CONTROL DEVICE FOR ELECTRIC VEHICLES

Abstract

[Subject] According to the invention, the control device for an electric vehicle with left and right drive wheels and left and right drive motors independently driving these left and right drive wheels respectively has: a joystick that can be moved to issue a steering instruction for the electric vehicle; and a driving instruction component that issues a driving instruction for the electric vehicle by a maneuver different from the vehicle's movement maneuver of the joystick. The joystick has a handle that can be operated by an occupant of the electric vehicle.Establishing a difference between the rotational speeds of the left and right drive motors based on a combination of the joystick turn direction instruction and the traffic instruction part allows for a smooth turn or a pivoting braking turn of the vehicle to prevent an erroneous maneuver. Fig. 1.

Description

Title of the invention: CONTROL DEVICE FOR ELECTRIC VEHICLE Technical field

[0001] The present invention relates to a control device for an electric vehicle, which can maneuver the electric vehicle capable of traveling by driving drive wheels using drive motors. Prior art

[0002] Electric vehicles, such as electric wheelchairs, electric trolleys or the like, which can travel via drive means such as motors, are widely used as means of transportation for users such as elderly people, people in need of care, or the like. Such an electric vehicle is also referred to as a "senior car". Typically, the electric vehicle comprises a movable base which is configured to be movable by electric drive, and a seat which has a seating portion and is located above the movable base.

[0003] In addition, the electric vehicle includes a control device that is configured to allow an occupant seated on the seat portion of the seat to control the electric vehicle. The control device is necessary to improve the maneuverability thereof, and a multitude of electric vehicle control devices have been proposed to improve the maneuverability.

[0004] In one example of the aforementioned electric vehicle control device to be presented, a drive control device for controlling an electric vehicle, including a vehicle main body having: right and left rear drive wheels; front wheels located in front of the right and left rear drive wheels; and right and left drive motors which respectively independently drive the right and left rear drive wheels. More specifically, this drive control device comprises a joystick which is movable in a supine manner in radial directions so as to enable angles of the running directions and running speeds of the vehicle main body to be input together.Based on instructions as to the angles of the driving directions and instructions as to the driving speeds, which are simultaneously input by lying movements of the joystick, the right and left drive motors are respectively driven independently, thereby performing drive control of the electric vehicle (see for example Patent Document 1). Technical problem

[0005] However, in the above-described example of the electric vehicle control device, the joystick easily tilts forward or backward against the occupant's intention. Therefore, the occupant touches the joystick contrary to his or her intention, and as a result, it is likely that the joystick is mistakenly operated so that the joystick tilts forward or backward. Due to the above mistaken operation, it is likely that the electric vehicle moves forward or backward contrary to the occupant's intention.Furthermore, when the occupant issues a turn instruction to the electric vehicle, it is likely that the joystick will be mistakenly maneuvered so that the joystick is tilted forward or rearward by an amount by which the joystick is tilted forward or rearward that was not intended by the occupant, and that this mistaken maneuver is likely to cause the electric vehicle to travel at a speed contrary to the occupant's intention. These elements are problematic.

[0006] Therefore, it is desirable to configure the control device of the electric vehicle so as to be capable of preventing erroneous operation by the occupant and improving the maneuverability thereof. Technical solution

[0007] In order to solve the aforementioned problems, a control device of an electric vehicle according to one aspect of the invention is configured so as to enable the electric vehicle to be maneuvered, the electric vehicle having: left and right drive wheels which are respectively located on a left side and a right side of the electric vehicle oriented in a forward direction; and left and right drive motors respectively independently driving the left and right drive wheels, the control device comprising: a joystick configured to be maneuverable by movement so as to issue a turning orientation instruction of the electric vehicle;and a traffic instruction part configured to issue a traffic instruction of the electric vehicle by a maneuver, different from the electric vehicle traveling maneuver of the joystick, wherein the joystick has a handle configured to be maneuverable to be grasped by an occupant of the electric vehicle, and, by differentiating between the rotational speeds of the left and right drive motors on the basis of a combination of the turning direction instruction of the joystick and the traffic instruction of the traffic instruction part, a smooth turn of the electric vehicle or a pivotal braking turn of the electric vehicle is performed. ;

[0008] For example, the traffic instruction portion is configured using a push switch having a push button and is installed in the handle of the joystick, and the push button is located near an inside of the handle relative to an outer surface of the handle.

[0009] For example, the travel instruction portion includes a drive instruction portion that issues a drive instruction for the electric vehicle.

[0010] For example, the driving instruction portion further comprises a reversing instruction portion which issues an instruction to reverse the electric vehicle.

[0011] For example, the advance instruction part is configured to issue an instruction to change the advance speed of the electric vehicle by changing an operation amount of the advance instruction part, and by changing the rotational speeds of the left and right drive motors on the basis of the instruction to change the advance speed of the advance instruction part, a advance speed of the electric vehicle is changed.

