WO2008120507A1 - 車両 - Google Patents

車両 Download PDF

Info

Publication number
WO2008120507A1
WO2008120507A1 PCT/JP2008/053061 JP2008053061W WO2008120507A1 WO 2008120507 A1 WO2008120507 A1 WO 2008120507A1 JP 2008053061 W JP2008053061 W JP 2008053061W WO 2008120507 A1 WO2008120507 A1 WO 2008120507A1
Authority
WO
WIPO (PCT)
Prior art keywords
acceleration
vehicle
ground
vehicle body
wheels
Prior art date
Application number
PCT/JP2008/053061
Other languages
English (en)
French (fr)
Inventor
Katsunori Doi
Original Assignee
Equos Research Co., Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from JP2007089235A external-priority patent/JP4858847B2/ja
Priority claimed from JP2007089236A external-priority patent/JP5004003B2/ja
Priority claimed from JP2007089234A external-priority patent/JP5024662B2/ja
Application filed by Equos Research Co., Ltd. filed Critical Equos Research Co., Ltd.
Priority to US12/532,697 priority Critical patent/US20100114421A1/en
Publication of WO2008120507A1 publication Critical patent/WO2008120507A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H1/00—Supports or stands forming part of or attached to cycles
    • B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
    • B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/043—Mid wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Automatic Cycles, And Cycles In General (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

　加速度に対する車体の傾斜角度を接地部材により低減可能な車両を提供することを目的とする。車両は倒立型車両で、加速度が所定閾値を越え、急加速、急減速となる場合には、補助輪（１５）を接地させる。加速度は要求加速度、実加速度のいずれでもよい。補助輪（１５）の接地位置は加速度が大きくなるほど、加速度と逆方向で駆動輪（１１）の接地点（基準位置）から離れた位置に設定する。所定加速度の範囲内では対応角度で車体が傾斜するが、所定閾値を越える加速度に対して補助輪（１５）の接地により所定値以上の車体傾斜が制限され、快適な加減速を実現できる。そして実際の補助輪（１５）位置に対して目標減速度を制限することで、補助輪（１５）が移動する前に対応できない大きな加速度を与える場合を解消する。また緊急制動時には、車体を直立に保持したまま、又は車体を加速度の方向と逆方向に傾けながら直ちに補助輪（１５）を接地させることで、制動のための姿勢後傾動作に伴う制動の時間遅れをなくす。
PCT/JP2008/053061 2007-03-29 2008-02-22 車両 WO2008120507A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/532,697 US20100114421A1 (en) 2007-03-29 2008-02-22 Vehicle

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2007089235A JP4858847B2 (ja) 2007-03-29 2007-03-29 車両
JP2007-089234 2007-03-29
JP2007089236A JP5004003B2 (ja) 2007-03-29 2007-03-29 車両
JP2007-089235 2007-03-29
JP2007089234A JP5024662B2 (ja) 2007-03-29 2007-03-29 車両
JP2007-089236 2007-03-29

Publications (1)

Publication Number Publication Date
WO2008120507A1 true WO2008120507A1 (ja) 2008-10-09

Family

ID=39808091

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/053061 WO2008120507A1 (ja) 2007-03-29 2008-02-22 車両

Country Status (2)

Country Link
US (1) US20100114421A1 (ja)
WO (1) WO2008120507A1 (ja)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4735598B2 (ja) * 2007-04-27 2011-07-27 トヨタ自動車株式会社 倒立車輪型移動体、及びその制御方法
JP2010125969A (ja) * 2008-11-27 2010-06-10 Toyota Motor Corp 移動体
CN102574559B (zh) * 2009-09-18 2014-08-20 本田技研工业株式会社 倒立摆型移动体
WO2011033575A1 (ja) * 2009-09-18 2011-03-24 本田技研工業株式会社 倒立振子型移動体
EP2543582B1 (en) * 2010-03-05 2016-06-15 Toyota Jidosha Kabushiki Kaisha Two-wheeled inverted pendulum device, method for controlling same, and control program
EP2735500B1 (en) * 2011-07-22 2016-08-17 Toyota Jidosha Kabushiki Kaisha Inverted mobile body control device, and method and program therefor
CN103963877A (zh) * 2013-02-06 2014-08-06 刘胜 平行双轮电动车辅助平衡机构
JP6095436B2 (ja) 2013-03-27 2017-03-15 本田技研工業株式会社 倒立振子型車両
JP6081271B2 (ja) 2013-03-29 2017-02-15 本田技研工業株式会社 倒立振子型車両
JP6062784B2 (ja) 2013-03-29 2017-01-18 本田技研工業株式会社 倒立振子型車両
JP6111119B2 (ja) 2013-03-29 2017-04-05 本田技研工業株式会社 倒立振子型車両
JP6062785B2 (ja) * 2013-03-29 2017-01-18 本田技研工業株式会社 倒立振子型車両
JP6081270B2 (ja) 2013-03-29 2017-02-15 本田技研工業株式会社 倒立振子型車両
JP6099485B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
JP6099483B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
JP6099484B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
FR3050929B1 (fr) * 2016-05-04 2019-07-26 Bruno Jacquemot Vehicule adapte a transporter un utilisateur a mobilite reduite
JP6920871B2 (ja) * 2017-04-24 2021-08-18 本田技研工業株式会社 倒立振子型車両
EP3446670B1 (de) * 2017-08-25 2021-04-28 Lukas Rigler Elektronisch selbstbalancierter rollstuhl
EP3446669B1 (de) * 2017-08-25 2020-07-29 Lukas Rigler Stützsystem für einen elektronisch selbstbalancierten rollstuhl
CN113306662B (zh) * 2021-06-25 2022-06-03 浙江普瑞圣工贸有限公司 坐式平衡车

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000514680A (ja) * 1996-07-17 2000-11-07 デカ・プロダクツ・リミテッド・パートナーシップ 転倒防止機構
JP2004243845A (ja) * 2003-02-13 2004-09-02 Toyota Motor Corp 移動車
JP2007062682A (ja) * 2005-09-02 2007-03-15 Toyota Motor Corp 走行体
JP2007186184A (ja) * 2005-12-14 2007-07-26 Equos Research Co Ltd 車両

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5401055A (en) * 1992-05-28 1995-03-28 Pham; Roger Space efficient center tracking vehicle
WO2000054719A1 (en) * 1999-03-15 2000-09-21 Deka Products Limited Partnership Control system and method for wheelchair
JP4422415B2 (ja) * 2003-01-17 2010-02-24 トヨタ自動車株式会社 ２輪車
JP4681016B2 (ja) * 2008-03-10 2011-05-11 株式会社豊田中央研究所 倒立振子型車輪移動体

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000514680A (ja) * 1996-07-17 2000-11-07 デカ・プロダクツ・リミテッド・パートナーシップ 転倒防止機構
JP2004243845A (ja) * 2003-02-13 2004-09-02 Toyota Motor Corp 移動車
JP2007062682A (ja) * 2005-09-02 2007-03-15 Toyota Motor Corp 走行体
JP2007186184A (ja) * 2005-12-14 2007-07-26 Equos Research Co Ltd 車両

Also Published As

Publication number Publication date
US20100114421A1 (en) 2010-05-06

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