EP3205322B1 - Electric vehicle - Google Patents
Electric vehicle Download PDFInfo
- Publication number
- EP3205322B1 EP3205322B1 EP17156208.5A EP17156208A EP3205322B1 EP 3205322 B1 EP3205322 B1 EP 3205322B1 EP 17156208 A EP17156208 A EP 17156208A EP 3205322 B1 EP3205322 B1 EP 3205322B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- rollator
- assisted
- power
- control unit
- user
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 description 31
- 230000007246 mechanism Effects 0.000 description 12
- 238000001514 detection method Methods 0.000 description 9
- 230000009467 reduction Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000002265 prevention Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000006735 deficit Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000002567 electromyography Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/001—Appliances for aiding patients or disabled persons to walk about on steps or stairways
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5079—Velocity sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration sensors
Definitions
- the present invention relates to an electric vehicle configured to assist elderly people, disabled people, patients and others with a gait impairment in walking.
- Patent Literature 1 disclosed a walking aid device which can be easily operated by a user to travel straight or turn.
- the walking aid device (the electric vehicle) disclosed in Patent Literature 1 includes a frame body having a handle portion to be held by a user, more than one wheel provided on the right and left sides of the frame body, more than one driving motor that drives each wheel rotatably, and a controller that detects a counter electromotive force generated at the driving motor and then controls the driving motor based on the detected counter electromotive force.
- prior art document WO A 2015/041128 discloses a power-assisted rollator according to the preamble of claim 1.
- Patent Literature 1 Japanese Patent Application Publication No. 2009-183407 .
- a front wheel striking a low step can run onto the step with an assist force from the driving motor for normal traveling.
- the front wheel cannot run onto a high step with only the assist force from the driving motor for normal traveling.
- a user is required to apply a force downward to the handle of the walking aid device to lift the front wheel relative to the rear wheel such that the front wheel can run onto the step.
- this operation causes a large load to users with a gait impairment.
- One object of the present invention is to provide an electric vehicle in which a front wheel can run onto a step without need of an operation causing a large load to users.
- the present invention is directed to a power-assisted rollator and a method of controlling a power-assisted rollator according to claim 1 and 14, respectively. Subsidiary aspects of the invention are provided in the dependent claims.
- a front wheel can be lifted relative to a rear wheel and run onto a step without need of an operation causing a large load to users.
- Figs. 1 and 2 show an electric rollator (hereunder referred to as a power-assisted rollator) as an example of an electric vehicle.
- Fig. 1 is a schematic perspective view of an example of an external appearance of a power-assisted rollator 10 according to the first embodiment.
- Fig. 2 is a side view of the power-assisted rollator 10 shown in Fig. 1 .
- the power-assisted rollator 10 may include a frame 11, a pair of front wheels 12 and a pair of rear wheels 13 provided on the frame 11, and a pair of handles (operation units) 14 connected to the frame 11. Each of the handles 14 may be provided with a hand brake 15 for manually stopping the power-assisted rollator 10.
- Each of the pair of rear wheels 13 may be provided with a motor 20 for assisting the movement of the corresponding rear wheel 13.
- the control unit 16 may have a speed sensor 22.
- the frame 11 may include a left-right pair of pipe frames 31, and a coupling frame 32 that couples the pair of pipe frames 31 together in a lateral direction.
- Both of the pair of front wheels 12 may be configured to wheel in a front-rear direction and also rotate about vertical axes.
- the rear wheels 13 may be configured to wheel in the front-rear direction. Accordingly, the power-assisted rollator 10 can be easily moved forward and backward, and moreover, can be easily operated in a left-right direction or easily turned around.
- brake shoes 33 capable of mechanical contact.
- the brake shoes 33 may be coupled to brake levers 34 of the hand brakes 15 with wires. Therefore, when the user manually operates the brake levers 34, the brake shoes 33 may operate to brake the rear wheels 13.
- the mechanical brakes are not limited to above configuration, but any mechanical brakes can be used.
- a fall prevention member 36 may be provided on the rear end of each of the left and right pipe frames 31.
- the fall prevention member 36 is configured to prevent the power-assisted rollator 10 from being toppled in the rear direction when the pair of front wheel 12 is lifted off the ground.
- a pair of handles 14 On the upper ends of the left and right pipe frames 31, there may be provided a pair of handles 14.
- the pair of handles 14 may be gripped by the hands of the user.
- Each of the pair of handles 14 may include a pole 41.
- the poles 41 may each have a grip 42 provided thereon.
- the poles 41 may each have a brake lever 34 provided thereon. It may also be possible to configure the handles 14 in a different manner.
- a bar handle may be provided so as to extend horizontally and connect the left and right pipe frames 31, and the bar handle may be provided with grips 42 serving as the left and right handles 14.
- the motors 20 may be any motors such as servomotors, stepper motors, AC motors, and DC motors. Moreover, a reducer can be integrated with the motors.
- the motors 20 may assist the rear wheels 13 in operation by driving the rear wheels 13 forward for traveling. In the embodiment, the motors 20 may also serve as drive units for lifting the front wheels 12 relative to the rear wheels 13. The motors 20 may produce a driving force for applying a moment to the power-assisted rollator 10 in such a direction as to lift the front wheels 12.
- the motors 20 may also function as dynamic brakes.
- the motors 20 may further serve as brake units for braking the rear wheels 13.
- the motors 20 may serve as power generators while braking the rear wheels 13 with resistance forces thereof.
- the motors 20 may be used as reverse brakes in which the motors 20 drive reversely.
- the brake units for braking the rear wheels 13 are provided separately from the motors 20.
- Such brake units may be electromagnetic brakes, mechanical brakes, etc.
- the left and right motors 20 may be controlled as one unit by the control unit 16, or the left and right motors 20 may be controlled independently from each other.
- the motors 20 may be connected to the rear wheels 13, but it may also be possible that the motors 20 are connected to all of the pair of front wheels 12 and the pair of rear wheels 13.
- the control unit 16 may control the entirety of the power-assisted rollator 10 including the motors 20.
- the control unit 16 may be provided adjacent to the battery 21. The control by the control unit 16 will be described later.
- the speed sensor 22 may sense the number of rotations or the speed of the rear wheels 13 and send signals representing the number of rotations or the speed to the control unit 16.
- the speed sensor 22 may be disposed adjacent to the control unit 16. It may also be possible that the speed sensor 22 is installed in the pair of rear wheels 13 of the power-assisted rollator 10. Alternatively, it may also be possible that the speed sensor 22 is provided in only the pair of front wheels 12 or in all of the pair of front wheels 12 and the pair of rear wheels 13.
- the speed sensor 22 may calculate the number of rotation or the speed of the wheels or the speed of the power-assisted rollator 10 using a hall element included in the motors 20.
- the number of rotations or the speed of the wheels or the speed of the power-assisted rollator 10 may be calculated from the counter electromotive force.
- the number of rotations or the speed of the wheels or the speed of the power-assisted rollator 10 may be calculated from the angular velocities.
- the speed sensor 22 may be installed in any of the components such as the frame 11 and the pair of handles 14, in addition to the pair of the front wheels 12 and the pair of the rear wheels 13. If the speed sensor includes an acceleration sensor, the speed may be calculated by integrating acceleration components. If the speed sensor includes a global positioning system (GPS), the speed may be calculated by differentiating location information.
- GPS global positioning system
- the inclination sensor 23 may sense the inclination of the power-assisted rollator 10, or sense, for example, whether the power-assisted rollator 10 is on a flat surface or on an inclined surface, and may send to the control unit 16 a signal related to the inclination of the power-assisted rollator 10.
- the inclination sensor 23 may be provided in the upper portion of the power-assisted rollator 10, for example, in the pair of handles 14. Alternatively the inclination sensor 23 may be provided in the lower portion of the power-assisted rollator 10. However, if the inclination sensor 23 is provided in the upper portion, it may be possible to sense the attitude of the power-assisted rollator 10 more accurately as compared to the case where the inclination sensor 23 is provided in the lower portion.
- the inclination sensor 23 may be a gyro sensor.
- the attitude of the power-assisted rollator 10 may be sensed by an acceleration sensor.
- Fig. 3 is a schematic view of an example of the leg detection sensor 25.
- the leg detection sensor 25 may be mounted on the coupling frame 32.
- the leg detection sensor 25 may be an image sensor, an infrared sensor, or the like.
- the leg detection sensor 25 can detect behavior of a user's leg by measuring a distance from a foot of the user of the power-assisted rollator 10.
- the leg detection sensor 25 shown in Fig. 3 may determine whether the user's leg in the area AR is moving or stays still, or whether it is moving away or closer, or whether or not it is turned around since the user is about to sit on a seat 37.
- Figs. 4 and 5 are schematic views of the grip sensor 24.
- the grip sensor 24 for sensing the operation force (the grip force) of the user to manually push or pull the power-assisted rollator 10. Displacement of the grip sensors 24 in the pushing and/or pulling direction with respect to the poles 41 may be restricted by an elastic member such as a spring (not shown).
- the grip sensor 24 may further include a potentiometer to detect the displacement.
- the grips 42 may be movable in the front-rear direction with respect to the poles 41.
- the grips When the grips are moved in the direction of the arrows in Figs. 4 and 5 (the frontward direction), it may be determined that the power-assisted rollator 10 is pushed by the user.
- the grips When the grips are moved in the direction opposite to the direction of the arrows in Figs. 4 and 5 (the rearward direction), it may be determined that the power-assisted rollator 10 is pulled by the user.
- the grips are not moved, it may be determined that the rollator is neither pushed nor pulled.
- Each of the left and right handles 14 may have a separate grip sensor 24.
- the grip sensors 24 may sense an operation force (a grip force) applied to the handles 14 independently from each other and send a signal of the sensed operation force to the control unit 16. Thus, it can be recognized whether the user grips only one of the pair of handles 14 (the one-hand gripping state), grips none of the pair of handles 14 (the non-hand gripping state), or grips both the pair of the handles 14 (the two-hand gripping state).
- strain sensors 38 may be provided on the grips 42 to sense the moments applied to the grips 42 or the pair of pipe frames 31, and the strain sensors 38 may serve as the grip sensors 24.
- the grips 42 may be fixed on the poles 41 so that the structure may be simple.
- a joy stick, a push button, or a proximity sensor for sensing a hand of the user may be provided on the grips 42 and these may be used as the grip sensors 24.
- the determination whether the user is trying to move the electric vehicle forward via the operation unit may be achieved by sensing the operation force of the user applied to the operation unit when the user pushes or pulls the operation unit by hand or other part of his/her body, or by sensing the intention of the user by means of a switch means such as a joystick or a push button.
- FIG. 6 is a flowchart of one example of the operation of the control unit 16.
- the control unit 16 may determine whether the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. More specifically, the control unit 16 may determine whether the left and right handles 14 are pushed with more than a predetermined amount of force for more than a predetermined amount of time (e.g., one second or more), based on the signals from the grip sensors 24 provided on both the left and right handles 14 (step S1).
- a predetermined amount of force e.g., one second or more
- control unit 16 uses the rate of change of the operation force (the absolute value) in addition to the value of the operation force (the absolute value) so as to determine whether the handles 14 are pushed by the hands of the user with more than a predetermined amount of force. This may enable more accurately determining whether the handles 14 are pushed by the hands of the user with more than a predetermined amount of force.
- the control unit 16 may determine that the handles 14 are not pushed by the hands of the user with more than a predetermined amount of force, and otherwise, the control unit 16 may determine that the handles 14 are pushed by the hands of the user with more than a predetermined amount of force. Further, when the operation force and the rate of change of the operation force reside within an oval region internally touching a rectangular numerical region defined by the predetermined values, the control unit 16 may determine that the handles 14 are not gripped by the user. This may enable further accurate determination.
- control unit 16 may determine that the user is not trying to move the power-assisted rollator 10 forward and may not proceed to the following control operation. In this case, the control unit 16 may use the motors 20 as dynamic brakes and thereby brake the rear wheels 13.
- step S1 when the pair of handles 14 are pushed with more than a predetermined amount of force for more than a predetermined amount of time ("YES" in step S1), the control unit 16 may determine that the user is trying to move the power-assisted rollator 10 forward. Then, the control unit 16 may determine whether the front wheels 12 have struck a step (step S2).
- the speed sensor 22 may sense the number of rotations or the speed of the rear wheels 13 and send signals representing the number of rotations or the speed to the control unit 16.
- the control unit 16 may calculate the speed of the rear wheels 13 based on the received signals and compare the calculated speed with a predetermined speed V.
- control unit 16 may determine that the power-assisted rollator 10 is moving in a normal state and continue to assist the movement of the rear wheels 13 by the motors 20.
- the control unit 16 may determine that the front wheels 12 have struck a step. In this case, the control unit 16 may control the motor 20 so as to increase or reduce the driving force of the motor 20 gradually in accordance with, e.g., the force to push the handles 14 (the operation force applied to the handles 14).
- the driving force in the forward direction of the rear wheels 13 may produce a moment on the power-assisted rollator 10 in the direction to raise the front wheels 12 so as to lift the front wheels 12.
- the control unit 16 may use the time and force to push the handle 14, as described above, so as to accurately determine that the user is trying to move forward and avoid making a determination inconsistent with the intention of the user. Therefore, the user may feel more safety in using the power-assisted rollator 10. It may also be possible that the above determination is based only on the force to push the handles 14. For example, when the handles 14 are pushed with more than a predetermined amount of force, it may be determined that the user is trying to move the power-assisted rollator 10 forward, In this case, the control unit 16 can determine quickly that the user is trying to move forward, and the user may not need to reduce the walking speed significantly to lift the front wheels 12.
- control unit 16 may use the acceleration of the rear wheels 13, in addition to the speed of the rear wheels 13, to determine whether the front wheels 12 have struck a step. This may enable more accurately determining whether the power-assisted rollator 10 is moving. For example, it may also be possible that, when the speed of the rear wheels 13 is equal to or lower than the predetermined speed V and the acceleration of the rear wheels 13 is equal to or lower than a predetermined acceleration, the control unit 16 determines that the power-assisted rollator 10 has struck a step, and in other cases, the control unit 16 determines that the power-assisted rollator 10 has not struck a step.
- the control unit 16 determines that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. That is, when the speed of the rear wheels 13 is approximately zero and the deceleration of the rear wheels 13 is equal to or greater than a predetermined value, it seems that the front wheels 12 have struck a step and are stopped suddenly.
- a deceleration is a negative acceleration that has a positive value when the power-assisted rollator 10 is decelerated and has a negative value when the power-assisted rollator 10 is accelerated.
- the control unit 16 determines that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. This may enable accurately determining whether the power-assisted rollator 10 is moving. As described above, it can be determined based on the signals from the grip sensors 24 whether the pair of handles 14 are pushed with more than a predetermined amount of force for more than a predetermined amount of time.
- the driving force of the rear wheels 13 described above may cause the front wheels 12 to be lifted and run onto the step.
- the user may then reduce the force to push the handles 14.
- the moment applied to the power-assisted rollator 10 in the direction to press down the front wheels 12 (the moment opposed to lifting of the front wheels 12) may be reduced.