[0012] For example, the control device comprises an auxiliary instruction portion configured to output an auxiliary instruction of the electric vehicle, wherein, when the auxiliary instruction is combined with an instruction other than the auxiliary instruction, the optional maneuver of the electric vehicle is performed and the auxiliary instruction portion is installed in the joystick.

[0013] For example, the traffic instruction part has an advance instruction part of the electric vehicle, the advance instruction part issuing an advance instruction as an instruction other than the auxiliary instruction, the advance instruction of the advance instruction part is included, as an optional maneuver of the electric vehicle, increasing the advance speed of the electric vehicle is included, and by increasing the rotational speeds of the left and right drive motors based on a combination of the advance instruction of the advance instruction part and the auxiliary instruction of the auxiliary instruction part, the advance speed of the electric vehicle is increased.

[0014] For example, the joystick turning direction instruction is included as an instruction other than the auxiliary instruction, a rotation of the electric vehicle is included as an optional maneuver of the electric vehicle, and the rotation of the electric vehicle is performed by reversing the rotations of the left and right drive motors relative to each other based on a combination of the joystick turning direction instruction and the auxiliary instruction of the auxiliary instruction part.

[0015] For example, the auxiliary instruction portion is a push switch having a push button and is installed in a distal end portion of the joystick handle. Benefits provided

[0016] In a control device of an electric vehicle according to one aspect of the invention, it is possible to avoid an erroneous maneuver performed by an occupant and its maneuverability can be improved. Brief description of the drawings Fig.l

[0017] [Fig.l] [Fig.l] is a perspective view schematically showing an electric vehicle having a control device according to one embodiment. Fig. 2

[0018] [Fig.2] [Fig.2] is a perspective view schematically showing the control device according to the embodiment and a peripheral part thereof, seen along an arrow X of [Fig.l]. Fig. 3

[0019] [Fig.3] [Fig.3] is a perspective view schematically showing the control device according to the embodiment and the peripheral part thereof, seen along arrow Y of [Fig.l]. Fig. 4

[0020] [Fig.4] [Fig.4] is a front view schematically showing a handle of a joystick of the control device according to the embodiment, in a state in which the handle is set in a basic posture. Fig. 5

[0021] [Fig.5] [Fig.5] is a front view schematically showing the joystick handle of the control device according to the embodiment in a state of a left-lying posture. Fig. 6

[0022] [Fig.6] [Fig.6] is a front view schematically showing the joystick handle of the control device according to the embodiment in a state of a right-lying posture. Fig. 7

[0023] [Fig.7] [Fig.7] is a cross-sectional view schematically showing the joystick handle of the control device according to the embodiment, in a state in which the handle is cut along the line ZZ of [Fig.4]. Description of Embodiments

[0024] A control device for an electric vehicle according to one embodiment is described below. The electric vehicle operated by the control device may be a single-seater. Furthermore, the electric vehicle may be configured such that a seat installed thereon is open to the outside of the moving object. For example, the electric vehicle may be an electric wheelchair, an electric cart, and / or the like. In particular, the electric vehicle may be a single-seater electric wheelchair, a single-seater electric cart, and / or the like. However, the electric vehicle is not limited to these configurations. Hereinafter, the electric vehicle is simply called “vehicle” where appropriate.

[0025] It is noted that in the drawings used for the description of the embodiment, the directions with the vehicle forming a reference are indicated as follows. In [Fig.l] to 3, a vehicle front and a vehicle rear are indicated by an arrow Av and an arrow Ar respectively. Therefore, a forward direction and a backward direction of the vehicle are indicated by the arrows Av and Ar respectively. Furthermore, a front-rear direction of the vehicle is indicated by the arrow Av and the arrow Ar.

[0026] In [Fig.l] to 6, a left side and a right side of the vehicle which is oriented in the direction of advance are indicated by an arrow G and an arrow D respectively. It is noted that the left side and the right side of the vehicle which is oriented in the direction of advance are defined respectively as the left side of the vehicle and the right side of the vehicle. A direction along the width of the vehicle is indicated by the arrow G and the arrow D. Furthermore, in [Fig.l] to 6, an upper side of the vehicle and a lower side of the vehicle are indicated by an arrow H and an arrow B respectively. An up-down direction of the vehicle is indicated by the arrow H and the arrow B.

[0027] Overviews of the control device and the electric vehicle. Referring to [Fig. 1] to 7, outlines of a control device 1 according to the embodiment and an electric vehicle 100 operated by this control device 1 are described. First, as shown in [Fig. 1], the vehicle 100 has a left drive wheel 101 and a right drive wheel 102 which are located respectively on the left side and the right side of the vehicle 100 facing in the forward direction. Each of the left drive wheel 101 and the right drive wheel 102 is a travel wheel of the vehicle 100.

