Electric vehicle
First Claim
1. An electric vehicle comprising:
- a base;
a movement operator that has at least one omnidirectional drive wheel which can be driven omnidirectionally;
a seat member that is mounted on the base;
a first control input system comprising;
a hand operable control device;
an acceleration and deceleration command unit that detects an acceleration and deceleration command, the acceleration and deceleration command unit determining acceleration and deceleration commands based on an operation of the hand operable control device; and
a turning command unit that detects a turning command based on an operation of the hand operable control device;
a second control input system independent of the first control input system and comprising an inclination detection unit operable to detect inclination parameters related to an inclination of the base caused by a leaning movement of the base; and
a control unit that determines an inclination of the base based on the inclination parameters, the control unit operable to control acceleration and deceleration of the base, turning of the base, and translational motion of the base, the acceleration and deceleration of the base being based on the acceleration and deceleration command detected by the acceleration and deceleration command unit, the turning of the base being based on the turning command detected by the turning command unit, and the translational motion of the base being based on the inclination of the base determined by the control unit, wherein;
acceleration and deceleration are related to a fore-aft movement of the vehicle, and said acceleration and deceleration commands are based on the operation of the hand operable control device; and
said translational motion is a lateral side-to-side motion of the vehicle and is controlled, based on the inclination of the base, simultaneously with and independently of the operation of the hand operable control device.
1 Assignment
0 Petitions
Accused Products
Abstract
An electric vehicle includes a base; a front wheel that can be driven omnidirectionally; a rear wheel that is mounted on the base so that a symmetry axis is parallel with a symmetry axis of the front wheel; a seat member that is mounted so that a straight line connecting a wheel center of the front wheel and a wheel center of the rear wheel specifies a fore-and-aft direction; an controller that detects an acceleration and deceleration command and a turning command; an inclination sensor that detects inclination of the base; and a control unit that controls acceleration and deceleration of the base based on the acceleration and deceleration command detected by the controller, that controls turning of the base based on the turning command detected by the controller, and that controls translational motion of the base based on inclination of the base detected by the inclination sensor.
25 Citations
10 Claims
-
1. An electric vehicle comprising:
-
a base; a movement operator that has at least one omnidirectional drive wheel which can be driven omnidirectionally; a seat member that is mounted on the base; a first control input system comprising; a hand operable control device; an acceleration and deceleration command unit that detects an acceleration and deceleration command, the acceleration and deceleration command unit determining acceleration and deceleration commands based on an operation of the hand operable control device; and a turning command unit that detects a turning command based on an operation of the hand operable control device; a second control input system independent of the first control input system and comprising an inclination detection unit operable to detect inclination parameters related to an inclination of the base caused by a leaning movement of the base; and a control unit that determines an inclination of the base based on the inclination parameters, the control unit operable to control acceleration and deceleration of the base, turning of the base, and translational motion of the base, the acceleration and deceleration of the base being based on the acceleration and deceleration command detected by the acceleration and deceleration command unit, the turning of the base being based on the turning command detected by the turning command unit, and the translational motion of the base being based on the inclination of the base determined by the control unit, wherein; acceleration and deceleration are related to a fore-aft movement of the vehicle, and said acceleration and deceleration commands are based on the operation of the hand operable control device; and said translational motion is a lateral side-to-side motion of the vehicle and is controlled, based on the inclination of the base, simultaneously with and independently of the operation of the hand operable control device. - View Dependent Claims (2, 3, 4)
-
-
5. An electric vehicle comprising:
-
a base; a first omnidirectional drive wheel that is mounted on the base and can be driven omnidirectionally; a second omnidirectional drive wheel that is mounted on the base so that a symmetry axis thereof is parallel with a symmetry axis of the first omnidirectional drive wheel; a seat member that is mounted on the base so that a straight line connecting a wheel center of the first omnidirectional drive wheel and a wheel center of the second omnidirectional drive wheel specifies a fore-and-aft direction; a first control input system comprising; a hand operable control device; an acceleration and deceleration command unit that detects an acceleration and deceleration command, the acceleration and deceleration command unit determining acceleration and deceleration commands based on an operation of the hand operable control device; and a turning command unit that detects a turning command based on an operation of the hand operable control device; a second control input system independent of the first control input system and comprising an inclination detection unit operable to detect inclination parameters related to an inclination of the base caused by a leaning movement of the base; and a control unit that determines an inclination of the base based on the inclination parameters, the control unit operable to control acceleration and deceleration of the base, turning of the base, and translational motion of the base, the acceleration and deceleration of the base being based on the acceleration and deceleration command detected by the acceleration and deceleration command unit, the turning of the base being based on the turning command detected by the turning command unit, and the translational motion of the base being based on the inclination of the base determined by the control unit detection unit; wherein; acceleration and deceleration are related to a fore-aft movement of the vehicle, and said acceleration and deceleration commands are based on the operation of the hand operable control device; and said translational motion is a lateral side-to-side motion of the vehicle and is controlled, based on the inclination of the base, simultaneously with and independently of the operation of the hand operable control device. - View Dependent Claims (6, 7, 8, 9)
-
-
10. An electric vehicle comprising:
-
a base; a movement operator that has at least one omnidirectional drive wheel which can be driven omnidirectionally; a seat member that is mounted on the base; a first control input system comprising; a hand operable control device; an acceleration and deceleration command unit that detects an acceleration and deceleration command, the acceleration and deceleration command unit determining acceleration and deceleration commands based on an operation of the hand operable control device; and a turning command unit that detects a turning command based on an operation of the hand operable control device; a second control input system independent of the first control input system and comprising an inclination detection unit, the inclination detection unit detecting inclination parameters related to an inclination of the base caused by a leaning movement of the base; and a control unit that determines an inclination of the base based on the inclination parameters, the control unit operable to control; acceleration and deceleration of the base based on the acceleration and deceleration command detected by the acceleration and deceleration command unit, turning of the base based on the turning command detected by the turning command unit, and translational motion based on the operation of the hand operable control device or the inclination of the base; wherein; acceleration and deceleration are related to a fore-aft movement of the vehicle, and said acceleration and deceleration commands are based on the operation of the hand operable control device; and said translational motion is a lateral side-to-side motion of the vehicle and is controlled based on the operation of the hand operable control device when a moving direction information is input into the hand operable control device, and is controlled, based on the inclination of the base, when a moving direction information is not input into the hand operable control device.
-
Specification