- the control unit 16 may maintain the driving force of the rear wheels 13 in the forward direction for a period of time to drive the rear wheels 13 forward (see Fig. 7 ). Consequently, the moment in the direction to raise the front wheels 12 may be increased and act to lift the front wheels 12.
- the user may then pull the handles 14 backward.
- the force to pull the handles 14 backward may produce a moment in the direction to raise the front wheels 12, and the produced moment may act to lift the front wheels 12 in cooperation with the driving force of the rear wheels 13.
- the operation of the handles 14 by the user may produce a moment on the power-assisted rollator 10 in the direction to raise the front wheels 12 (see the arrow M in Fig. 2 ), thereby ensuring that the front wheels 12 are lifted (the power-assisted rollator 10 is put into wheelie).
- the user treads a pedal (not shown) fixed behind the rotation axis of the rear wheels 13, instead of pulling the handles 14 backward, so as to raise the front wheels 12.
- the control unit 16 may gradually reduce the driving force of the rear wheels 13 in the forward direction at a first reduction rate.
- the reduction of the driving force may be started at the timing when the conditions for the control unit 16 to control the drive units to lift the front wheels 12 (the conditions to determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward) become unsatisfied.
- the reduction of the driving force may be started at the timing when the handles 14 are no longer pushed with more than a predetermined amount of force (when the user reduces the force to push the handles 14 or pulls the handles 14 backward), or when the rear wheels 13 rotates forward at a speed higher than the predetermined speed.
- the user may then push the pair of handles 14 while the front wheels 12 are lifted relative to the rear wheels 13.
- the user can move the power-assisted rollator 10 forward, and the front wheels 12 can run over the step.
- the control unit 16 may determine that the front wheels 12 have run over the step and restrain the power-assisted rollator 10 from being accelerated further. In this case, the control unit 16 may control the motors 20 such that the driving force of the rear wheels 13 by the motors 20 is reduced at a higher rate.
- the reduction rate of the driving force of the rear wheels 13 in the forward direction may be set at a second reduction rate that may be higher than the first reduction rate described above (see the two-dot chain line in Fig. 7 ). It may also be possible that the control unit 16 may set the driving force of the rear wheels 13 in the forward direction at zero.
- the condition to determine that the user is trying to move the electric vehicle forward may not be limited to the above but may include one or more elements selected from, e.g., (i) the amount of rotation of the front wheels 12 or the rear wheels 13, (ii) the output from a strain gauge provided on the power-assisted rollator 10, (iii) the air pressure of the tires of the front wheels 12 or the rear wheels 13, (iv) the acceleration of the power-assisted rollator 10 in the front-rear direction, (v) the output from a pressure sensor provided on the handle 14 or the like, (vi) the output from an electromyography sensor provided on the handles 14 or the like, and (vii) the movement of the feet of the user.
- control unit 16 may control the motors 20 such that the front wheels 12 are lifted relative to the rear wheels 13.
- the front wheels 12 can readily run over the step without need of an operation causing a large load to users.
- the control unit 16 may determine that the front wheels 12 have struck the step. Thus, the control unit 16 can properly determine that the front wheels 12 have struck the step.
- the existing speed sensor 22 can be used to sense that the front wheels 12 have struck the step.
- control unit 16 may determine via the handles 14 (the operation units) that the user is trying to move the power-assisted rollator 10 forward. Thus, when the user ordinarily operates the handles 14 as usual, the control unit 16 can properly determine that the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 may determine that the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 can properly determine that the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 may determine that the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 can quickly determine that the user is trying to move the power-assisted rollator forward, and the user may not need to reduce the walking speed significantly to lift the front wheels 12.
- the existing grip sensors 24 can be used to sense that the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 may determine that the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 can accurately determine that the user is trying to move the power-assisted rollator 10 forward and avoid making a determination inconsistent with the intention of the user.
- the motors 20 may drive the rear wheels 13 in the forward direction to lift the front wheels 12 relative to the rear wheels 13, and therefore, the front wheels 12 can be smoothly raised using the rear wheels 13 without need of using another raising means or the like.
- the motors 20 may drive the rear wheels 13 in the forward direction for traveling to lift the front wheels 12 relative to the rear wheels 13, and therefore, the front wheels 12 can be smoothly raised using the motors 20 for traveling of the rear wheels 13.
- control unit 16 may increase or reduce the driving force in accordance with the force of the user to push the handles 14, and therefore, the driving force can be obtained properly from the motors 20 in accordance with the operation force applied to the handles 14 and thus in accordance with the intention of the user.
- control unit 16 may increase or reduce the driving force in accordance with the amount of time for which the user pushes the handles 14, and thus the driving force from the motors 20 may be increased or reduced gradually while the user pushes the handles 14. Therefore, the driving force can be obtained properly in accordance with the height of the step (a small driving force may be produced for a low step, and a large driving force for a high step).
- control unit 16 may cause the front wheels 12 to be lifted relative to the rear wheels 13, and then control the motors 20 to cause the power-assisted rollator 10 to move forward such that the front wheels 12 contact with the top portion of the step. Therefore, the front wheels 12 can smoothly run onto the step.
- control unit 16 may control the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13 in accordance with the reduced force of the user to push the handles 14 forward or the force of the user to pull the handles 14 backward. Therefore, it can be ensured using the operation force on the handles and the driving force from the motors 20 that the front wheels 12 are lifted.
- control unit 16 may cause the front wheels 12 to be lifted relative to the rear wheels 13, and then gradually reduce the driving force of the rear wheels 13 in the forward direction. Thus, it is possible to prevent sudden acceleration immediately after the raised front wheels 12 contacts with the ground again.
- control unit 16 when the rear wheels 13 rotate, the control unit 16 may gradually reduce the driving force of the rear wheels 13 in the forward direction. Thus, when the rear wheels 13 starts to rotate, the control unit 16 can determine that the front wheels 12 have been raised.
- the control unit 16 may reduce the driving force of the rear wheels 13 in the forward direction at a higher rate in accordance with the rotation speed thereof, or set the driving force of the rear wheels 13 in the forward direction at zero.
- the control unit 16 may reduce the driving force of the rear wheels 13 significantly so as to prevent sudden acceleration of the power-assisted rollator 10 or idling of the rear wheels 13.
- control unit 16 may cause the front wheels 12 to be lifted relative to the rear wheels 13, and then reduce the driving force of the rear wheels 13 in the forward direction at a higher rate in accordance with the inclination angle of the power-assisted rollator 10, or set the driving force of the rear wheels 13 in the forward direction at zero.
- the control unit 16 may prevent the power-assisted rollator 10 from falling backward when it is inclined at an angle larger than an allowable angle.
- the control unit 16 from driving the motors 20 independently of the intention of the user when the power-assisted rollator 10 is inclined backward and thus the hands of the user gripping the handles 14 pushes the handles 14 forward.
- control unit 16 to control the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13.
- control unit 16 may automatically determine that the front wheels 12 have struck a step. Alternatively, it may also be possible that the control unit 16 causes the front wheels 12 to be lifted relative to the rear wheels 13 in accordance with a predetermined operation by the user, irrespective of whether the front wheels have struck the step.
- the control unit 16 may recognize by a sensor (not shown) that the brake levers 34 are operated and recognize that the handles 14 are pulled backward, based on the signals from the grip sensors 24.
- the control unit 16 may then increase the output of the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13 (the power-assisted rollator 10 is put into wheelie).
- the user may then push the pair of handles 14 while the front wheels 12 are lifted relative to the rear wheels 13.
- the user can move the power-assisted rollator 10 forward, and the front wheels 12 can run over the step.
- the user continues to operate the brake levers 34 manually. After the front wheels 12 have run over the step, the user may take his/her hands away from the brake levers 34.
- the control unit 16 can accurately recognize whether the user is trying to cause the power-assisted rollator 10 to run over a step or trying to pull the power-assisted rollator 10 backward.
- the method for the control unit 16 to recognize whether the user is trying to cause the front wheels 12 to be lifted may not be limited to use of the brake levers 34 by the user and may employ other approaches.
- the control unit 16 may control the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13.
- the front wheels 12 can be lifted relative to the rear wheels 13 as necessary, even when the front wheels 12 have not struck the step.
- the front wheels 12 can be lifted by the operation of the brake levers 34, there is no need of additionally providing a dedicated operation means, and the front wheels 12 can be raised smoothly by using the brake levers 34.
- the power-assisted rollator 10 in this variation may be provided with a function to automatically brake the rear wheels 13 such that the power-assisted rollator 10 is not accelerated too much on a downslope (an automatic brake function).
- the front wheels 12 may strike a step while the power-assisted rollator 10 is traveling on a downslope.
- control unit 16 may cancel the automatic brake function when it determines that the front wheels 12 have struck a step while the power-assisted rollator 10 is on a downslope and the user is trying to move the power-assisted rollator 10 forward. As in the embodiment described above, the control unit 16 may then increase the output of the motors 20 thereby to increase the driving force of the rear wheels 13 in the forward direction. The control unit 16 may determine whether the power-assisted rollator 10 is on a downslope based on the signals from the inclination sensor 23.
- the second embodiment shown in Figs. 8 to 14 may have different features related to the rear wheels 13 and the motors 20. In other respects, this embodiment may be configured in substantially the same way as the first embodiment.
- Figs. 8 to 14 the same elements as in the first embodiment are denoted by the same reference numerals and detailed descriptions thereof will be omitted.
- the motors 20 of the power-assisted rollator 10 may be connected to the rear wheels 13 via associated planetary gear mechanisms 50.
- each of the motors 20 may include a housing 61 fixed on the pipe frame 31, an output shaft support 62 housed in the housing 61 and rotatable on the housing 61, and an output shaft 63 fixed on the output shaft support 62 and configured to rotate integrally with the output shaft support 62.
- a flange 64 may be fixed on the housing 61, and the output shaft 63 may be projected from a middle portion of the housing 61.
- a bearing 65 Between the housing 61 and the output shaft support 62, there may be interposed a bearing 65.
- a magnet 66 On the outer periphery of the output shaft support 62.
- a coil 67 may be disposed around the magnet 66, and the coil 67 may be fixed on the housing 61.
- the coil 67 may be fed with electric power from the battery 21 and may cause rotation of the output shaft support 62 having the magnet 66 provided thereon.
- a cap 68 may be provided in the middle portion of the housing 61.
- a rear wheel 13 may include a wheel 71, a tire 72 provided on the outer periphery of the wheel 71, and a wheel retainer 73 connected to the wheel 71.
- the wheel 71 may be fixed on a bearing 75 provided around the flange 64 via a retainer plate 74.
- the planetary gear mechanism 50 may include a sun gear 51, an internal tooth gear 52 disposed around the sun gear 51, three planet gears 53 meshing with the sun gear 51 and the internal tooth gear 52 and configured to rotate and revolve when the output shaft 63 rotates, and a planet carrier 54 that rotatably supports the three planet gears 53 and receives the revolution movement of the planet gears 53.
- the sun gear 51 may be connected to the output shaft 63 of the motor 20 and may be rotatable in accordance with the rotation of the output shaft 63.
- the internal tooth gear 52 may be connected to the wheel 71 of the rear wheel 13.
- the planet carrier 54 may be connected to the flange 64 of the motor 20 and may be fixed on the pipe frame 31 via the flange 64 and the housing 61.
- the following is the action of controlling the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13 (the power-assisted rollator 10 is put into wheelie) in the embodiment.
- the power-assisted rollator 10 is moving normally with the front wheels 12 thereof not striking a step.
- the assist force from the output shaft 63 of the motor 20 may be transmitted from the sun gear 51 connected to the output shaft 63 of the motor 20 to the internal tooth gear 52 via the planet gears 53, and then transmitted to the rear wheel 13 connected to the internal tooth gear 52.
- the motor 20 may assist the movement of the reel wheel 13.
- the pipe frame 31 connected to the planet carrier 54 may not rotate.
- the front wheels 12 of the power-assisted rollator 10 strike a step
- the front wheels 12 may be locked and the rear wheels 13 may also stop rotating.
- the internal tooth gear 52 of the planetary gear mechanism 50 connected to the rear wheel 13 may also be locked.
- the rotational force from the output shaft 63 of the motor 20 may be transmitted to the sun gear 51 connected to the output shaft 63.
- This rotational force may be transmitted from the sun gear 51 to the planet carrier 54 via the planet gears 53 and may act on the pipe frame 31 connected to the planet carrier 54 in the direction of the arrow M (see Fig. 9 ) (in the direction opposite to the traveling direction of the power-assisted rollator 10).
- the control unit 16 may control the motors 20, so as to rotate the entirety of the power-assisted rollator 10 and lift the front wheels 12 relative to the rear wheels 13.
- the control unit 16 may increase the output of the motor 20 in accordance with the operation force (the grip force) applied to the handles 14. More specifically, when the motors 20 are controlled such that the output of the motor 20 is larger for the same operation force than in the normal state (that is, the proportional factor of the motor output for multiplication of the operation force is larger), the front wheels 12 can be lifted relative to the rear wheels 13.
- the number of rotations of the output shaft 63 of the motor 20 may be reduced to Za/(Zc+Za) times that, and the entirety of the power-assisted rollator 10 connected to the planet carrier 54 may receive a rotational force in the direction opposite to the traveling direction (in the direction for lifting the front wheels 12).
- the motors 20 may be connected to the rear wheels 13 via the planetary gear mechanisms 50.
- the front wheels 12 of the power-assisted rollator 10 strike a step, the front wheels 12 can be lifted relative to the rear wheels 13 using the planetary gear mechanisms 50. That is, the control unit 16 can cause the front wheels 12 to be lifted relative to the rear wheels 13 (the power-assisted rollator 10 is put into wheelie) by the driving force of the motors 20 and the reaction of the planetary gear mechanisms 50.
- the planetary gear mechanism 50 may include a sun gear 51 connected to the output shaft of the motor 20, an internal tooth gear 52 disposed around the sun gear 51, planet gears 53 meshing with the sun gear 51 and the internal tooth gear 52 and configured to rotate and revolve when the output shaft 63 rotates, and a planet carrier 54 that rotatably supports the planet gears 53 and receives the revolution movement of the planet gears 53.
- the internal tooth gear 52 may be connected to the rear wheels 13, and the planet carrier 54 may be fixed on the pipe frame 31.
- control unit 16 may cause the front wheels 12 to be lifted relative to the rear wheels 13 using the planetary gear mechanisms 50. It may also be possible to replace the planetary gear mechanisms 50 with eccentric reducers or other mechanisms including gears that rotate and revolve.
- the planetary gear mechanism 50 may be replaced with a mechanism including two gears. More specifically, as shown in Figs. 13 and 14 , a first gear 57 may be directly connected to the motor 20, a second gear 58 may be directly connected to the rear wheel 13, and the first gear 57 and the second gear 58 may mesh with each other. As shown in Fig. 13 , in normal traveling, the power-assisted rollator 10 may travel with the motor 20 assisting the rear wheel 13 in moving. On the other hand, as shown in Fig. 14 , when the front wheel 12 strikes a step and the front wheel 12 is locked, the rear wheel 13 may be also locked. When the motor 20 further rotates, a force may be generated so as to lift the entirety of the power-assisted rollator 10. At this time, a force may act to rotate in the direction opposite to traveling of the power-assisted rollator 10. Thus, the front wheels 12 of the power-assisted rollator 10 can readily run over the step.