[0028] The vehicle 100 is also equipped with a left drive motor 103 and a right drive motor 104 which, respectively, independently drive the left drive wheel 101 and the right drive wheel 102. This vehicle 100 is configured to be maneuverable to perform a smooth turn and a pivot brake turn. However, the vehicle may be configured to perform only one of the smooth turn and the pivot brake turn.

[0029] Hereinafter, as shown in [Fig.l], the control device 1 is installed on the vehicle 100. As illustrated in [Fig.l] to 7, the control device 1 is equipped with a joystick 2 which is configured to be operable by moving so as to issue a turning direction instruction of the vehicle 100. The joystick 2 has a handle 21 which is configured to be operable by gripping by an occupant on the vehicle 100. As illustrated in 2 and 4 to 7, the control device 1 has a traffic instruction part 3 which is configured to issue a traffic instruction of the vehicle 100 by a maneuver which is different from that of the moving maneuver of the joystick 2. Each of the smooth turn and the The pivot brake turn of the vehicle 100 is performed by differentiating the rotational speeds of the left and right drive motors 103 and 104 so as to differentiate the rotational speeds of the left and right drive wheels 101 and 102 based on a combination of the turn direction instruction of the joystick 2 and the traffic instruction of the traffic instruction part 3. For example, the smooth turn and the pivot brake turn of the vehicle 100 can be switched in accordance with a traffic speed of the vehicle 100.

[0030] Furthermore, the overviews of the control device 1 and the electric vehicle 100 may be as follows. As illustrated in [Fig. 2] and 4 to 7, the traffic instruction part 3 has an advance instruction part 31 that issues an advance instruction of the vehicle 100, and a reverse instruction part 32 that issues a reverse instruction of the vehicle 100. Therefore, the advance and reverse instructions of the vehicle 100 are included as traffic instructions of the vehicle 100. However, the traffic instruction part may also include only the advance instruction part. In this case, only the vehicle advance instruction is included as the vehicle traffic instruction.

[0031] As shown in [Fig.7], the advance instruction part 31 is configured to issue an instruction to change the advance speed of the vehicle 100 by changing an operating amount of this advance instruction part 31. A advance speed V of the vehicle 100 is changed by changing the rotational speeds of the left and right drive motors 103 and 104 so as to change the rotational speeds of the left and right drive wheels 101 and 102 on the basis of the instruction to change the advance speed of the advance instruction part 31.

[0032] As illustrated in [Fig.2] and 4 to 7, the circulation instruction part 3 is configured using push switches 31 and 32. More specifically, the push switches 31 and 32 constitute the forward and reverse instruction parts 31 and 32, respectively. The push switches 31 and 32 have push buttons 31a and 32a, respectively. This circulation instruction part 3 is installed in the handle 21 of the joystick 2. More specifically, the forward and reverse instruction parts 31 and 32 are installed in the handle 21. Furthermore, the push buttons 31a and 32a of the push switches 31 and 32 are located near an inside of the handle 21 relative to an outer surface 21a of the handle 21.

[0033] However, the part used for the circulation instruction is not limited to the push switch, and the advance and recoil instruction parts are also not limited to the push switches. For example, the part used for the circulation instruction part or at least one of the advance and recoil instruction parts Recoil can also be a push switch, a lever switch, a slide switch, a rotary switch, a rocker switch, etc.

[0034] Furthermore, the control device 1 has an auxiliary instruction part 4 which is configured so as to issue an auxiliary instruction of the vehicle 100. In this control device 1, when this auxiliary instruction is combined with an instruction other than the auxiliary instruction, an optional maneuver of the vehicle 100 is performed. The auxiliary instruction part 4 is installed in the joystick 2. Furthermore, the auxiliary instruction part 4 may be installed in a distal end part 21b of the handle 21 of the joystick 2. Furthermore, the auxiliary instruction part 4 may be a push switch 4 having a push button 4a.

[0035] More specifically, the advance instruction of the advance instruction part is included as an instruction other than the auxiliary instruction. An increase in the advance speed V of the vehicle 100 is included as an optional maneuver of the vehicle 100. In this control device 1, the advance speed V of the vehicle 100 is increased by increasing the rotational speeds of the left and right drive motors 103 and 104 based on a combination of the advance instruction of the advance instruction part 31 and the auxiliary instruction of the auxiliary instruction part 4.

[0036] The turn direction instruction of the joystick 2 is included to be the instruction other than the auxiliary instruction, in addition to the advance instruction of the advance instruction part 31. A rotation on itself of the vehicle 100 is included as an optional maneuver of the vehicle 100. In other words, the vehicle 100 is configured to be maneuverable to perform the rotation on itself. In this control device 1, the rotation on itself of the vehicle 100 is performed by reversing the rotations of the left and right drive motors 103 and 104 relative to each other based on a combination of the turn direction instruction of the joystick 2 and the auxiliary instruction of the auxiliary instruction part 4.However, only one of the advance instruction of the advance instruction part and the joystick turn direction instruction may also be included to form the instruction other than the auxiliary instruction.

