 | 電動アシスト車椅子、駆動ユニット、制御方法およびコンピュータプログラム |
CN117597098A (zh) | 2021-06-29 | 2024-02-23 | 游戏改变者技术有限公司 | 轮椅推进系统 |
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2015
- 2015-10-19 WO PCT/JP2015/079433 patent/WO2017068621A1/ja active Application Filing
- 2015-10-19 JP JP2017546287A patent/JP6535100B2/ja active Active
- 2015-10-19 EP EP15906629.9A patent/EP3366267B1/en active Active
- 2015-10-19 US US15/767,662 patent/US10285881B2/en active Active
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JP2000042045A (ja) * | 1998-08-03 | 2000-02-15 | Nabco Ltd | 電動車両の制御装置 |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11432977B2 (en) * | 2017-06-26 | 2022-09-06 | Yamaha Hatsudoki Kabushiki Kaisha | Power assist wheelchair, power assist unit for wheelchair, control device for power assist wheelchair, control method for power assist wheelchair, and program |
WO2019053859A1 (ja) * | 2017-09-14 | 2019-03-21 | ヤマハ発動機株式会社 | 電動アシスト車いす、車いす用電動アシストユニット、電動アシスト車いすの制御装置、電動アシスト車いすの制御方法、プログラム、及び端末 |
JPWO2019053859A1 (ja) * | 2017-09-14 | 2020-07-02 | ヤマハ発動機株式会社 | 電動アシスト車いす、車いす用電動アシストユニット、電動アシスト車いすの制御装置、電動アシスト車いすの制御方法、プログラム、及び端末 |
AU2017431553B2 (en) * | 2017-09-14 | 2021-07-08 | Yamaha Hatsudoki Kabushiki Kaisha | Power assist wheelchair, power assist unit for wheelchair, control device for power assist wheelchair, control method for power assist wheelchair, program, and terminal |
US11304862B2 (en) | 2017-09-14 | 2022-04-19 | Yamaha Hatsudoki Kabushiki Kaisha | Power assist wheelchair, power assist unit for wheelchair, control device for power assist wheelchair, control method for power assist wheelchair, program, and terminal |
WO2022249406A1 (ja) * | 2021-05-27 | 2022-12-01 | 日本電信電話株式会社 | 状態判定装置、状態判定方法、及びプログラム |
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Publication number | Publication date |
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US20180271725A1 (en) | 2018-09-27 |
US10285881B2 (en) | 2019-05-14 |
JP6535100B2 (ja) | 2019-06-26 |
EP3366267A4 (en) | 2018-10-31 |
EP3366267A1 (en) | 2018-08-29 |
JPWO2017068621A1 (ja) | 2018-06-14 |
EP3366267B1 (en) | 2022-04-13 |
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