- the third embodiment shown in Figs. 15a , 15b , 16a , and 16b may be different from the first embodiment in that the drive units for generating a driving force for lifting the front wheels 12 may be separate from the motors 20. In other respects, this embodiment may be configured in substantially the same way as the first embodiment.
- Figs. 15a , 15b , 16a , and 16b the same elements as in the first embodiment are denoted by the same reference numerals and detailed descriptions thereof will be omitted.
- the drive units for generating a driving force for lifting the front wheels 12 may be constituted by additional motors 46 separate from the motors 20.
- the rotation axis of the additional motors 46 may be either the same as the rotation axis of the rear wheels 13 ( Fig. 15a ) or different from the rotation axis of the rear wheels 13 ( Fig. 15b ).
- the drive units for generating a driving force for lifting the front wheels 12 may be constituted by actuators 47 separate from the motors 20.
- the actuators 47 may be connected to the frame 11.
- the actuator 47 may be either an expanding actuator or a rocking actuator.
- An expanding actuator may expand and contract to lift the front wheels 12 relative to the rear wheels 13 ( Fig. 16a ), while the rocking actuator may rock to lift the front wheels 12 relative to the rear wheels 13 ( Fig, 16b ).
- the motors 20 may not be necessarily provided.
- Fig. 17 is a schematic perspective view of an example of an external appearance of a power-assisted rollator (an electric vehicle) 10 according to the embodiment.
- the power-assisted rollator 10 may include a frame 11, a pair of front wheels 12 and a pair of rear wheels 13 provided on the frame 11, and a pair of handles 14 connected to the frame 11.
- Each of the pair of rear wheels 13 may be provided with a motor 20 for assisting the movement of the rear wheel 13.
- a battery 21 On the frame 11, there may be mounted a control unit 16.
- the control unit 16 may have an inclination sensor 23.
- a pair of handles 14 to be operated by a user.
- the pair of handles 14 may be connected to each other via a bar handle 17 extending horizontally.
- the pair of handles 14 and the bar handle 17 may constitute a substantial U-shape.
- the pair of handles 14 may further be provided with an arm support 27 that supports elbows of the user.
- the arm support 27 may have openings in which the pair of handles 27 are inserted respectively for mounting.
- a seat 37 on which the user can sit as necessary.
- the battery 21 may supply power to elements of the power-assisted rollator 10 such as the motors 20 and the control unit 16.
- the battery 21 may be provided below the seat 37 positioned between the pair of pipe frames 31.
- Each of the pair of rear wheels 13 may be provided with a speed sensor (sensing unit) 22.
- the speed sensor 22 may also be installed in any of the components such as the frame 11 and the pair of handles 14, instead of the pair of front wheels 12 and/or the pair of rear wheels 13. Alternatively, it may be possible that the speed sensor 22 is disposed adjacent to the control unit 16.
- the traveling speed of the power-assisted rollator 10 may be determined based on the rotation speed of the rear wheels 13, but this is not limitative. It may also be possible to determine the traveling speed based on the rotation speed of the front wheels 12 or both the rotation speeds of the front wheels 12 and the rear wheels 13.
- the sensing unit is constituted by an acceleration sensor.
- the acceleration sensor may directly sense the acceleration of the power-assisted rollator 10 and send the signals of the acceleration to the control unit 16, instead of using the rotational acceleration of the rear wheels 13.
- the control unit 16 may be configured to calculate the speed by integrating the acceleration.
- the sensing unit is constituted by a global positioning system (GPS) device.
- GPS global positioning system
- the GPS device may detect the position of the power-assisted rollator 10, instead of using the rotational acceleration of the rear wheels 13.
- the control unit 16 may be configured to differentiate the positional information from the GPS device to calculate the speed of the power-assisted rollator 10, and differentiate the positional information from the GPS device twice to calculate the acceleration.
- the inclination sensor 23 may be constituted by an acceleration sensor having two or more axes.
- the inclination sensor 23 may be disposed adjacent to the control unit 16.
- the inclination sensor 23 is provided in the upper portion of the power-assisted rollator 10.
- the inclination sensor 23 is constituted by a gyro sensor, instead of the acceleration sensor, for sensing the attitude of the power-assisted rollator 10.
- the power-assisted rollator 10 may have no grip sensor, strain sensor, proximity sensor, or pressure sensor that may directly sense whether or not the user grips the pair of handles 14. However, this is not limitative. In the embodiment, it may be possible that the power-assisted rollator 10 includes grip sensors 24 on the handles as in the first embodiment ( Figs. 1 and 2 ).
- Fig. 18 is a flowchart of one example of the operation of the control unit 16.
- the control unit 16 may determine whether the control on the power-assisted rollator 10 enters a step mode (step S11 in Fig. 18 ).
- a step mode may constitute a basis for the control unit 16 to determine whether or not the front wheels 12 have struck a step.
- the control unit 16 may not determine whether or not the front wheels 12 have struck a step, in order to increase the safety and prevent erroneous determination. Therefore, in any modes other than the step mode, the control unit 1 may not cause the front wheels 12 to be lifted relative to the rear wheels 13.
- the control unit 16 may determine whether to enter the step mode in consideration of the conditions (A-1) to (A-7) below. When any one of the conditions (A-1) to (A-7) below is satisfied, the control unit 16 may not enter the step mode, Alternatively, it may be possible that when two or more of the conditions (A-1) to (A-7) below are satisfied, the control unit 16 does not enter the step mode.
- control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step).
- the control unit 16 may erroneously determine that the front wheels 12 have struck a step. Therefore, when the fall prevention brake is applied, the control unit 16 may preferably not enter the step mode.
- the control unit 16 may erroneously determine that the user has taken away his/her hands from the handles 14 and control the motors 20 to suddenly stop the power-assisted rollator 10. In such a case, the control unit 16 may preferably not enter the step mode, so as to avoid erroneously determining that the front wheels 12 have struck a step.
- the control unit 16 may preferably not enter the step mode, so as to avoid erroneously determining that the front wheels 12 have struck a step.
- control unit 16 may not enter the step mode, so as to avoid erroneously determining that the front wheels 12 have struck a step.
- control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step). The control unit 16 may determine whether the power-assisted rollator 10 is on an upslope based on the signals from the inclination sensor 23.
- the step is positioned near the feet of the user. Therefore, it may be dangerous that the power-assisted rollator 10 enters the step mode and accelerates.
- the motors 20 may preferably not increase its output for assistance. Further, it may be preferable in terms of safety that the power-assisted rollator 10 is not capable of moving upstairs.
- the control unit 16 may preferably not enter the step mode when the sensed inclination reaches or exceeds such a level that the front wheels 12 are presumed to have run onto the step.
- control unit 16 may not enter the step mode, so as to increase the safety.
- control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step).
- the control unit 16 may preferably not enter the step mode.
- control unit 16 may not enter the step mode, so as to increase the safety.
- the control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step) during a predetermined period of time after the power-assisted rollator 10 has run over a step.
- the control unit 16 may not enter the step mode when the rear wheels 13 run over a step or the front wheels 12 have struck a stair. Therefore, the power-assisted rollator 10 may not run over two or more steps successively. In addition, it may be dangerous that when the power-assisted rollator 10 fails to run over a step, an impact occurs and causes the power-assisted rollator 10 to enter the step mode again and make oscillation. Therefore, after the power-assisted rollator 10 runs over a step, it may preferably not enter the step mode again during a predetermined period of time.
- control unit 16 may not enter the step mode during a predetermined period of time after the power-assisted rollator 10 have run over a step, so as to increase the safety.
- control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step).
- the control unit 16 may preferably not enter the step mode.
- control unit 16 may not enter the step mode, so as to increase the safety.
- control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step).
- the front wheel 12 may preferably run over the step.
- the control unit 16 determines that the power-assisted rollator 10 is turning and does not enter the step mode.
- control unit 16 may not enter the step mode, so as to avoid erroneously determining that the front wheel 12 has struck a step.
- control unit 16 may not enter the step mode (may not determine whether or not the front wheels 12 have struck a step).
- the motor may be in an assistance state when the handles 14 are pushed. If one of the rear wheels 13 is lifted and rotated idly, a difference in traveling speed may be produced between the left and right front wheels 12 or between the left and right rear wheels 13. Therefore, it may be preferable that when the difference in traveling speed between the left and right front wheels 12 or between the left and right rear wheels 13 is larger than a predetermined value, the control unit 16 determines that one of the front wheels 12 or the rear wheels 13 is rotated idly and does not enter the step mode.
- control unit 16 may not enter the step mode, so as to avoid erroneously determining that the front wheels 12 have struck a step when one of the front wheels 12 or the rear wheels 13 is rotated idly.
- the control unit 16 may enter the step mode when none of the Conditions (A-1) to (A-7) described above is satisfied. Next, the control unit 16 may determine whether the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward (step S12 in Fig. 18 ).
- the control unit 16 may consider Conditions (B-1) to (B-9) below. For example, when all of the Conditions (B-1) to (B-9) below are satisfied, the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Alternatively, it may also be possible that when at least one (a part) of Conditions (B-1) to (B-9) below is satisfied, the control unit 16 may determine that the front wheels 12 have struck a step.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
- the power-assisted rollator 10 may be stopped suddenly, and a deceleration (a negative acceleration) may occur to the rear wheels 13. Sensing the deceleration of the rear wheels 13 may make it possible to determine that the front wheels 12 have struck the step.
- the threshold value (the first threshold value) of the deceleration of the rear wheels 13 may preferably be set at such a value that the control unit 16 does not erroneously determine that the front wheels 12 have struck a step when the power-assisted rollator 10 is stopped suddenly by the user's force.
- the deceleration of the rear wheels 13 may be either determined based on the number of rotations of the rear wheels 13 or determined using the acceleration sensors attached to the left and right rear wheels 13.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. In this manner, the control unit 16 can simply determine that the front wheels have struck a step without use of grip sensors 24, for example.
- Condition (B-1) When Condition (B-1) is satisfied, and after the deceleration of the rear wheels 13 has become equal to or greater than the threshold value (the first threshold value) (the deceleration has occurred), the rotation speed of the rear wheels 13 is equal to or greater than a negative threshold value (the power-assisted rollator 10 is not moving backward), the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 may determine whether the front wheels 12 have struck a step based only on the deceleration of the rear wheels 13. Therefore, there may be possibility that the control unit 16 erroneously determines that the front wheels 12 have struck a step when the user pulls the handles 14 backward.
- the control unit 16 may additionally examine the condition that after the deceleration of the rear wheels 13 has become equal to or greater than the threshold value (the first threshold value), the rotation speed of the rear wheels 13 is equal to or greater than the negative threshold value, so as to avoid erroneously determining that the front wheels 12 have struck a step when the user pulls the handles 14 backward.
- the negative threshold value may preferably be approximately zero.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Thus, the control unit 16 can more accurately determine that the front wheels 12 have struck the step.
- Condition (B-2) When Condition (B-2) is satisfied, and before the deceleration of the rear wheels 13 becomes equal to or greater than the threshold value (the first threshold value) (the deceleration occurs), the rotation speed of the rear wheels 13 was positive (the power-assisted rollator 10 was moving forward), the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 may determine that the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Thus, the control unit 16 can more accurately determine that the user was trying to move the power-assisted rollator forward when the front wheels 12 struck the step.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
- the speed of the rear wheels 13 may become approximately zero.
- the speed calculated with the hall element may not immediately become zero when the actual speed of the rear wheels 13 is zero. Therefore, when the rotation speed of the rear wheels 13 is equal to or less than the positive threshold value (the second threshold value), the control unit 16 may determine that the front wheels 12 have struck a step, thereby to increase the accuracy in determining that the front wheels 12 have struck a step.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Thus, the control unit 16 can more accurately determine that the front wheels 12 have struck the step.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
- both left and right front wheels 12 strike a step
- a large deceleration may occur to both the left and right rear wheels 13.
- the power-assisted rollator 10 approaches a step in a slightly slanted position in a plan view
- a large deceleration may occur to the rear wheel 13 on the same side as the front wheel 12 striking the step, whereas the front wheel 12 that did not strike the step can move further, and therefore, a smaller deceleration may tend to occur to the rear wheel 13 on the same side as the front wheel 12 that did not strike the step.
- the control unit 16 may determine that the front wheel has struck the step.
- the deceleration of the rear wheels 13 may be calculated with a component in the front-rear direction sensed by the acceleration sensors mounted on the left and right rear wheels 13, instead of the number of rotations of the rear wheels 13.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 can accurately determine that the front wheels 12 have struck the step.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 may examine the condition that the deceleration of the rear wheel 13 on the other side is equal to or greater than the threshold value (the fourth threshold value), so as to avoid erroneously determining that one of the front wheel 12 has struck a step when the power-assisted rollator 10 turns lightly. It may also be possible that the deceleration of the rear wheels 13 may be calculated with a component in the front-rear direction sensed by the acceleration sensors mounted on the left and right rear wheels 13, instead of the number of rotations of the rear wheels 13.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Thus, the control unit 16 may avoid erroneously determining that one of the front wheel 12 has struck a step when the power-assisted rollator 10 turns lightly.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
- control unit 16 may examine the condition that both the decelerations of the left and right rear wheels 13 have exceeded the moderate threshold value (the fifth threshold value).
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 can determine accurately when the left and right rear wheels 12 strike a step almost at the same time
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward.
- the control unit 16 may examine the condition that the grip force applied to the same side as a larger deceleration is sensed is equal to or greater than the threshold value, so as to determine that one of the front wheel 12 has struck the step.
- the control unit 16 can refrain from causing the front wheels 12 to be lifted relative to the rear wheels 13.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. Thus, when there is no need to lift the front wheels 12, the control unit 16 can refrain from causing the front wheels 12 to be lifted relative to the rear wheels 13.
- control unit 16 determines that the front wheels 12 have struck a wall surface, it may determine that the front wheels 12 have not struck a step.
- the power-assisted rollator 10 may tend to bound due to the reaction force from the step or the rotational inertia of the front wheels 12.
- the downward acceleration applied to the power-assisted rollator 10 may not exceed the gravitational acceleration.
- the control unit 16 may recognize that the front wheels 12 have struck the wall surface and may not cause the front wheels 12 to be lifted relative to the rear wheels 13.
- a switch or a range sensor is provided to sense a step positioned in front of the front wheels 12 and having a predetermined height or more, and the control unit 16 may determine that the front wheels 12 have struck the wall surface based on the signals from the switch or the range sensor.
- control unit 16 determines that the front wheels 12 have struck a wall surface, it may determine that the front wheels 12 have not struck a step. Thus, when the front wheels 12 have struck a step, the control unit 16 can refrain from causing the front wheels 12 to be lifted relative to the rear wheels 13.
- control unit 16 may not cause the front wheels 12 to be lifted relative to the rear wheels 13.