[0037] Details of the electric vehicle. Referring to [Fig.l], the electric vehicle 100 can be described in detail as follows. The left and right drive wheels 101 and 102 of the vehicle 100 constitute the left and right rear drive wheels 101 and 102, respectively. Therefore, the left and right drive motors 103 and 104 can also be referred to as the left and right rear drive motors 103 and 104, respectively. The left and right rear drive wheels 101 and 102 are driven and braked independently of each other using the motors respectively. left and right rear drive 103 and 104.

[0038] The vehicle 100 has a left follower wheel 105 and a right follower wheel 106 that roll in accordance with the traffic of the vehicle 100 driven by the left drive wheel 101 and the right drive wheel 102, respectively. Each of the left and right drive wheels 105 and 106 is also a traffic wheel. The vehicle 100 has left and right brake mechanisms that are operable to brake the left and right follower wheels 105 and 106, respectively, although the left and right brake mechanisms are not specifically shown. The left and right follower wheels 105 and 106 constitute the left and right front follower wheels 105 and 106 that are located at the front of the vehicle relative to the left rear drive wheel 101 and the right rear drive wheel 102, respectively.Therefore, the left and right brake mechanisms can also be called the left and right front brake mechanisms, respectively.

[0039] The configuration of the vehicle is not, however, limited to the aforementioned configuration. For example, instead of the left and right front steering wheels, the vehicle may also have a front steering wheel that is located in a substantially central portion in the width direction of the vehicle. Furthermore, instead of the left and right front steering wheels, the vehicle may also have left and right front driving wheels and may also have left and right front driving motors that are operable to drive and brake the left and right front driving wheels independently of each other, respectively. In other words, the vehicle may have four-wheel drive.

[0040] Instead of the left and right rear drive wheels, the vehicle may have left and right rear steering wheels, and instead of the left and right front steering wheels, the vehicle may have left and right front drive wheels. Furthermore, this vehicle may have left and right rear brake mechanisms that are operable to brake the left and right rear steering wheels, respectively. The vehicle may have left and right front motors that are operable to drive and brake the left and right front drive wheels, respectively, independently of each other. In this case, instead of the left and right rear steering wheels, the vehicle may also have a rear steering wheel that is located in a substantially central portion in the width direction of the vehicle.

[0041] The vehicle 100 also has a controller 107 used for controlling the vehicle 100. The controller 107 may include: electronic components such as a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an input interface, an output interface, and the like; and electrical circuitry in which these electronic components Ironic are arranged. In addition, the ROM can store programs responsible for the operation of the controller 107, including the ROM. In addition, the ROM can store a variety of constants used for a variety of calculations and / or the like, a variety of maps, and / or the like.

[0042] The controller 107 is electrically connected to the control device 1, the left and right drive motors 103 and 104, and the left and right brake mechanisms (not shown). Instructions from the control device 1 are transmitted to the controller 107 by electrical signals, and further, based on these instructions from the control device 1, the controller 107 controls the left and right drive motors 103 and 104 and the left and right brake mechanisms.

[0043] This vehicle 100 has a mobile base 108 on which the left and right driving wheels 101 and 102, as well as the left and right following wheels 105 and 106 are attached, rotatably movable. On this mobile base 108 are installed the left and right driving motors 103 and 104, the left and right braking mechanisms (not shown) and the controller 107.

[0044] The vehicle 100 also has a seat 109 that is placed above the mobile base 108. The seat 109 has a seating portion 109a that is configured to allow an occupant to sit thereon. In particular, this seat 109 may be configured for a single occupant. However, the vehicle seat is not limited thereto.

[0045] The vehicle 100 has armrests 110 which are located closer to the outside of the vehicle in the width direction than the seat portion 109a of the seat 109 and above the seat portion 109a. In particular, the vehicle 100 may have both armrests 110. However, the vehicle may be configured to have at least one armrest.

[0046] These armrests 110 are also installed above the movable base 108. Each of the armrests 110 has a front end portion 110a located near the front of the vehicle, and a rear end portion 110b located near the rear of the vehicle. Each of the armrests 110 has a central portion 110c which is located between these front end portions 110a and rear end portion 110b. Each of the armrests 110 is configured so as to allow an elbow of the occupant seated on the seat portion 109a of the seat 109, to be placed on the central portion 110c of each of the armrests 110.

