Vehicle, vehicle control device and vehicle control method

• US 7,424,927 B2
• Filed: 04/22/2005
• Issued: 09/16/2008
• Est. Priority Date: 04/28/2004
• Status: Expired due to Fees

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Hiramatsu, Yuji
• Primary Examiner(s): Ellis; Christopher
• Assistant Examiner(s): Coker; Robert A.
• Application Number:
  US11/112,472
• Publication Number:
  US 20050242538A1
• Time in Patent Office: 1,243 Days
• Field of Search: 180/282, 180/271, 180/21, 180/41, 180/218, 280/79.11, 280/6.151, 280/6.153, 280/6.154, 280/6.16, 280/205
• US Class Current: 180/282
• CPC Class Codes: A63C 17/004 with auxiliary wheels not contacting the riding surface during steady riding
• CPC Class Codes: A63C 17/01 Skateboards A63C17/02 - A63C17/28 take precedence; rolling devices on skis A63C5/035
• CPC Class Codes: A63C 17/016 with wheels arranged in one track
• CPC Class Codes: A63C 17/08 single-wheel type with single axis
• CPC Class Codes: A63C 17/12 with driving mechanisms
• CPC Class Codes: B60L 2200/14 Vehicles with one wheel only
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 50/51 characterised by AC-motors
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A motorized balance board includes a gyrosensor. An arithmetic operation unit calculates a tilt angle change value based on a signal output from the gyrosensor. When the control mode is a standby mode, a control mode switch element switches the control mode to a riding mode when the absolute value of the tilt angle change value exceeds a riding angular velocity threshold. When the control mode is the riding mode, the control mode switch element switches the control mode to the standby mode when the absolute value of the tilt angle change value exceeds a descending angular velocity threshold.

Claims

1. A vehicle comprising:

a body on which a user rides;

a wheel that is rotatably supported on said body;

a driver that drives said wheel;

a tilt detector that detects data concerning a tilt angle of said body; and

a controller that controls said driver according to a plurality of operating modes;

wherein

said controller selects an operating mode that corresponds to an output of said tilt detector; and

one of the plurality of operating modes includes a rising mode that causes the body to rise from the ground to a horizontal position relative to the ground.

2. The vehicle according to claim 1, wherein said data concerning the tilt angle includes a rate of change of the tilt angle of said body.

3. The vehicle according to claim 2, wherein said rate of change of the tilt angle of said body is an amount of change in the tilt angle of said body per a predetermined period.

4. The vehicle according to claim 2, wherein said controller switches one operating mode to another operating mode when said rate of change of the tilt angle is not less than a predetermined threshold value.

5. The vehicle according to claim 1, wherein said plurality of operating modes include a moving mode in which said body moves and a stop mode in which said body is stopped.

6. The vehicle according to claim 5, further comprising a rotation detector that detects data concerning a rotation angle of said wheel, wherein said controller controls, in said moving mode, said movement caused by said driver based on said data concerning the tilt angle and said data concerning the rotation angle.

7. The vehicle according to claim 6, wherein said data concerning the tilt angle includes said rate of change of the tilt angle of said body and said tilt angle of said body, and said data concerning the rotation angle includes a rate of change of the rotation angle of said wheel.

8. The vehicle according to claim 5, further comprising a rotation detector that detects data concerning a rotation angle of said wheel, wherein said controller controls, in said stop mode, said driver to stop said wheel based on said data concerning the rotation angle.

9. The vehicle according to claim 8, wherein said data concerning the rotation angle of said wheel includes a rate of change of the rotation angle of said wheel.

10. The vehicle according to claim 9, wherein said rate of change of the rotation angle is an amount of change in the rotation angle of said wheel per a predetermined period.

11. The vehicle according to claim 1, wherein said wheel is arranged on a bottom surface of a central portion of said body so as to rotate about an axis in a direction that intersects with a moving direction of said body.

12. The vehicle according to claim 11, wherein said body is arranged so as to vertically incline with said wheel defining a supporting point.

13. A vehicle control device for controlling a vehicle that includes a body on which a user rides, a wheel that is rotatably supported on said body, and a driver that drives said wheel, said control device comprising:

a tilt detector that detects data concerning a tilt angle of said body; and

a controller that controls said driver according to a plurality of operating modes;

wherein

said controller selects an operating mode that corresponds to an output of said tilt detector; and

one of the plurality of operating modes includes a rising mode that causes the body to rise from the ground to a horizontal position relative to the ground.

14. The vehicle control device according to claim 13, wherein said data concerning the tilt angle includes a rate of change of the tilt angle of said body.

15. The vehicle control device according to claim 14, wherein said rate of change of the tilt angle of said body is an amount of change in the tilt angle of said body per a predetermined period.

16. The vehicle control device according to claim 14, wherein said controller switches one operating mode to another operating mode when said rate of change of the tilt angle is not less than a predetermined threshold value.

17. A vehicle control method for controlling a vehicle that includes a body on which a user rides, a wheel that is rotatably supported on said body, and a driver that drives said wheel, said method comprising the steps of:

detecting data concerning a tilt angle of said body; and

controlling said driver to select an operating mode based on said data concerning the tilt angle of said body;

wherein

the operating mode includes a rising mode that causes the body to rise from the ground to a horizontal position relative to the ground.

18. The vehicle control method according to claim 17, wherein said data concerning the tilt angle includes a rate of change of the tilt angle of said body.

19. The vehicle control method according to claim 18, wherein said rate of change of the tilt angle of said body is an amount of change in the tilt angle of said body per a predetermined period.

20. The vehicle control method according to claim 18, wherein said step of controlling said driver includes the step of controlling said driver to switch one operating mode to another operating mode when said rate of change of the tilt angle is not less than a predetermined threshold value.