- the control unit 16 may determine that the front wheels 12 have struck a step while the user is trying to move the power-assisted rollator 10 forward. The control unit 16 may then control the motors 20 to cause the front wheels 12 to be lifted relative to the rear wheels 13.
- a predetermined amount of waiting time may be provided to accurately determine that the front wheels 12 have struck a step.
- the control unit 16 may gradually increase the driving force of the rear wheels 13 delivered from the motor 20.
- the assist force of the rear wheels 13 reaches its maximum value, this state may be kept for a period of time. Then, the control unit 16 may terminate the step mode irrespective of whether the front wheels 12 have run over the step.
- the operation performed after the control unit determines that the front wheels 12 have struck the step may be substantially the same as for the first embodiment and therefore will not be described again.
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Description
- The present invention relates to an electric vehicle configured to assist elderly people, disabled people, patients and others with a gait impairment in walking.
- There have been used walking aids including a wheeled walker (a rollator, a rolling walker) that assists the elderly's outing, and a walker that assists disabled people or patients in walking. For instance, Patent Literature 1 disclosed a walking aid device which can be easily operated by a user to travel straight or turn.
- The walking aid device (the electric vehicle) disclosed in Patent Literature 1 includes a frame body having a handle portion to be held by a user, more than one wheel provided on the right and left sides of the frame body, more than one driving motor that drives each wheel rotatably, and a controller that detects a counter electromotive force generated at the driving motor and then controls the driving motor based on the detected counter electromotive force. Furthermore prior art document
WO A 2015/041128 discloses a power-assisted rollator according to the preamble of claim 1. - Patent Literature 1: Japanese Patent Application Publication No.
2009-183407 - With such a conventional walking aid device, a front wheel striking a low step can run onto the step with an assist force from the driving motor for normal traveling. However, the front wheel cannot run onto a high step with only the assist force from the driving motor for normal traveling. In this case, for example, a user is required to apply a force downward to the handle of the walking aid device to lift the front wheel relative to the rear wheel such that the front wheel can run onto the step. However, this operation causes a large load to users with a gait impairment.
- One object of the present invention is to provide an electric vehicle in which a front wheel can run onto a step without need of an operation causing a large load to users.
- The present invention is directed to a power-assisted rollator and a method of controlling a power-assisted rollator according to
claim 1 and 14, respectively. Subsidiary aspects of the invention are provided in the dependent claims. - According to the present invention, a front wheel can be lifted relative to a rear wheel and run onto a step without need of an operation causing a large load to users.
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Fig. 1 is a perspective view of a power-assisted rollator according to a first embodiment of the present invention. -
Fig. 2 is a side view of the power-assisted rollator according to the first embodiment of the present invention. -
Fig. 3 schematically shows a leg detection sensor. -
Fig. 4 schematically shows a grip sensor. -
Fig. 5 schematically shows a variation of the grip sensor. -
Fig. 6 is a flowchart of one example of the operation of thecontrol unit 16. -
Fig. 7 is a graph showing the change in driving force over time after a front wheel strikes a step. -
Fig. 8 is a perspective view of a power-assisted rollator according to a second embodiment of the present invention. -
Fig. 9 is a side view of the power-assisted rollator according to the second embodiment of the present invention. -
Fig. 10 is a side view of a rear wheel of the power-assisted rollator according to the second embodiment of the present invention. -
Fig. 11 is a sectional view of a rear wheel of the power-assisted rollator according to the second embodiment of the present invention (a sectional view along the XI-XI line inFig. 10 ). -
Fig. 12 is a perspective sectional view of a rear wheel of the power-assisted rollator according to the second embodiment of the present invention. -
Fig. 13 schematically shows a variation of the power-assisted rollator (in normal traveling). -
Fig. 14 schematically shows a variation of the power-assisted rollator (the front wheels are locked). -
Fig. 15a schematically shows a power-assisted rollator according to a third embodiment of the present invention. -
Fig. 15b schematically shows the power-assisted rollator according to the third embodiment of the present invention. -
Fig. 16a schematically shows the power-assisted rollator according to a variation of the third embodiment of the present invention. -
Fig. 16b schematically shows the power-assisted rollator according to the variation of the third embodiment of the present invention. -
Fig. 17 is a perspective view of a power-assisted rollator according to a fourth embodiment of the present invention. -
Fig. 18 is a flowchart of an example of the operation of the control unit according to the fourth embodiment of the present invention. - The first embodiment of the present invention will now be described with reference to
Figs. 1 to 7 . In the following description, like elements are numbered and labeled similarly. The like elements also have the same names and functions, The descriptions of such elements will appear once. -
Figs. 1 and2 show an electric rollator (hereunder referred to as a power-assisted rollator) as an example of an electric vehicle.Fig. 1 is a schematic perspective view of an example of an external appearance of a power-assistedrollator 10 according to the first embodiment.Fig. 2 is a side view of the power-assistedrollator 10 shown inFig. 1 . - Referring to
Figs. 1 and2 , the power-assistedrollator 10 may include aframe 11, a pair offront wheels 12 and a pair ofrear wheels 13 provided on theframe 11, and a pair of handles (operation units) 14 connected to theframe 11. Each of thehandles 14 may be provided with ahand brake 15 for manually stopping the power-assistedrollator 10. - Each of the pair of
rear wheels 13 may be provided with amotor 20 for assisting the movement of the correspondingrear wheel 13. On theframe 11, there may be mounted abattery 21 and acontrol unit 16. Thecontrol unit 16 may have a speed sensor 22. Further, on each of thehandles 14, there may be provided aninclination sensor 23 and a grip sensor (an operation force sensor) 24. At a position on theframe 11 and below the pair ofhandles 14, there may be provided aleg detection sensor 25 for detecting a leg of a user. - Next, elements of the power-assisted
rollator 10 will be described. - The
frame 11 may include a left-right pair ofpipe frames 31, and acoupling frame 32 that couples the pair ofpipe frames 31 together in a lateral direction. - On the front ends of the left and
right pipe frames 31, there may be provided a pair offront wheels 12. Both of the pair offront wheels 12 may be configured to wheel in a front-rear direction and also rotate about vertical axes. - On the rear ends of the left and
right pipe frames 31, there may be provided a pair ofrear wheels 13. Therear wheels 13 may be configured to wheel in the front-rear direction. Accordingly, the power-assistedrollator 10 can be easily moved forward and backward, and moreover, can be easily operated in a left-right direction or easily turned around. - On the periphery of the
rear wheels 13, there may be providedbrake shoes 33 capable of mechanical contact. Thebrake shoes 33 may be coupled to brakelevers 34 of thehand brakes 15 with wires. Therefore, when the user manually operates the brake levers 34, thebrake shoes 33 may operate to brake therear wheels 13. The mechanical brakes are not limited to above configuration, but any mechanical brakes can be used. - A
fall prevention member 36 may be provided on the rear end of each of the left and right pipe frames 31. Thefall prevention member 36 is configured to prevent the power-assistedrollator 10 from being toppled in the rear direction when the pair offront wheel 12 is lifted off the ground. - On the upper ends of the left and right pipe frames 31, there may be provided a pair of
handles 14. The pair ofhandles 14 may be gripped by the hands of the user. Each of the pair ofhandles 14 may include apole 41. Thepoles 41 may each have agrip 42 provided thereon. Also, thepoles 41 may each have abrake lever 34 provided thereon. It may also be possible to configure thehandles 14 in a different manner. For example, a bar handle may be provided so as to extend horizontally and connect the left and right pipe frames 31, and the bar handle may be provided withgrips 42 serving as the left and right handles 14. - In the embodiment, the
motors 20 may be any motors such as servomotors, stepper motors, AC motors, and DC motors. Moreover, a reducer can be integrated with the motors. Themotors 20 may assist therear wheels 13 in operation by driving therear wheels 13 forward for traveling. In the embodiment, themotors 20 may also serve as drive units for lifting thefront wheels 12 relative to therear wheels 13. Themotors 20 may produce a driving force for applying a moment to the power-assistedrollator 10 in such a direction as to lift thefront wheels 12. - Further, the
motors 20 may also function as dynamic brakes. In this case, themotors 20 may further serve as brake units for braking therear wheels 13. When themotors 20 brake therear wheels 13, themotors 20 may serve as power generators while braking therear wheels 13 with resistance forces thereof. When themotors 20 serve as brake units, themotors 20 may be used as reverse brakes in which themotors 20 drive reversely. Alternatively, it may also be possible that the brake units for braking therear wheels 13 are provided separately from themotors 20. Such brake units may be electromagnetic brakes, mechanical brakes, etc. - The left and
right motors 20 may be controlled as one unit by thecontrol unit 16, or the left andright motors 20 may be controlled independently from each other. - In the embodiment, the
motors 20 may be connected to therear wheels 13, but it may also be possible that themotors 20 are connected to all of the pair offront wheels 12 and the pair ofrear wheels 13. - The
control unit 16 may control the entirety of the power-assistedrollator 10 including themotors 20. Thecontrol unit 16 may be provided adjacent to thebattery 21. The control by thecontrol unit 16 will be described later. - The speed sensor 22 may sense the number of rotations or the speed of the
rear wheels 13 and send signals representing the number of rotations or the speed to thecontrol unit 16. The speed sensor 22 may be disposed adjacent to thecontrol unit 16. It may also be possible that the speed sensor 22 is installed in the pair ofrear wheels 13 of the power-assistedrollator 10. Alternatively, it may also be possible that the speed sensor 22 is provided in only the pair offront wheels 12 or in all of the pair offront wheels 12 and the pair ofrear wheels 13. - If the
motors 20 are brushless motors, the speed sensor 22 may calculate the number of rotation or the speed of the wheels or the speed of the power-assistedrollator 10 using a hall element included in themotors 20. - When the speed can be sensed from a counter electromotive force of the
motors 20, the number of rotations or the speed of the wheels or the speed of the power-assistedrollator 10 may be calculated from the counter electromotive force. When angular velocities of therear wheels 13 or thefront wheels 12 can be sensed, the number of rotations or the speed of the wheels or the speed of the power-assistedrollator 10 may be calculated from the angular velocities. - The speed sensor 22 may be installed in any of the components such as the
frame 11 and the pair ofhandles 14, in addition to the pair of thefront wheels 12 and the pair of therear wheels 13. If the speed sensor includes an acceleration sensor, the speed may be calculated by integrating acceleration components. If the speed sensor includes a global positioning system (GPS), the speed may be calculated by differentiating location information. - The
inclination sensor 23 may sense the inclination of the power-assistedrollator 10, or sense, for example, whether the power-assistedrollator 10 is on a flat surface or on an inclined surface, and may send to the control unit 16 a signal related to the inclination of the power-assistedrollator 10. Theinclination sensor 23 may be provided in the upper portion of the power-assistedrollator 10, for example, in the pair ofhandles 14. Alternatively theinclination sensor 23 may be provided in the lower portion of the power-assistedrollator 10. However, if theinclination sensor 23 is provided in the upper portion, it may be possible to sense the attitude of the power-assistedrollator 10 more accurately as compared to the case where theinclination sensor 23 is provided in the lower portion. Theinclination sensor 23 may be a gyro sensor. In addition, the attitude of the power-assistedrollator 10 may be sensed by an acceleration sensor. -
Fig. 3 is a schematic view of an example of theleg detection sensor 25. Referring toFig. 3 , theleg detection sensor 25 may be mounted on thecoupling frame 32. Theleg detection sensor 25 may be an image sensor, an infrared sensor, or the like. Theleg detection sensor 25 can detect behavior of a user's leg by measuring a distance from a foot of the user of the power-assistedrollator 10. - More specifically, the
leg detection sensor 25 shown inFig. 3 may determine whether the user's leg in the area AR is moving or stays still, or whether it is moving away or closer, or whether or not it is turned around since the user is about to sit on aseat 37. -
Figs. 4 and 5 are schematic views of thegrip sensor 24. - On each of the
grips 42 of the pair ofhandles 14, there may be provided thegrip sensor 24 for sensing the operation force (the grip force) of the user to manually push or pull the power-assistedrollator 10. Displacement of thegrip sensors 24 in the pushing and/or pulling direction with respect to thepoles 41 may be restricted by an elastic member such as a spring (not shown). Thegrip sensor 24 may further include a potentiometer to detect the displacement. - As mentioned above, the
grips 42 may be movable in the front-rear direction with respect to thepoles 41. When the grips are moved in the direction of the arrows inFigs. 4 and 5 (the frontward direction), it may be determined that the power-assistedrollator 10 is pushed by the user. When the grips are moved in the direction opposite to the direction of the arrows inFigs. 4 and 5 (the rearward direction), it may be determined that the power-assistedrollator 10 is pulled by the user. When the grips are not moved, it may be determined that the rollator is neither pushed nor pulled. - In this manner, it may be possible to determine whether the user is trying to move the power-assisted
rollator 10 forward or backward, or whether the user does not have the intention to change the state of the power-assistedrollator 10. - Each of the left and right handles 14 may have a
separate grip sensor 24. Thegrip sensors 24 may sense an operation force (a grip force) applied to thehandles 14 independently from each other and send a signal of the sensed operation force to thecontrol unit 16. Thus, it can be recognized whether the user grips only one of the pair of handles 14 (the one-hand gripping state), grips none of the pair of handles 14 (the non-hand gripping state), or grips both the pair of the handles 14 (the two-hand gripping state). - Referring again to
Fig. 5 , strain sensors 38 (for example, strain gauges) may be provided on thegrips 42 to sense the moments applied to thegrips 42 or the pair of pipe frames 31, and thestrain sensors 38 may serve as thegrip sensors 24. In this case, thegrips 42 may be fixed on thepoles 41 so that the structure may be simple. Alternatively, a joy stick, a push button, or a proximity sensor for sensing a hand of the user may be provided on thegrips 42 and these may be used as thegrip sensors 24. That is, "the determination whether the user is trying to move the electric vehicle forward via the operation unit" may be achieved by sensing the operation force of the user applied to the operation unit when the user pushes or pulls the operation unit by hand or other part of his/her body, or by sensing the intention of the user by means of a switch means such as a joystick or a push button. - Operation in the embodiment configured as above will be hereinafter described.