[0047] Joystick details. The joystick 2 may be as described below in detail. As illustrated in [Fig.2] to 7, the handle 21 of the joystick 2 is formed into an elongated shape. The handle 21 extends along a reference axis line 2a of the joystick 2. The outer surface 21a of the handle 21 includes an outer peripheral surface 21c which is located around the reference axis line 2a.

[0048] As illustrated in [Fig. 1], the joystick 2 is installed on one of the two armrests 110. As illustrated in [Fig. 2] to 7, the joystick 2 has a support body 22 which supports the handle 21 so as to enable the handle to be moved by tilting in the vehicle width direction. The support body 22 is installed in the front end portion 110a of one of the armrests 110. The handle 21 is located so as to be projected in a central portion of a vehicle width direction 100 and in an oblique direction on an upper side of the vehicle. The handle 21 is moved by tilting in the vehicle width direction with a tilting movement axis line 21d passing through the support body 22 as a center. Furthermore, the tilting movements of the handle 21 in the front-rear direction of the vehicle and in the up-down direction of the vehicle can be restricted.

[0049] The reference axis line 2a of the joystick 2 is located so as to face the top of the vehicle with respect to a horizontal axis line H extending along the width direction of the vehicle, with the tilting movement axis line 21d as the center. A reference angle 01 defined between the reference axis line 2a and the horizontal axis line H may be an acute angle. For example, the reference angle 01 may be about 30 degrees. However, the reference angle is not limited to this value.

[0050] As illustrated in [Fig.2] to 4, the handle 21 in an initial state in which the handle 21 is not operated, is in a basic posture in which a handle axis line 21e substantially coincides with the reference axis line 2a. In addition, as illustrated in [Fig.5], the handle 21 can be moved by tilting, from the basic posture to a left tilting travel posture in which the handle axis line 21e substantially coincides with a left operating axis line 2b. Note that the left operating axis line 2b is located so as to face the left side of the vehicle with respect to the reference axis line 2a, with the tilting travel axis line 21d as the center. A left tilting displacement angle 02 defined between the left maneuvering axis line 2b and the reference axis line 2a may be an acute angle.For example, the left tilting travel angle 02 may be about 30 degrees. However, the left tilting travel angle is not limited to this.

[0051] As illustrated in [Fig.6], the handle 21 can also be moved by tilting, from the basic posture to a right tilting movement posture in which the handle axis line 21e substantially coincides with a right maneuvering axis line 2c. Note that the right maneuvering axis line 2c is located so as to face the right side of the vehicle relative to the reference axis line 2a, with the tilting travel axis line 21d as the center. A right tilting travel angle 03 defined between the right maneuvering axis line 2c and the reference axis line 2a may be an acute angle. For example, the right tilting travel angle 03 may be approximately 30 degrees. However, the right tilting travel angle is not limited to this.

[0052] As illustrated in [Fig.2] and 3, the handle 21 has a return so as to be resettable to the basic posture even when it is moved by tilting from the basic posture to the left or right side of the vehicle. The joystick 2 has a coil spring 23 forming a return means for returning the handle 21 as mentioned above. The coil spring 23 can be compressed between the handle 21 and the support body 22 in a state in which the coil spring 23 is inserted into a base end portion 21f of the handle 21. However, the return means are not limited to the coil spring.

[0053] The joystick 2 has a tilting motion detector that can detect tilting movements of the left and right sides of the vehicle of the handle 21, although the tilting motion detector is not specifically illustrated. The tilting motion detector is installed inside the support body 22. The joystick 2 is electrically connected to the controller 107. In particular, the tilting motion detector is electrically connected to the controller 107. This tilting motion detector may be a contact-type switch, sensor, and / or the like. However, the tilting motion detector may also be a non-contact type switch, sensor, and / or the like.

[0054] As illustrated in [Fig.7], the handle 21 has recessed parts 21g and 21h which are recessed from the outer surface 21a so as to correspond to the push buttons 31 and 32 used in the traffic instruction part 3. More specifically, the handle 21 has the first recessed part 21g and the second recessed part 21h recessed from the outer peripheral surface 21c so as to correspond to the advance instruction part 31 and the reverse instruction part 32 which are the push switches 31 and 32, respectively. The handle 21 has a third recessed part 21i recessed from the outer surface 21a so as to correspond to the auxiliary instruction part 4 which is the push switch 4. The first and second recessed parts 21g and 21h are open toward the front of the vehicle.The third recessed portion 21i is open in a direction from the base end portion 21f of the handle 21 toward the distal end portion 21b thereof. Note that in [Fig.7], an internal structure other than the first to third recessed portions 21g to 2li is omitted.

[0055] With reference to [Fig.4] to 6, when the handle 21 of the joystick 2 in the posture of base is moved by tilting to the left side of the vehicle, a left turn instruction is issued to turn the vehicle 100 to the left side of the vehicle. Furthermore, when the handle 21 of the joystick 2 in the base posture is moved by tilting to the right side of the vehicle, a right turn instruction is issued to turn the vehicle 100 to the right side of the vehicle. Note that these left and right turn instructions are included to form the turn orientation instruction.