Fig. 6 is a flowchart of one example of the operation of thecontrol unit 16. - The
control unit 16 may determine whether thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. More specifically, thecontrol unit 16 may determine whether the left and right handles 14 are pushed with more than a predetermined amount of force for more than a predetermined amount of time (e.g., one second or more), based on the signals from thegrip sensors 24 provided on both the left and right handles 14 (step S1). - It may also be possible that the
control unit 16 uses the rate of change of the operation force (the absolute value) in addition to the value of the operation force (the absolute value) so as to determine whether thehandles 14 are pushed by the hands of the user with more than a predetermined amount of force. This may enable more accurately determining whether thehandles 14 are pushed by the hands of the user with more than a predetermined amount of force. For example, when the absolute value of the operation force is equal to or less than a predetermined value and the absolute value of the rate of change of the operation force (the differentiation value of the operation force) is equal to or less than a predetermined value, thecontrol unit 16 may determine that thehandles 14 are not pushed by the hands of the user with more than a predetermined amount of force, and otherwise, thecontrol unit 16 may determine that thehandles 14 are pushed by the hands of the user with more than a predetermined amount of force. Further, when the operation force and the rate of change of the operation force reside within an oval region internally touching a rectangular numerical region defined by the predetermined values, thecontrol unit 16 may determine that thehandles 14 are not gripped by the user. This may enable further accurate determination. - When the pair of
handles 14 are not pushed with more than a predetermined amount of force ("NO" in step S1), thecontrol unit 16 may determine that the user is not trying to move the power-assistedrollator 10 forward and may not proceed to the following control operation. In this case, thecontrol unit 16 may use themotors 20 as dynamic brakes and thereby brake therear wheels 13. - On the other hand, when the pair of
handles 14 are pushed with more than a predetermined amount of force for more than a predetermined amount of time ("YES" in step S1), thecontrol unit 16 may determine that the user is trying to move the power-assistedrollator 10 forward. Then, thecontrol unit 16 may determine whether thefront wheels 12 have struck a step (step S2). - More specifically, the speed sensor 22 may sense the number of rotations or the speed of the
rear wheels 13 and send signals representing the number of rotations or the speed to thecontrol unit 16. Thecontrol unit 16 may calculate the speed of therear wheels 13 based on the received signals and compare the calculated speed with a predetermined speed V. - When the
rear wheels 13 are driven, that is, therear wheels 13 are moving at a speed higher than the predetermined speed V ("YES" in step S2), thecontrol unit 16 may determine that the power-assistedrollator 10 is moving in a normal state and continue to assist the movement of therear wheels 13 by themotors 20. - On the other hand, when the
rear wheels 13 are not driven, that is, the rear wheels are stopped (the power-assistedrollator 10 is stopped) or moving at a speed equal to or lower than the predetermined speed V (the power-assistedrollator 10 is moving at a speed equal to or lower than the predetermined speed) ("NO" in step S2), thecontrol unit 16 may determine that thefront wheels 12 have struck a step. In this case, thecontrol unit 16 may control themotor 20 so as to increase or reduce the driving force of themotor 20 gradually in accordance with, e.g., the force to push the handles 14 (the operation force applied to the handles 14). Since thefront wheels 12 have struck a step and thus the power-assistedrollator 10 cannot move forward, the driving force in the forward direction of therear wheels 13 may produce a moment on the power-assistedrollator 10 in the direction to raise thefront wheels 12 so as to lift thefront wheels 12. - When it is determined that the user is trying to move the power-assisted
rollator 10 forward, thecontrol unit 16 may use the time and force to push thehandle 14, as described above, so as to accurately determine that the user is trying to move forward and avoid making a determination inconsistent with the intention of the user. Therefore, the user may feel more safety in using the power-assistedrollator 10. It may also be possible that the above determination is based only on the force to push thehandles 14. For example, when thehandles 14 are pushed with more than a predetermined amount of force, it may be determined that the user is trying to move the power-assistedrollator 10 forward, In this case, thecontrol unit 16 can determine quickly that the user is trying to move forward, and the user may not need to reduce the walking speed significantly to lift thefront wheels 12. - It may also be possible that the
control unit 16 may use the acceleration of therear wheels 13, in addition to the speed of therear wheels 13, to determine whether thefront wheels 12 have struck a step. This may enable more accurately determining whether the power-assistedrollator 10 is moving. For example, it may also be possible that, when the speed of therear wheels 13 is equal to or lower than the predetermined speed V and the acceleration of therear wheels 13 is equal to or lower than a predetermined acceleration, thecontrol unit 16 determines that the power-assistedrollator 10 has struck a step, and in other cases, thecontrol unit 16 determines that the power-assistedrollator 10 has not struck a step. - Further, it may also be possible that, when the speed of the
rear wheels 13 is equal to or lower than the predetermined speed V that is approximately zero, and the deceleration (negative acceleration) of the power-assistedrollator 10, that is, the deceleration (negative acceleration) of therear wheels 13 is equal to or greater than a predetermined threshold value (the seventh threshold value), thecontrol unit 16 determines that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. That is, when the speed of therear wheels 13 is approximately zero and the deceleration of therear wheels 13 is equal to or greater than a predetermined value, it seems that thefront wheels 12 have struck a step and are stopped suddenly. In this case, the information from thegrip sensors 24 may not necessarily be used to determine that thefront wheels 12 have struck a step. Therefore, thegrip sensors 24 may not necessarily provided. It should be noted that, as described above, a deceleration is a negative acceleration that has a positive value when the power-assistedrollator 10 is decelerated and has a negative value when the power-assistedrollator 10 is accelerated. - Further, it may also be possible that, when the pair of
handles 14 are pushed with more than a predetermined amount of force for more than a predetermined amount of time, and the deceleration (negative acceleration) of therear wheels 13 is equal to or greater than a predetermined threshold value, thecontrol unit 16 determines that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. This may enable accurately determining whether the power-assistedrollator 10 is moving. As described above, it can be determined based on the signals from thegrip sensors 24 whether the pair ofhandles 14 are pushed with more than a predetermined amount of force for more than a predetermined amount of time. - When the step is relatively low, the driving force of the
rear wheels 13 described above may cause thefront wheels 12 to be lifted and run onto the step. When thefront wheels 12 are not lifted, the user may then reduce the force to push thehandles 14. At this time, the moment applied to the power-assistedrollator 10 in the direction to press down the front wheels 12 (the moment opposed to lifting of the front wheels 12) may be reduced. Thecontrol unit 16 may maintain the driving force of therear wheels 13 in the forward direction for a period of time to drive therear wheels 13 forward (seeFig. 7 ). Consequently, the moment in the direction to raise thefront wheels 12 may be increased and act to lift thefront wheels 12. - If the
front wheels 12 are still not lifted, the user may then pull thehandles 14 backward. At this time, the force to pull thehandles 14 backward may produce a moment in the direction to raise thefront wheels 12, and the produced moment may act to lift thefront wheels 12 in cooperation with the driving force of therear wheels 13. Thus, in addition to the driving force from themotors 20, the operation of thehandles 14 by the user may produce a moment on the power-assistedrollator 10 in the direction to raise the front wheels 12 (see the arrow M inFig. 2 ), thereby ensuring that thefront wheels 12 are lifted (the power-assistedrollator 10 is put into wheelie). It may also be possible that the user treads a pedal (not shown) fixed behind the rotation axis of therear wheels 13, instead of pulling thehandles 14 backward, so as to raise thefront wheels 12. - In this case, when the
front wheels 12 are lifted relative to therear wheels 13, a gap may be produced between thefront wheels 12 and the step. Since therear wheels 13 are driven in the forward direction, the power-assistedrollator 10 may move forward to narrow the gap until thefront wheels 12 contact with the top portion of the step. Thus, thefront wheels 12 can run onto the step smoothly. - After lifting the
front wheels 12, thecontrol unit 16 may gradually reduce the driving force of therear wheels 13 in the forward direction at a first reduction rate. Thus, therear wheels 13 are not accelerated too much after thefront wheels 12 move beyond the step, and therefore, thefront wheels 12 can run over the step smoothly. The reduction of the driving force may be started at the timing when the conditions for thecontrol unit 16 to control the drive units to lift the front wheels 12 (the conditions to determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward) become unsatisfied. For example, the reduction of the driving force may be started at the timing when thehandles 14 are no longer pushed with more than a predetermined amount of force (when the user reduces the force to push thehandles 14 or pulls thehandles 14 backward), or when therear wheels 13 rotates forward at a speed higher than the predetermined speed. - The user may then push the pair of
handles 14 while thefront wheels 12 are lifted relative to therear wheels 13. Thus, the user can move the power-assistedrollator 10 forward, and thefront wheels 12 can run over the step. - Thus, when the user pulls the
handles 14 backward, a moment around therear wheels 13 can be produced. This moment may cooperate with the driving force from themotors 20, such that thefront wheels 12 can be readily lifted. Thus, the user is not required to raise the power-assistedrollator 10 to allow thefront wheels 12 to run over the step smoothly. As described above, it may be possible that, when the step is low, the user is not necessarily required to pull thehandles 14 backward, and thefront wheels 12 are lifted only by increasing the driving force from themotors 20. - By the way, as described above, when the output of the
motors 20 remain increased after thefront wheels 12 have run over the step, the power-assistedrollator 10 may be accelerated too much. Therefore, when any one of the following conditions (1) to (3) is satisfied after thefront wheels 12 are lifted relative to therear wheels 13, thecontrol unit 16 may determine that thefront wheels 12 have run over the step and restrain the power-assistedrollator 10 from being accelerated further. In this case, thecontrol unit 16 may control themotors 20 such that the driving force of therear wheels 13 by themotors 20 is reduced at a higher rate. More specifically, the reduction rate of the driving force of therear wheels 13 in the forward direction may be set at a second reduction rate that may be higher than the first reduction rate described above (see the two-dot chain line inFig. 7 ). It may also be possible that thecontrol unit 16 may set the driving force of therear wheels 13 in the forward direction at zero. - (1) The inclination angle of the power-assisted
rollator 10 sensed by theinclination sensor 23 is equal to or greater than a predetermined value (when thefront wheels 12 run onto the step, the power-assistedrollator 10 is inclined). - (2) The rotation speed of the
rear wheels 13 sensed by the speed sensor 22 satisfies a predetermined condition. For example, the rotation speed of therear wheels 13 is equal to or greater than a predetermined value. (At the moment thefront wheels 12 run over the step, the speed of therear wheels 13 may increase; and when therear wheels 13 rotate idly, the rotation speed of therear wheels 13 may increase.) - (3) The distance between the user and the power-assisted
rollator 10 sensed by theleg detection sensor 25 is equal to or greater than a predetermined value. (At the moment thefront wheels 12 run over the step, the speed of therear wheels 13 may increase, and the power-assistedrollator 10 may move away from the user.) - The condition to determine that the user is trying to move the electric vehicle forward may not be limited to the above but may include one or more elements selected from, e.g., (i) the amount of rotation of the
front wheels 12 or therear wheels 13, (ii) the output from a strain gauge provided on the power-assistedrollator 10, (iii) the air pressure of the tires of thefront wheels 12 or therear wheels 13, (iv) the acceleration of the power-assistedrollator 10 in the front-rear direction, (v) the output from a pressure sensor provided on thehandle 14 or the like, (vi) the output from an electromyography sensor provided on thehandles 14 or the like, and (vii) the movement of the feet of the user. - In the embodiment as described above, when it is determined that the
front wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward, thecontrol unit 16 may control themotors 20 such that thefront wheels 12 are lifted relative to therear wheels 13. Thus, thefront wheels 12 can readily run over the step without need of an operation causing a large load to users. - In the embodiment, when the
rear wheels 13 are stopped or the speed of therear wheels 13 is equal to or less than a predetermined value V, thecontrol unit 16 may determine that thefront wheels 12 have struck the step. Thus, thecontrol unit 16 can properly determine that thefront wheels 12 have struck the step. The existing speed sensor 22 can be used to sense that thefront wheels 12 have struck the step. - In the embodiment, the
control unit 16 may determine via the handles 14 (the operation units) that the user is trying to move the power-assistedrollator 10 forward. Thus, when the user ordinarily operates thehandles 14 as usual, thecontrol unit 16 can properly determine that the user is trying to move the power-assistedrollator 10 forward. - In the embodiment, when the user pushes the
handles 14 forward, thecontrol unit 16 may determine that the user is trying to move the power-assistedrollator 10 forward. Thus, when the user simply performs an ordinary operation of pushing thehandles 14 forward as usual, thecontrol unit 16 can properly determine that the user is trying to move the power-assistedrollator 10 forward. - In the embodiment, when the user pushes the
handles 14 with more than a predetermined amount of force, thecontrol unit 16 may determine that the user is trying to move the power-assistedrollator 10 forward. Thus, thecontrol unit 16 can quickly determine that the user is trying to move the power-assisted rollator forward, and the user may not need to reduce the walking speed significantly to lift thefront wheels 12. The existinggrip sensors 24 can be used to sense that the user is trying to move the power-assistedrollator 10 forward. - In the embodiment, when the user pushes the
handles 14 with more than a predetermined amount of force for more than a predetermined amount of time, thecontrol unit 16 may determine that the user is trying to move the power-assistedrollator 10 forward. Thus, thecontrol unit 16 can accurately determine that the user is trying to move the power-assistedrollator 10 forward and avoid making a determination inconsistent with the intention of the user. - In the embodiment, the
motors 20 may drive therear wheels 13 in the forward direction to lift thefront wheels 12 relative to therear wheels 13, and therefore, thefront wheels 12 can be smoothly raised using therear wheels 13 without need of using another raising means or the like. - In the embodiment, the
motors 20 may drive therear wheels 13 in the forward direction for traveling to lift thefront wheels 12 relative to therear wheels 13, and therefore, thefront wheels 12 can be smoothly raised using themotors 20 for traveling of therear wheels 13. - In the embodiment, the
control unit 16 may increase or reduce the driving force in accordance with the force of the user to push thehandles 14, and therefore, the driving force can be obtained properly from themotors 20 in accordance with the operation force applied to thehandles 14 and thus in accordance with the intention of the user. - In the embodiment, the
control unit 16 may increase or reduce the driving force in accordance with the amount of time for which the user pushes thehandles 14, and thus the driving force from themotors 20 may be increased or reduced gradually while the user pushes thehandles 14. Therefore, the driving force can be obtained properly in accordance with the height of the step (a small driving force may be produced for a low step, and a large driving force for a high step). - In the embodiment, the
control unit 16 may cause thefront wheels 12 to be lifted relative to therear wheels 13, and then control themotors 20 to cause the power-assistedrollator 10 to move forward such that thefront wheels 12 contact with the top portion of the step. Therefore, thefront wheels 12 can smoothly run onto the step. - In the embodiment, when it is determined that the
front wheels 12 have struck a step, thecontrol unit 16 may control themotors 20 to cause thefront wheels 12 to be lifted relative to therear wheels 13 in accordance with the reduced force of the user to push thehandles 14 forward or the force of the user to pull thehandles 14 backward. Therefore, it can be ensured using the operation force on the handles and the driving force from themotors 20 that thefront wheels 12 are lifted. - In the embodiment, the
control unit 16 may cause thefront wheels 12 to be lifted relative to therear wheels 13, and then gradually reduce the driving force of therear wheels 13 in the forward direction. Thus, it is possible to prevent sudden acceleration immediately after the raisedfront wheels 12 contacts with the ground again. - In the embodiment, when the
rear wheels 13 rotate, thecontrol unit 16 may gradually reduce the driving force of therear wheels 13 in the forward direction. Thus, when therear wheels 13 starts to rotate, thecontrol unit 16 can determine that thefront wheels 12 have been raised. - In the embodiment, when the
rear wheels 13 rotate, thecontrol unit 16 may reduce the driving force of therear wheels 13 in the forward direction at a higher rate in accordance with the rotation speed thereof, or set the driving force of therear wheels 13 in the forward direction at zero. Thus, when the rotation speed of therear wheels 13 is suddenly increased, thecontrol unit 16 may reduce the driving force of therear wheels 13 significantly so as to prevent sudden acceleration of the power-assistedrollator 10 or idling of therear wheels 13. - In the embodiment, the
control unit 16 may cause thefront wheels 12 to be lifted relative to therear wheels 13, and then reduce the driving force of therear wheels 13 in the forward direction at a higher rate in accordance with the inclination angle of the power-assistedrollator 10, or set the driving force of therear wheels 13 in the forward direction at zero. Thus, it is possible to prevent the power-assistedrollator 10 from falling backward when it is inclined at an angle larger than an allowable angle. In addition, it is possible to prevent thecontrol unit 16 from driving themotors 20 independently of the intention of the user when the power-assistedrollator 10 is inclined backward and thus the hands of the user gripping thehandles 14 pushes thehandles 14 forward. - The following are the variations of the methods for the
control unit 16 to control themotors 20 to cause thefront wheels 12 to be lifted relative to therear wheels 13. - In the embodiment described above, the
control unit 16 may automatically determine that thefront wheels 12 have struck a step. Alternatively, it may also be possible that thecontrol unit 16 causes thefront wheels 12 to be lifted relative to therear wheels 13 in accordance with a predetermined operation by the user, irrespective of whether the front wheels have struck the step. - In this case, the user may first operate the brake levers 34 manually and pull the
handles 14 backward. At this time, thecontrol unit 16 may recognize by a sensor (not shown) that the brake levers 34 are operated and recognize that thehandles 14 are pulled backward, based on the signals from thegrip sensors 24. - As in the embodiment described above, the
control unit 16 may then increase the output of themotors 20 to cause thefront wheels 12 to be lifted relative to the rear wheels 13 (the power-assistedrollator 10 is put into wheelie). The user may then push the pair ofhandles 14 while thefront wheels 12 are lifted relative to therear wheels 13. Thus, the user can move the power-assistedrollator 10 forward, and thefront wheels 12 can run over the step. During this operation, the user continues to operate the brake levers 34 manually. After thefront wheels 12 have run over the step, the user may take his/her hands away from the brake levers 34. Through such operation, thecontrol unit 16 can accurately recognize whether the user is trying to cause the power-assistedrollator 10 to run over a step or trying to pull the power-assistedrollator 10 backward. - The method for the
control unit 16 to recognize whether the user is trying to cause thefront wheels 12 to be lifted may not be limited to use of the brake levers 34 by the user and may employ other approaches. For example, it may also be possible that when the user operates an operation means such as a press button switch (not shown) provided on thehandles 14, thecontrol unit 16 may control themotors 20 to cause thefront wheels 12 to be lifted relative to therear wheels 13. - According to this variation, when the user pulls the
handles 14 backward, a moment around therear wheels 13 can be produced. This moment may cooperate with the driving force from themotors 20, such that thefront wheels 12 can be readily lifted. Thus, the user is not required to raise the power-assistedrollator 10 to allow thefront wheels 12 to run over the step smoothly. According to this variation, thefront wheels 12 can be lifted relative to therear wheels 13 as necessary, even when thefront wheels 12 have not struck the step. In particular, in the case where thefront wheels 12 can be lifted by the operation of the brake levers 34, there is no need of additionally providing a dedicated operation means, and thefront wheels 12 can be raised smoothly by using the brake levers 34. - The power-assisted
rollator 10 in this variation may be provided with a function to automatically brake therear wheels 13 such that the power-assistedrollator 10 is not accelerated too much on a downslope (an automatic brake function). In addition, thefront wheels 12 may strike a step while the power-assistedrollator 10 is traveling on a downslope. - In this variation, the
control unit 16 may cancel the automatic brake function when it determines that thefront wheels 12 have struck a step while the power-assistedrollator 10 is on a downslope and the user is trying to move the power-assistedrollator 10 forward. As in the embodiment described above, thecontrol unit 16 may then increase the output of themotors 20 thereby to increase the driving force of therear wheels 13 in the forward direction. Thecontrol unit 16 may determine whether the power-assistedrollator 10 is on a downslope based on the signals from theinclination sensor 23. - In this variation, it is possible to prevent the automatic brake function from making it difficult for the
front wheels 12 to run over the step. - Next, the second embodiment of the invention will be described. The second embodiment shown in
Figs. 8 to 14 may have different features related to therear wheels 13 and themotors 20. In other respects, this embodiment may be configured in substantially the same way as the first embodiment. InFigs. 8 to 14 , the same elements as in the first embodiment are denoted by the same reference numerals and detailed descriptions thereof will be omitted. - In the arrangement shown in
Figs. 8 to 12 , themotors 20 of the power-assistedrollator 10 may be connected to therear wheels 13 via associatedplanetary gear mechanisms 50. - As shown in
Figs. 10 to 12 , each of themotors 20 may include ahousing 61 fixed on thepipe frame 31, anoutput shaft support 62 housed in thehousing 61 and rotatable on thehousing 61, and anoutput shaft 63 fixed on theoutput shaft support 62 and configured to rotate integrally with theoutput shaft support 62. Aflange 64 may be fixed on thehousing 61, and theoutput shaft 63 may be projected from a middle portion of thehousing 61. Between thehousing 61 and theoutput shaft support 62, there may be interposed abearing 65. On the outer periphery of theoutput shaft support 62, there may be provided amagnet 66. Further, acoil 67 may be disposed around themagnet 66, and thecoil 67 may be fixed on thehousing 61. Thecoil 67 may be fed with electric power from thebattery 21 and may cause rotation of theoutput shaft support 62 having themagnet 66 provided thereon. Acap 68 may be provided in the middle portion of thehousing 61. - A
rear wheel 13 may include awheel 71, atire 72 provided on the outer periphery of thewheel 71, and awheel retainer 73 connected to thewheel 71. Thewheel 71 may be fixed on abearing 75 provided around theflange 64 via aretainer plate 74. - The
planetary gear mechanism 50 may include asun gear 51, aninternal tooth gear 52 disposed around thesun gear 51, threeplanet gears 53 meshing with thesun gear 51 and theinternal tooth gear 52 and configured to rotate and revolve when theoutput shaft 63 rotates, and aplanet carrier 54 that rotatably supports the threeplanet gears 53 and receives the revolution movement of the planet gears 53. - The
sun gear 51 may be connected to theoutput shaft 63 of themotor 20 and may be rotatable in accordance with the rotation of theoutput shaft 63. Theinternal tooth gear 52 may be connected to thewheel 71 of therear wheel 13. Theplanet carrier 54 may be connected to theflange 64 of themotor 20 and may be fixed on thepipe frame 31 via theflange 64 and thehousing 61. - The following is the action of controlling the
motors 20 to cause thefront wheels 12 to be lifted relative to the rear wheels 13 (the power-assistedrollator 10 is put into wheelie) in the embodiment. - First, it is supposed that the power-assisted
rollator 10 is moving normally with thefront wheels 12 thereof not striking a step. In this case, the assist force from theoutput shaft 63 of themotor 20 may be transmitted from thesun gear 51 connected to theoutput shaft 63 of themotor 20 to theinternal tooth gear 52 via the planet gears 53, and then transmitted to therear wheel 13 connected to theinternal tooth gear 52. Thus, themotor 20 may assist the movement of thereel wheel 13. At this time, thepipe frame 31 connected to theplanet carrier 54 may not rotate. -
-
- On the other hand, when the
front wheels 12 of the power-assistedrollator 10 strike a step, thefront wheels 12 may be locked and therear wheels 13 may also stop rotating. At this time, theinternal tooth gear 52 of theplanetary gear mechanism 50 connected to therear wheel 13 may also be locked. The rotational force from theoutput shaft 63 of themotor 20 may be transmitted to thesun gear 51 connected to theoutput shaft 63. This rotational force may be transmitted from thesun gear 51 to theplanet carrier 54 via the planet gears 53 and may act on thepipe frame 31 connected to theplanet carrier 54 in the direction of the arrow M (seeFig. 9 ) (in the direction opposite to the traveling direction of the power-assisted rollator 10). - Accordingly, when the
front wheels 12 strike a step, thecontrol unit 16 may control themotors 20, so as to rotate the entirety of the power-assistedrollator 10 and lift thefront wheels 12 relative to therear wheels 13. In this case, thecontrol unit 16 may increase the output of themotor 20 in accordance with the operation force (the grip force) applied to thehandles 14. More specifically, when themotors 20 are controlled such that the output of themotor 20 is larger for the same operation force than in the normal state (that is, the proportional factor of the motor output for multiplication of the operation force is larger), thefront wheels 12 can be lifted relative to therear wheels 13. -
- That is, the number of rotations of the
output shaft 63 of themotor 20 may be reduced to Za/(Zc+Za) times that, and the entirety of the power-assistedrollator 10 connected to theplanet carrier 54 may receive a rotational force in the direction opposite to the traveling direction (in the direction for lifting the front wheels 12). - As described above, according to the embodiment. the
motors 20 may be connected to therear wheels 13 via theplanetary gear mechanisms 50. Thus, when thefront wheels 12 of the power-assistedrollator 10 strike a step, thefront wheels 12 can be lifted relative to therear wheels 13 using theplanetary gear mechanisms 50. That is, thecontrol unit 16 can cause thefront wheels 12 to be lifted relative to the rear wheels 13 (the power-assistedrollator 10 is put into wheelie) by the driving force of themotors 20 and the reaction of theplanetary gear mechanisms 50. - In the embodiment, the
planetary gear mechanism 50 may include asun gear 51 connected to the output shaft of themotor 20, aninternal tooth gear 52 disposed around thesun gear 51, planet gears 53 meshing with thesun gear 51 and theinternal tooth gear 52 and configured to rotate and revolve when theoutput shaft 63 rotates, and aplanet carrier 54 that rotatably supports the planet gears 53 and receives the revolution movement of the planet gears 53. Theinternal tooth gear 52 may be connected to therear wheels 13, and theplanet carrier 54 may be fixed on thepipe frame 31. Thus, when thefront wheel 12 strike a step, the rotational force from theoutput shaft 63 of themotor 20 may be transmitted from thesun gear 51 to theplanet carrier 54 via the planet gears 53 and may act on thepipe frame 31 connected to theplanet carrier 54. Thus, the entirety of the power-assistedrollator 10 can be rotated and thefront wheels 12 can be lifted relative to therear wheels 13. - In the embodiment, the
control unit 16 may cause thefront wheels 12 to be lifted relative to therear wheels 13 using theplanetary gear mechanisms 50. It may also be possible to replace theplanetary gear mechanisms 50 with eccentric reducers or other mechanisms including gears that rotate and revolve. - Alternatively, the
planetary gear mechanism 50 may be replaced with a mechanism including two gears. More specifically, as shown inFigs. 13 and14 , afirst gear 57 may be directly connected to themotor 20, a second gear 58 may be directly connected to therear wheel 13, and thefirst gear 57 and the second gear 58 may mesh with each other. As shown inFig. 13 , in normal traveling, the power-assistedrollator 10 may travel with themotor 20 assisting therear wheel 13 in moving. On the other hand, as shown inFig. 14 , when thefront wheel 12 strikes a step and thefront wheel 12 is locked, therear wheel 13 may be also locked. When themotor 20 further rotates, a force may be generated so as to lift the entirety of the power-assistedrollator 10. At this time, a force may act to rotate in the direction opposite to traveling of the power-assistedrollator 10. Thus, thefront wheels 12 of the power-assistedrollator 10 can readily run over the step. - Next, the third embodiment of the invention will be described. The third embodiment shown in
Figs. 15a ,15b ,16a , and16b may be different from the first embodiment in that the drive units for generating a driving force for lifting thefront wheels 12 may be separate from themotors 20. In other respects, this embodiment may be configured in substantially the same way as the first embodiment. InFigs. 15a ,15b ,16a , and16b , the same elements as in the first embodiment are denoted by the same reference numerals and detailed descriptions thereof will be omitted. - In
Figs. 15a and15b , the drive units for generating a driving force for lifting thefront wheels 12 may be constituted byadditional motors 46 separate from themotors 20. The rotation axis of theadditional motors 46 may be either the same as the rotation axis of the rear wheels 13 (Fig. 15a ) or different from the rotation axis of the rear wheels 13 (Fig. 15b ). - In
Figs. 16a and16b , the drive units for generating a driving force for lifting thefront wheels 12 may be constituted byactuators 47 separate from themotors 20. Theactuators 47 may be connected to theframe 11. In this arrangement, theactuator 47 may be either an expanding actuator or a rocking actuator. An expanding actuator may expand and contract to lift thefront wheels 12 relative to the rear wheels 13 (Fig. 16a ), while the rocking actuator may rock to lift thefront wheels 12 relative to the rear wheels 13 (Fig, 16b ). - In
Figs. 15a ,15b ,16a , and16b , themotors 20 may not be necessarily provided. - Following is description of the fourth embodiment with reference to
Figs. 17 and18 . InFigs. 17 and18 , the same elements as in the first to third embodiments are denoted by the same reference numerals and detailed descriptions thereof will be omitted. -
Fig. 17 is a schematic perspective view of an example of an external appearance of a power-assisted rollator (an electric vehicle) 10 according to the embodiment. - Referring to
Fig. 17 , the power-assistedrollator 10 may include aframe 11, a pair offront wheels 12 and a pair ofrear wheels 13 provided on theframe 11, and a pair ofhandles 14 connected to theframe 11. - Each of the pair of
rear wheels 13 may be provided with amotor 20 for assisting the movement of therear wheel 13. On theframe 11, there may be mounted abattery 21 and acontrol unit 16. Thecontrol unit 16 may have aninclination sensor 23. - In the embodiment, on the upper ends of the left and right pipe frames 31, there may be provided a pair of
handles 14 to be operated by a user. The pair ofhandles 14 may be connected to each other via abar handle 17 extending horizontally. The pair ofhandles 14 and the bar handle 17 may constitute a substantial U-shape. The pair ofhandles 14 may further be provided with anarm support 27 that supports elbows of the user. Thearm support 27 may have openings in which the pair ofhandles 27 are inserted respectively for mounting. - Between the left and right pipe frames 31, there may be provided a
seat 37 on which the user can sit as necessary. - The
battery 21 may supply power to elements of the power-assistedrollator 10 such as themotors 20 and thecontrol unit 16. Thebattery 21 may be provided below theseat 37 positioned between the pair of pipe frames 31. - Each of the pair of
rear wheels 13 may be provided with a speed sensor (sensing unit) 22. The speed sensor 22 may also be installed in any of the components such as theframe 11 and the pair ofhandles 14, instead of the pair offront wheels 12 and/or the pair ofrear wheels 13. Alternatively, it may be possible that the speed sensor 22 is disposed adjacent to thecontrol unit 16. In the embodiment, the traveling speed of the power-assistedrollator 10 may be determined based on the rotation speed of therear wheels 13, but this is not limitative. It may also be possible to determine the traveling speed based on the rotation speed of thefront wheels 12 or both the rotation speeds of thefront wheels 12 and therear wheels 13. - Alternatively, it may be possible that the sensing unit is constituted by an acceleration sensor. The acceleration sensor may directly sense the acceleration of the power-assisted
rollator 10 and send the signals of the acceleration to thecontrol unit 16, instead of using the rotational acceleration of therear wheels 13. Thecontrol unit 16 may be configured to calculate the speed by integrating the acceleration. - It may also be possible that the sensing unit is constituted by a global positioning system (GPS) device. The GPS device may detect the position of the power-assisted
rollator 10, instead of using the rotational acceleration of therear wheels 13. Thecontrol unit 16 may be configured to differentiate the positional information from the GPS device to calculate the speed of the power-assistedrollator 10, and differentiate the positional information from the GPS device twice to calculate the acceleration. - The
inclination sensor 23 may be constituted by an acceleration sensor having two or more axes. Theinclination sensor 23 may be disposed adjacent to thecontrol unit 16. Alternatively, it may be possible that theinclination sensor 23 is provided in the upper portion of the power-assistedrollator 10. In addition, it may also be possible that theinclination sensor 23 is constituted by a gyro sensor, instead of the acceleration sensor, for sensing the attitude of the power-assistedrollator 10. - Other features of the power-assisted
rollator 10 are substantially the same as those of the power-assistedrollator 10 of the first embodiment (Figs. 1 and2 ). - In the embodiment, the power-assisted
rollator 10 may have no grip sensor, strain sensor, proximity sensor, or pressure sensor that may directly sense whether or not the user grips the pair ofhandles 14. However, this is not limitative. In the embodiment, it may be possible that the power-assistedrollator 10 includesgrip sensors 24 on the handles as in the first embodiment (Figs. 1 and2 ). - Operation in the embodiment configured as above will be hereinafter described.