[0056] Details of the traffic instruction part. The circulation instruction part 3 may be provided as described below in detail. As illustrated in [Fig. 2] and 4 to 7, all of the push switches 31 and 32 used in the circulation instruction part 3 are housed in the recessed portions 21g and 21h of the handle 21. More specifically, all of the forward and reverse instruction parts 31 and 32 which are the push switches 31 and 32 are housed in the first and second recessed portions 21g and 21h of the handle 21, respectively.

[0057] The push buttons 31a and 32a of the push switches 31 and 32 used in the traffic instruction part 3 are located in a front portion 21j of the handle 21, which is located near the front of the vehicle. More specifically, the push buttons 31a and 32a of the forward and reverse instruction parts 31 and 32 are located in the front portion 21j of the handle 21, which is located near the front of the vehicle. The direction in which the push buttons 31a and 32a are pressed may be from the front of the vehicle to the rear of the vehicle.

[0058] The advance and recoil instruction portions 31 and 32 are arranged along a longitudinal direction of the handle 21. The advance instruction portion 31 is located closer to the distal end portion 21b of the handle 21 than the recoil instruction portion 32. In the longitudinal direction of the handle 21, a length of the push button 31a of the advance instruction portion 31 is longer than a length of the push button 32a of the recoil instruction portion 32.

[0059] As illustrated in [Fig.7], the push button 31a of the advance instruction portion 31 in an initial state in which the push button 31a is not operated, is located in a basic position in which the push button 31a is located closest to the outer surface 21a of the handle 21. When the push button 31a is pressed from an initial position, the advance instruction portion 31 initiates the advance instruction of the vehicle 100. In particular, the advance instruction portion 31 can issue the advance instruction of the vehicle 100 while the push button 31a is pressed from its initial position. The push button 31a is returned by a return means (not shown) so as to be resettable to a basic posture even when pressed.

[0060] Furthermore, the advance instruction part 31 increases the advance speed V of the vehicle 100 in accordance with an increase in the depression amplitude of the push button 31a. The advance instruction part 31 can increase the advance speed V of the vehicle 100 in a plurality of steps in accordance with the increase in the depression amplitude of the push button 31a in a plurality of steps. It is noted that the depression amplitude of the push button 31a in the base position is approximately 0 (zero) mm.

[0061] In [Fig. 7], as an example, the advance instruction part 31 increases the advance speed V of the vehicle 100 in two steps according to the increase in the depression amplitude of the push button 31a in two steps. Here, when the depression amplitudes increased in a first step and a second step are defined as a first depression amplitude and a second depression amplitude, respectively, the second depression amplitude becomes greater than the first depression amplitude. Note that in [Fig. 7], the push button 31a depressed according to the first and second depression amplitudes is indicated by dot-and-dash lines. However, the advance instruction part is not limited thereto. For example, the advance instruction portion may also increase the advance speed V of the vehicle in three or more steps depending on the increase in the amount of pressing of the push button in three or more steps.

[0062] The push button 32a of the reversing instruction portion 32 in an initial state in which the push button 32a is not operated, is in a basic position in which the push button 32a is located closest to the outer surface 21a of the handle 21. When the push button 32a is pressed from an initial position, the reversing instruction portion 32 initiates the reversing instruction of the vehicle 100. In particular, the reversing instruction portion 32 can issue the reversing instruction of the vehicle 100 while the push button 32a is pressed from an initial position. The push button 32a is returned by a return means (not shown) so as to be resettable to a basic posture even when pressed.

[0063] The traffic instruction portion 3 has a traffic instruction detector that is operable to detect a maneuver thereof, although the traffic instruction detector is not clearly illustrated. The traffic instruction portion 3 is electrically connected to the controller 107. More specifically, the traffic instruction detector is electrically connected to the controller 107. The traffic instruction detector is located inside the handle 21.

[0064] More specifically, the advance instruction portion 31 has an advance instruction detector which is operable to detect an operation thereof. advance instruction portion 31 is electrically connected to the controller 107. In particular, the advance instruction detector is electrically connected to the controller 107. The advance instruction detector may be configured to be operable to detect a change in the amount of depression of the push button 31a. The advance instruction detector is located inside the handle 21.

[0065] In addition, the recoil instruction portion 32 has a recoil instruction detector which is operable to detect the operation thereof. The recoil instruction portion 32 is electrically connected to the controller 107. In particular, the recoil instruction detector is electrically connected to the controller 107. The recoil instruction detector is located inside the handle 21.