Fig. 18 is a flowchart of one example of the operation of thecontrol unit 16. - First, the
control unit 16 may determine whether the control on the power-assistedrollator 10 enters a step mode (step S11 inFig. 18 ). As will be described later, a step mode may constitute a basis for thecontrol unit 16 to determine whether or not thefront wheels 12 have struck a step. In other words, when thecontrol unit 16 is not in the step mode, thecontrol unit 16 may not determine whether or not thefront wheels 12 have struck a step, in order to increase the safety and prevent erroneous determination. Therefore, in any modes other than the step mode, the control unit 1 may not cause thefront wheels 12 to be lifted relative to therear wheels 13. - The
control unit 16 may determine whether to enter the step mode in consideration of the conditions (A-1) to (A-7) below. When any one of the conditions (A-1) to (A-7) below is satisfied, thecontrol unit 16 may not enter the step mode, Alternatively, it may be possible that when two or more of the conditions (A-1) to (A-7) below are satisfied, thecontrol unit 16 does not enter the step mode. - When the
front wheels 12 or therear wheels 13 are braked, thecontrol unit 16 may not enter the step mode (may not determine whether or not thefront wheels 12 have struck a step). - For example, when the fall prevention brake is applied and the power-assisted
rollator 10 is suddenly stopped as in the case where themotors 20 are used as reverse brakes, thecontrol unit 16 may erroneously determine that thefront wheels 12 have struck a step. Therefore, when the fall prevention brake is applied, thecontrol unit 16 may preferably not enter the step mode. - For another example, when the user pushes the power-assisted
rollator 10 with his/her hands only placed lightly on the grips 42 (seeFigs. 1 and2 ), thecontrol unit 16 may erroneously determine that the user has taken away his/her hands from thehandles 14 and control themotors 20 to suddenly stop the power-assistedrollator 10. In such a case, thecontrol unit 16 may preferably not enter the step mode, so as to avoid erroneously determining that thefront wheels 12 have struck a step. - For still another example, when the user operates the brake levers 34 (see
Figs. 1 and2 ), therear wheels 13 may stop suddenly and thehandles 14 may be pushed. In such a case, thecontrol unit 16 may preferably not enter the step mode, so as to avoid erroneously determining that thefront wheels 12 have struck a step. - Thus, when the
front wheels 12 or therear wheels 13 are braked, thecontrol unit 16 may not enter the step mode, so as to avoid erroneously determining that thefront wheels 12 have struck a step. - When the power-assisted
rollator 10 is on an upslope, thecontrol unit 16 may not enter the step mode (may not determine whether or not thefront wheels 12 have struck a step). Thecontrol unit 16 may determine whether the power-assistedrollator 10 is on an upslope based on the signals from theinclination sensor 23. - For example, when the
front wheels 12 run over a step and then the rear wheels strike the step, the step is positioned near the feet of the user. Therefore, it may be dangerous that the power-assistedrollator 10 enters the step mode and accelerates. Themotors 20 may preferably not increase its output for assistance. Further, it may be preferable in terms of safety that the power-assistedrollator 10 is not capable of moving upstairs. To prevent thecontrol unit 16 from entering the step mode in such circumstances, thecontrol unit 16 may preferably not enter the step mode when the sensed inclination reaches or exceeds such a level that thefront wheels 12 are presumed to have run onto the step. - Thus, when the power-assisted
rollator 10 is on an upslope, thecontrol unit 16 may not enter the step mode, so as to increase the safety. - When the power-assisted
rollator 10 is on a slope inclined left or right with respect to the traveling direction, thecontrol unit 16 may not enter the step mode (may not determine whether or not thefront wheels 12 have struck a step). - For example, when the power-assisted
rollator 10 is on a stepped slope and it accidentally run over a side edge of the stepped slope, the power-assistedrollator 10 may fall down. Therefore, when the power-assistedrollator 10 is on a slope inclined left or right with respect to the traveling direction, thecontrol unit 16 may preferably not enter the step mode. - Thus, when the power-assisted
rollator 10 is on a slope inclined left or right with respect to the traveling direction, thecontrol unit 16 may not enter the step mode, so as to increase the safety. - The
control unit 16 may not enter the step mode (may not determine whether or not thefront wheels 12 have struck a step) during a predetermined period of time after the power-assistedrollator 10 has run over a step. - As described above for Condition (A-2), the
control unit 16 may not enter the step mode when therear wheels 13 run over a step or thefront wheels 12 have struck a stair. Therefore, the power-assistedrollator 10 may not run over two or more steps successively. In addition, it may be dangerous that when the power-assistedrollator 10 fails to run over a step, an impact occurs and causes the power-assistedrollator 10 to enter the step mode again and make oscillation. Therefore, after the power-assistedrollator 10 runs over a step, it may preferably not enter the step mode again during a predetermined period of time. - Thus, the
control unit 16 may not enter the step mode during a predetermined period of time after the power-assistedrollator 10 have run over a step, so as to increase the safety. - When the power-assisted
rollator 10 is traveling at a speed equal to or higher than a predetermined speed, thecontrol unit 16 may not enter the step mode (may not determine whether or not thefront wheels 12 have struck a step). - When the
front wheels 12 of the power-assistedrollator 10 strike a step at a high speed, therear wheels 13 may tend to be lifted. In the case where thefront wheels 12 run over the step, the user may stumble. When the power-assistedrollator 10 is traveling at a speed equal to or higher than a predetermined speed and thefront wheels 12 strike a step, thecontrol unit 16 may preferably not enter the step mode. - Thus, when the power-assisted
rollator 10 is traveling at a speed equal to or higher than a predetermined speed, thecontrol unit 16 may not enter the step mode, so as to increase the safety. - When the power-assisted
rollator 10 is turning, thecontrol unit 16 may not enter the step mode (may not determine whether or not thefront wheels 12 have struck a step). - As will be described above (see Condition B-5 below), even when only one of the pair of
front wheels 12 strikes a step, thefront wheel 12 may preferably run over the step. However, when the power-assistedrollator 10 is turning, there may be possibility that it is erroneously determined that thefront wheel 12 has struck a step in the case, e.g., a caster of thefront wheel 12 sticks. Therefore, it may be preferable that when the difference in traveling speed between the left and rightfront wheels 12 or between the left and rightrear wheels 13 is larger than a predetermined value, thecontrol unit 16 determines that the power-assistedrollator 10 is turning and does not enter the step mode. - Thus, when the power-assisted rollator is turning, the
control unit 16 may not enter the step mode, so as to avoid erroneously determining that thefront wheel 12 has struck a step. - When the difference in traveling speed between the left and right
front wheels 12 or between the left and rightrear wheels 13 is larger than a predetermined value, thecontrol unit 16 may not enter the step mode (may not determine whether or not thefront wheels 12 have struck a step). - For example, in the power-assisted
rollator 10 having grip sensors 24 (seeFigs. 1 and2 ), the motor may be in an assistance state when thehandles 14 are pushed. If one of therear wheels 13 is lifted and rotated idly, a difference in traveling speed may be produced between the left and rightfront wheels 12 or between the left and rightrear wheels 13. Therefore, it may be preferable that when the difference in traveling speed between the left and rightfront wheels 12 or between the left and rightrear wheels 13 is larger than a predetermined value, thecontrol unit 16 determines that one of thefront wheels 12 or therear wheels 13 is rotated idly and does not enter the step mode. - Thus, when the difference in traveling speed between the left and right
front wheels 12 or between the left and rightrear wheels 13 is larger than a predetermined value, thecontrol unit 16 may not enter the step mode, so as to avoid erroneously determining that thefront wheels 12 have struck a step when one of thefront wheels 12 or therear wheels 13 is rotated idly. - The
control unit 16 may enter the step mode when none of the Conditions (A-1) to (A-7) described above is satisfied. Next, thecontrol unit 16 may determine whether thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward (step S12 inFig. 18 ). - The
control unit 16 may consider Conditions (B-1) to (B-9) below. For example, when all of the Conditions (B-1) to (B-9) below are satisfied, thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. Alternatively, it may also be possible that when at least one (a part) of Conditions (B-1) to (B-9) below is satisfied, thecontrol unit 16 may determine that thefront wheels 12 have struck a step. - When the deceleration of the
rear wheels 13 is equal to or greater than a threshold value (a first threshold value), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. - That is, when the
front wheels 12 strike a step, the power-assistedrollator 10 may be stopped suddenly, and a deceleration (a negative acceleration) may occur to therear wheels 13. Sensing the deceleration of therear wheels 13 may make it possible to determine that thefront wheels 12 have struck the step. The threshold value (the first threshold value) of the deceleration of therear wheels 13 may preferably be set at such a value that thecontrol unit 16 does not erroneously determine that thefront wheels 12 have struck a step when the power-assistedrollator 10 is stopped suddenly by the user's force. The deceleration of therear wheels 13 may be either determined based on the number of rotations of therear wheels 13 or determined using the acceleration sensors attached to the left and rightrear wheels 13. - Thus, when the deceleration of the
rear wheels 13 is equal to or greater than the threshold value (the first threshold value), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. In this manner, thecontrol unit 16 can simply determine that the front wheels have struck a step without use ofgrip sensors 24, for example. - When Condition (B-1) is satisfied, and after the deceleration of the
rear wheels 13 has become equal to or greater than the threshold value (the first threshold value) (the deceleration has occurred), the rotation speed of therear wheels 13 is equal to or greater than a negative threshold value (the power-assistedrollator 10 is not moving backward), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. - In Condition (B-1), the
control unit 16 may determine whether thefront wheels 12 have struck a step based only on the deceleration of therear wheels 13. Therefore, there may be possibility that thecontrol unit 16 erroneously determines that thefront wheels 12 have struck a step when the user pulls thehandles 14 backward. Thecontrol unit 16 may additionally examine the condition that after the deceleration of therear wheels 13 has become equal to or greater than the threshold value (the first threshold value), the rotation speed of therear wheels 13 is equal to or greater than the negative threshold value, so as to avoid erroneously determining that thefront wheels 12 have struck a step when the user pulls thehandles 14 backward. The negative threshold value may preferably be approximately zero. - Thus, when, after the deceleration of the
rear wheels 13 has become equal to or greater than the threshold value (the first threshold value), the rotation speed of therear wheels 13 is equal to or greater than the negative threshold value (the power-assistedrollator 10 is not moving backward), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. Thus, thecontrol unit 16 can more accurately determine that thefront wheels 12 have struck the step. - When Condition (B-2) is satisfied, and before the deceleration of the
rear wheels 13 becomes equal to or greater than the threshold value (the first threshold value) (the deceleration occurs), the rotation speed of therear wheels 13 was positive (the power-assistedrollator 10 was moving forward), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. - Particularly when the power-assisted
rollator 10 is not provided with thegrip sensors 24, it may be difficult to determine whether or not the user is trying to move the power-assistedrollator 10 forward. Therefore, when the power-assistedrollator 10 was moving forward (the rotation speed of therear wheels 13 was positive) before the deceleration occurs, thecontrol unit 16 may determine that the user is trying to move the power-assistedrollator 10 forward. - Thus, when, before the deceleration of the
rear wheels 13 becomes equal to or greater than the threshold value (the first threshold value) (the deceleration occurs), the rotation speed of therear wheels 13 was positive (the power-assistedrollator 10 was moving forward), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. Thus, thecontrol unit 16 can more accurately determine that the user was trying to move the power-assisted rollator forward when thefront wheels 12 struck the step. - When, after the deceleration of the
rear wheels 13 has become equal to or greater than the threshold value (the first threshold value), the rotation speed of the rear wheels 13 (the traveling speed of the power-assisted rollator 10) is equal to or less than a positive threshold value (a second threshold value), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. - When the
front wheels 12 strike a step, the speed of therear wheels 13 may become approximately zero. However, in the case where for example the speed of therear wheels 13 is calculated with pulses from a hall element, the speed calculated with the hall element may not immediately become zero when the actual speed of therear wheels 13 is zero. Therefore, when the rotation speed of therear wheels 13 is equal to or less than the positive threshold value (the second threshold value), thecontrol unit 16 may determine that thefront wheels 12 have struck a step, thereby to increase the accuracy in determining that thefront wheels 12 have struck a step. - Thus, when, after the deceleration of the
rear wheels 13 has become equal to or greater than the threshold value (the first threshold value), the rotation speed of the rear wheels 13 (the traveling speed of the power-assisted rollator 10) is equal to or less than the positive threshold value (the second threshold value), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. Thus, thecontrol unit 16 can more accurately determine that thefront wheels 12 have struck the step. - When the deceleration of one of the left and right
rear wheels 13 is equal to or greater than a threshold value (a third threshold value), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. - When both left and right
front wheels 12 strike a step, a large deceleration may occur to both the left and rightrear wheels 13. However, when the power-assistedrollator 10 approaches a step in a slightly slanted position in a plan view, there may be possibility that only one of thefront wheels 12 strikes the step. In such a case, a large deceleration may occur to therear wheel 13 on the same side as thefront wheel 12 striking the step, whereas thefront wheel 12 that did not strike the step can move further, and therefore, a smaller deceleration may tend to occur to therear wheel 13 on the same side as thefront wheel 12 that did not strike the step. To accurately determine that one of thefront wheels 12 has struck a step, it may be preferable that when the deceleration occurring to one of therear wheels 13 becomes equal to or greater than the threshold value (the third threshold value), thecontrol unit 16 may determine that the front wheel has struck the step. The deceleration of therear wheels 13 may be calculated with a component in the front-rear direction sensed by the acceleration sensors mounted on the left and rightrear wheels 13, instead of the number of rotations of therear wheels 13. - Thus, when the deceleration of one of the left and right
rear wheels 13 is equal to or greater than the threshold value (the third threshold value), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. Thus, even when the power-assistedrollator 10 approaches a step in a slanted position in a plan view, thecontrol unit 16 can accurately determine that thefront wheels 12 have struck the step. - When Condition (B-5) is satisfied, and the deceleration of the other of the left and right
rear wheels 13 is equal to or greater than a threshold value (a fourth threshold value) smaller than the third threshold value, thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. - When one of the left and right
front wheels 12 strikes a step, therear wheel 13 on the other side may be decelerated to a certain degree. Therefore, thecontrol unit 16 may examine the condition that the deceleration of therear wheel 13 on the other side is equal to or greater than the threshold value (the fourth threshold value), so as to avoid erroneously determining that one of thefront wheel 12 has struck a step when the power-assistedrollator 10 turns lightly. It may also be possible that the deceleration of therear wheels 13 may be calculated with a component in the front-rear direction sensed by the acceleration sensors mounted on the left and rightrear wheels 13, instead of the number of rotations of therear wheels 13. - Thus, when the deceleration of the other of the left and right
rear wheels 13 is equal to or greater than the threshold value (the fourth threshold value) smaller than the third threshold value, thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. Thus, thecontrol unit 16 may avoid erroneously determining that one of thefront wheel 12 has struck a step when the power-assistedrollator 10 turns lightly. - When both the decelerations of the left and right
rear wheels 13 are equal to or greater than a threshold value (a fifth threshold value) between the third and fourth threshold values, thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. - That is, the
control unit 16 may examine the condition that both the decelerations of the left and rightrear wheels 13 have exceeded the moderate threshold value (the fifth threshold value). - Thus, when both the decelerations of the left and right
rear wheels 13 are equal to or greater than the threshold value (the fifth threshold value) between the third and fourth threshold values, thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. Thus, thecontrol unit 16 can determine accurately when the left and rightrear wheels 12 strike a step almost at the same time, - It may also be possible to determine that the
front wheels 12 strike a step when the sum of the decelerations of the left and rightrear wheels 13 is equal to or greater than a predetermined threshold value. - When the operation force applied to the
handles 14 is equal to or greater than a threshold value (a sixth threshold value), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. - In the case where the power-assisted
rollator 10 is provided with the grip sensors 24 (Figs. 1 and2 ), when one of thefront wheels 12 strikes a step, at least thegrip 42 on the same side as thefront wheel 12 striking the step may be pressed by the reaction force. Therefore, thecontrol unit 16 may examine the condition that the grip force applied to the same side as a larger deceleration is sensed is equal to or greater than the threshold value, so as to determine that one of thefront wheel 12 has struck the step. Because of this condition, for example, when the power-assistedrollator 10 strikes an object while the user takes his/her hands away from thehandles 14, or when the power-assistedrollator 10 moves forward on a slope or due to inertia and strikes a step, thecontrol unit 16 can refrain from causing thefront wheels 12 to be lifted relative to therear wheels 13. - Thus, when the operation force applied to the
handles 14 is equal to or greater than the threshold value (the sixth threshold value), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. Thus, when there is no need to lift thefront wheels 12, thecontrol unit 16 can refrain from causing thefront wheels 12 to be lifted relative to therear wheels 13. - When the
control unit 16 determines that thefront wheels 12 have struck a wall surface, it may determine that thefront wheels 12 have not struck a step. - When the
front wheels 12 strike a step, the power-assistedrollator 10 may tend to bound due to the reaction force from the step or the rotational inertia of thefront wheels 12. When thefront wheels 12 strike an ordinary step, the downward acceleration applied to the power-assistedrollator 10 may not exceed the gravitational acceleration. By contrast, when thefront wheels 12 strike a wall surface, the power-assistedrollator 10 may be subjected to a large downward acceleration due to the friction between thefront wheels 12 and the wall surface. Therefore, when the vertical acceleration applied to the power-assistedrollator 10 is equal to or greater than a threshold value, thecontrol unit 16 may recognize that thefront wheels 12 have struck the wall surface and may not cause thefront wheels 12 to be lifted relative to therear wheels 13. Alternatively, it may also be possible that a switch or a range sensor is provided to sense a step positioned in front of thefront wheels 12 and having a predetermined height or more, and thecontrol unit 16 may determine that thefront wheels 12 have struck the wall surface based on the signals from the switch or the range sensor. - Thus, when the
control unit 16 determines that thefront wheels 12 have struck a wall surface, it may determine that thefront wheels 12 have not struck a step. Thus, when thefront wheels 12 have struck a step, thecontrol unit 16 can refrain from causing thefront wheels 12 to be lifted relative to therear wheels 13. - As described above, when any of the above conditions (B-1) to (B-9) is not satisfied ("NO" at step S12 in
Fig. 18 ), thecontrol unit 16 may not cause thefront wheels 12 to be lifted relative to therear wheels 13. - On the other hand, when all of the Conditions (B-1) to (B-9) described above are satisfied ("YES" at step S12 in
Fig. 18 ), thecontrol unit 16 may determine that thefront wheels 12 have struck a step while the user is trying to move the power-assistedrollator 10 forward. Thecontrol unit 16 may then control themotors 20 to cause thefront wheels 12 to be lifted relative to therear wheels 13. - A predetermined amount of waiting time may be provided to accurately determine that the
front wheels 12 have struck a step. When it is determined during the waiting time that all of the conditions (B-1) to (B-9) are satisfied, thecontrol unit 16 may gradually increase the driving force of therear wheels 13 delivered from themotor 20. When the assist force of therear wheels 13 reaches its maximum value, this state may be kept for a period of time. Then, thecontrol unit 16 may terminate the step mode irrespective of whether thefront wheels 12 have run over the step. - The operation performed after the control unit determines that the
front wheels 12 have struck the step may be substantially the same as for the first embodiment and therefore will not be described again. - The embodiments and the variations of the present invention described above are mere examples and are not intended to limit the scope of the invention which is defined by the appended claims. The embodiments and the variations described above may have various other forms and are susceptible to omission, replacement, and modification of various elements thereof within the scope of the invention. The embodiments and the variations described above are included in the scope and the purport of the invention and are also included in the inventions recited in the claims.
-
- 10
- power-assisted rollator
- 11
- frame
- 12
- front wheels
- 13
- rear wheels
- 14
- handles
- 15
- hand brakes
- 16
- control unit
- 20
- motors
- 21
- battery
- 22
- speed sensors
- 23
- inclination sensors
- 24
- grip sensors
- 25
- leg detection sensor
- 31
- pipe frame
Claims (14)
- A power-assisted rollator (10) comprising:a frame (11);at least one front wheel (12) and at least one rear wheel (13) provided on the frame (11);a drive unit (20) configured to produce a driving force to lift the at least one front wheel (12) relative to the at least one rear wheel (13); anda control unit (16) connected to the drive unit (20) and configured to control the drive unit (20), when the control unit (16) determines that the at least one front wheel (12) has struck a step while a user is trying to move the power-assisted rollator (10) forward, the control unit (16) controls the drive unit (20) to lift the at least one front wheel (12) relative to the at least one rear wheel (13); and characterized in thatwhen a deceleration of the power-assisted rollator (10) is equal to or greater than a first threshold value, the control unit (16) determines that the at least one front wheel (12) has struck a step while the user is trying to move the power-assisted rollator (10) forward.
- The power-assisted rollator (10) of claim 1, wherein the at least one rear wheel (13) comprises left and right rear wheels (13), and when a deceleration of one of the left and right rear wheels (13) is equal to or greater than a third threshold value, the control unit (16) determines that the at least one front wheel (12) has struck a step while the user is trying to move the power-assisted rollator (10) forward.
- The power-assisted rollator (10) of any one of claims 1 or 2 wherein when the at least one front wheel (12) or the at least one rear wheel (13) is braked, the control unit (16) does not determine whether or not the at least one front wheel (12) has struck a step.
- The power-assisted rollator (10) of any one of claims 1 to 3 wherein when the power-assisted rollator (10) is on an upslope, the control unit (16) does not determine whether or not the at least one front wheel (12) has struck a step.
- The power-assisted rollator (10) of any one of claims 1 to 4 wherein when the power-assisted rollator (10) is on a slope inclined left or right with respect to a traveling direction, the control unit (16) does not determine whether or not the at least one front wheel (12) has struck a step.
- The power-assisted rollator (10) of any one of claims 1 to 5 wherein when the power-assisted rollator (10) is traveling at a speed equal to or higher than a predetermined speed, the control unit (16) does not determine whether or not the at least one front wheel (12) has struck a step.
- The power-assisted rollator (10) of any one of claims 1 to 6 wherein when the power-assisted rollator (10) is turning, the control unit (16) does not determine whether or not the at least one front wheel (12) has struck a step.
- The power-assisted rollator (10) of any one of claims 1 to 7 wherein the at least one front wheel (12) comprises left and right front wheels (12), or the at least one rear wheel (13) comprises left and right rear wheels (13), and wherein when a difference in traveling speed between the left and right front wheels (12) or between the left and right rear wheels (13) is larger than a predetermined value, the control unit (16) does not determine whether or not the at least one front wheel (12) has struck a step.
- The power-assisted rollator (10) of any one of claims 1 to 8 wherein when the power-assisted rollator (10) is stopped, a traveling speed of the power-assisted rollator (10) is equal to or less than a predetermined speed, or a deceleration of the power-assisted rollator (10) is equal to or greater than a seventh threshold value, the control unit (16) determines that the at least one front wheel (12) has struck a step.
- The power-assisted rollator (10) of any one of claims 1 to 9 further comprising an operation unit (14) to be operated by the user,
wherein the control unit (16) determines via the operation unit (14) that the user is trying to move the power-assisted rollator (10) forward. - The power-assisted rollator (10) of claim 10 wherein
the operation unit (14) includes a handle (14) connected to the frame (11) and configured to be gripped by the user, and
when the user pushes the handle (14) forward, the control unit (16) determines that the user is trying to move the power-assisted rollator (10) forward. - The power-assisted rollator (10) of any one of claims 1 to 11, wherein the drive unit (20) drives the at least one rear wheel (13) in a forward direction.
- The power-assisted rollator (10) of claim 1 further comprising an operation means to be operated by the user,
wherein when the user operates the operation means, the control unit (16) controls the drive unit (20) to lift the at least one front wheel (12) relative to the at least one rear wheel (13). - A method of controlling a power-assisted rollator (10),
the power-assisted rollator comprising:a frame (11);at least one front wheel (12) and at least one rear wheel (13) provided on the frame (11);a drive unit (20) configured to produce a driving force to lift the at least one front wheel (12) relative to the at least one rear wheel (13); anda control unit (16) connected to the drive unit (20) and configured to control the drive unit (20),the method comprisingby means of the control unit (16), determining that the at least one front wheel (12) has struck a step while the user is trying to move the power-assisted rollator (10) forward; andby means of the control unit (16), controlling the drive unit (20) to lift the at least one front wheel (12) relative to the at least one rear wheel (13), the method being characterized in thatwhen a deceleration of the power-assisted rollator (10) is equal to or greater than a first threshold value, the control unit (16) determines that the at least one front wheel (12) has struck a step while the user is trying to move the power-assisted rollator (10) forward.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2016025990 | 2016-02-15 | ||
JP2016200326 | 2016-10-11 |
Publications (2)
Publication Number | Publication Date |
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EP3205322A1 EP3205322A1 (en) | 2017-08-16 |
EP3205322B1 true EP3205322B1 (en) | 2019-10-23 |
Family
ID=58489469
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Application Number | Title | Priority Date | Filing Date |
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EP17156208.5A Active EP3205322B1 (en) | 2016-02-15 | 2017-02-15 | Electric vehicle |
Country Status (2)
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EP (1) | EP3205322B1 (en) |
JP (1) | JP6901276B2 (en) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3530252B1 (en) * | 2018-02-27 | 2022-03-30 | Jtekt Corporation | Walking assist device |
US20190358821A1 (en) * | 2018-05-25 | 2019-11-28 | Panasonic Corporation | Walking training robot |
CN108904229B (en) * | 2018-05-28 | 2021-08-17 | 国家康复辅具研究中心 | Intelligent wheeled walking aid |
JP7210907B2 (en) * | 2018-05-31 | 2023-01-24 | 株式会社ジェイテクト | walking support device |
JP7075822B2 (en) | 2018-06-04 | 2022-05-26 | パナソニックホールディングス株式会社 | Map information update system |
JP2020039695A (en) * | 2018-09-12 | 2020-03-19 | 株式会社ジェイテクト | Walking supporting device |
JP7215187B2 (en) * | 2019-01-22 | 2023-01-31 | 株式会社ジェイテクト | walking support device |
JP7222258B2 (en) * | 2019-02-05 | 2023-02-15 | 株式会社ジェイテクト | walking support device |
WO2021079835A1 (en) | 2019-10-24 | 2021-04-29 | ナブテスコ株式会社 | Electric vehicle, control method for same, and control program for same |
TWI701533B (en) * | 2019-11-14 | 2020-08-11 | 緯創資通股份有限公司 | Control method and electrical walker |
USD953210S1 (en) * | 2020-06-17 | 2022-05-31 | Foshan Hct Medical Equipment Co., Ltd. | Foldable four-wheel walking aid |
USD940601S1 (en) * | 2020-08-28 | 2022-01-11 | Qingfeng Li | Rollator |
CN112618182B (en) * | 2020-12-30 | 2023-03-14 | 广东博方众济医疗科技有限公司 | Wheelchair walking aid |
CN113552822B (en) * | 2021-07-01 | 2022-07-08 | 浙江益恒悦医疗科技有限公司 | Power-assisted control method and device of intelligent walking aid, intelligent walking aid and controller |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2003164492A (en) * | 2001-11-30 | 2003-06-10 | Nabco Ltd | Electric wheelchair |
JP2007090019A (en) * | 2005-09-29 | 2007-04-12 | Hiroshi Okamura | Walking support system |
US8627909B2 (en) * | 2010-07-20 | 2014-01-14 | Lg Electronics Inc. | Walking-assistant device |
JP6232873B2 (en) * | 2012-09-18 | 2017-11-22 | 株式会社村田製作所 | Wheelbarrow and program |
WO2014188726A1 (en) * | 2013-05-22 | 2014-11-27 | ナブテスコ株式会社 | Electric walking assistance device, program for controlling electric walking assistance device, and method of controlling electric walking assistance device |
WO2015041128A1 (en) * | 2013-09-17 | 2015-03-26 | 株式会社村田製作所 | Hand cart |
JP6123906B2 (en) * | 2013-10-10 | 2017-05-10 | 株式会社村田製作所 | Wheelbarrow |
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2017
- 2017-02-15 JP JP2017026256A patent/JP6901276B2/en active Active
- 2017-02-15 EP EP17156208.5A patent/EP3205322B1/en active Active
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EP3205322A1 (en) | 2017-08-16 |
JP6901276B2 (en) | 2021-07-14 |
JP2018061819A (en) | 2018-04-19 |
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