[0066] Details of the auxiliary instruction part. The auxiliary instruction part 4 may be provided as described below in detail. As illustrated in [Fig. 2] and 4 to 7, a pressing direction of the push button 4a of the auxiliary instruction part 4 is from the distal end portion 21b of the handle 21 toward the base end portion 21f. The push button 4a of the auxiliary instruction part 4 in an initial state in which the push button 4a is not operated, is in a base position in which the push button 4a is located closest to the distal end portion 21b of the handle 21. The push button 4a in the base position is housed in the third recessed portion 21i of the handle 21 so as to project from the distal end portion 21b of the handle 21.

[0067] The auxiliary instruction part 4 initiates the auxiliary instruction when the push button 4a is pressed from an initial position. In particular, the auxiliary instruction part 4 can issue the auxiliary instruction while the push button 4a is pressed from the initial position. The push button 4a is returned by a return means (not shown) so as to be resettable to a basic posture even when pressed.

[0068] The auxiliary instruction portion 4 has an auxiliary instruction detector which is operable to detect an operation thereof. The auxiliary instruction portion 4 is electrically connected to the controller 107. More specifically, the auxiliary instruction detector is electrically connected to the controller 107. The auxiliary instruction detector is located inside the handle 21.

[0069] Method of using the vehicle. An example method of using the vehicle 100 in which the control device 1 according to the embodiment is used will be described. The circulation of the vehicle 100 is carried out on the basis of the circulation instructions made by operating the circulation instruction part 3. The circulation instructions are instructions that drive the left and right drive motors 103 and 104. so as to rotate the left and right drive wheels 101 and 102 forward or backward.

[0070] More specifically, the advance of the vehicle 100 is performed on the basis of the advance instruction issued by operating the advance instruction part 31, and more specifically by pressing the advance instruction part 31 which is the push switch 31. The advance instruction is an instruction that drives the left and right drive motors 103 and 104 so as to rotate the left and right drive wheels 101 and 102 forward. The reversing of the vehicle 100 is performed on the basis of the reversing instruction issued by operating the reversing instruction part 32, and more specifically by pressing the push button 32a of the reversing instruction part 32 which is the push switch 32. The reversing instruction is an instruction that drives the left and right drive motors 103 and 104 so as to rotate the left and right drive wheels 101 and 102 backward.

[0071] The change of the forward speed V of the vehicle 100 is performed on the basis of the change instruction of the forward speed of the vehicle 100, issued by changing the operating amplitude of the forward instruction part 31. The change instruction of the forward speed is an instruction that changes the rotational speeds of the left and right drive motors 103 and 104 so as to change the rotational speeds of the left and right drive wheels 101 and 102 in a forward rotation direction.

[0072] Furthermore, the increase in the forward speed V of the vehicle 100 is performed on the basis of a vehicle speed increase instruction 100, issued by increasing the pressing amplitude of the push button 31a of the forward instruction part 31 which is the push switch 31. The forward speed increase instruction is an instruction that increases the rotational speeds of the left and right drive motors 103 and 104 so as to change the rotational speeds of the left and right drive wheels 101 and 102 in the forward rotation direction. Furthermore, the increase in the advance speed V of the vehicle 100 is performed based on a combination of the above advance instruction and the auxiliary instruction issued by operating the auxiliary instruction part 4, in particular by pressing the push button 4a of the auxiliary instruction part 4 which is the push switch 4.The combination of the advance instruction and the auxiliary instruction is also a combination of the instructions that increase the rotational speeds of the left and right drive motors 103 and 104 so as to change the rotational speeds of the left and right drive wheels 101 and 102 in the forward rotation direction.

[0073] For example, when it comes to the instruction to change the feed rate or the instruction to increase the feed rate, a feed rate V of the vehicle 100 in a state in which the push button 31a of the advance instruction part 31 is pressed by the first pressing amount is defined as a first advance speed VI and a advance speed V of the vehicle 100 in a state in which this push button 31a is pressed by the second pressing amount is defined as a second advance speed V2, the second advance speed V2 is higher than the first advance speed VI. Furthermore, when a advance speed V of the vehicle 100 which is increased on the basis of the combination of the advance instruction and the auxiliary instruction, is defined as a third advance speed V3, the third advance speed V3 may be higher than a standard maximum advance speed Vm of the vehicle 100 which is maximized on the basis of the advance speed change instruction or the advance speed increase instruction.Note that the third feed rate may be greater than the first or second feed rate.

[0074] The first feed rate VI may be about 1 km / h, the second feed rate V2 may be about 3 km / h, and the third feed rate V3 may be about 4.5 km / h, although these are only examples. However, the first to third feed rates are not limited to this.

[0075] The smooth turn of the vehicle 100 is performed based on the combination of the turn direction instruction of the joystick 2 and the traffic instruction of the traffic instruction part 3. More specifically, a smooth turn of the left advance side of the vehicle 100 is performed based on a combination of the leftward rotation instruction of the joystick 2 and the advance instruction of the advance instruction part 31. The combination of the leftward rotation instruction and the advance instruction is a combination of instructions that increase a rotation speed of the right drive motor 104 more than a rotation speed of the left drive motor 103 so as to make a rotation speed of the right drive wheel 102 in the forward direction greater than a rotation speed of the left drive wheel 101 in the forward direction.

[0076] A smooth turn of the right advance side of the vehicle 100 is performed based on a combination of the rightward rotation instruction of the joystick 2 and the advance instruction of the advance instruction part 31. The combination of the rightward rotation instruction and the advance instruction is a combination of instructions that increase the rotation speed of the left drive motor 103 more than the rotation speed of the right drive motor 104 so as to make the rotation speed of the left drive wheel 101 in the forward direction greater than the rotation speed of the right drive wheel 102 in the forward direction.

[0077] A smooth turn to the left reversing side of the vehicle 100 is performed on the base of a combination of the leftward rotation instruction of the joystick 2 and the reverse instruction of the reverse instruction part 32. The combination of the leftward rotation instruction and the reverse instruction is a combination of instructions that increase the rotation speed of the right drive motor 104 more than the rotation speed of the left drive motor 103 so as to make the rotation speed of the right drive wheel 102 in a reverse direction greater than the rotation speed of the left drive wheel 101 in the reverse direction.

[0078] A smooth turn of the right reversing side of the vehicle 100 is performed based on a combination of the rightward rotation instruction of the joystick 2 and the reversing instruction of the reversing instruction part 32. The combination of the rightward rotation instruction and the reversing instruction is a combination of instructions that increase the rotation speed of the left drive motor 103 more than the rotation speed of the right drive motor 104 so as to make the rotation speed of the left drive wheel 101 in the reverse direction greater than the rotation speed of the right drive wheel 102 in the reverse direction.

[0079] A pivotal braking turn of the vehicle 100 is also performed based on a combination of the turning direction instruction of the joystick 2 and the traffic instruction of the traffic instruction part 3. More specifically, a pivotal braking turn of the left advance side of the vehicle 100 is performed based on a combination of the leftward rotation instruction of the joystick 2 and the advance instruction of the advance instruction part 31. The combination of the leftward rotation instruction and the advance instruction is a combination of instructions that rotate the right drive motor 104 and stop the left drive motor 103 so as to rotate the right drive wheel 102 in the forward direction and stop the left drive wheel 101.

[0080] A pivotal braking turn on the right advance side of the vehicle 100 is performed based on a combination of the rightward rotation instruction of the joystick 2 and the advance instruction of the advance instruction part 31. The combination of the rightward rotation instruction and the advance instruction is a combination of instructions that rotate the left drive motor 103 and stop the right drive motor 104 so as to rotate the left drive wheel 101 in the forward direction and stop the right drive wheel 102.

[0081] A pivotal braking turn on the left reversing side of the vehicle 100 is performed based on a combination of the leftward rotation instruction of the joystick 2 and the reversing instruction of the reversing instruction part 32. The combination of the leftward rotation instruction and the reversing instruction is a combination of instructions that rotate the right drive motor 104 and stop the left drive motor 103 so as to rotate the right drive wheel 102 in the backward direction and stop the left drive wheel 101.

[0082] A pivotal braking turn on the right reversing side of the vehicle 100 is performed based on a combination of the rightward rotation instruction of the joystick 2 and the reversing instruction of the reversing instruction part 32. The combination of the rightward rotation instruction and the reversing instruction is a combination of instructions that rotate the left drive motor 103 and stop the right drive motor 104 so as to rotate the left drive wheel 101 in the backward direction and stop the right drive wheel 102.

[0083] A rotation of the vehicle 100 is performed on itself based on a combination of the turning direction instruction of the joystick 2 and the auxiliary instruction of the auxiliary instruction part 4. The above combination of the turning direction instruction and the auxiliary instruction is a combination of instructions that rotate the left and right drive motors 103 and 104 in a reverse manner relative to each other so as to rotate the left and right drive wheels 101 and 102 in a reverse manner relative to each other.

[0084] More specifically, a leftward rotation of the vehicle 100 is performed on the basis of a combination of the leftward rotation instruction of the joystick 2 and the auxiliary instruction of the auxiliary instruction part 4. The combination of the leftward rotation instruction and the auxiliary instruction is a combination of instructions that rotate the left and right drive motors 103 and 104 in a reverse manner relative to each other so as to rotate the left drive wheel 101 in the backward direction and rotate the right drive wheel 102 in the forward direction.

[0085] More specifically, a rightward rotation of the vehicle 100 is performed on the basis of a combination of the rightward rotation instruction of the joystick 2 and the auxiliary instruction of the auxiliary instruction part 4. The combination of the rightward rotation instruction and the auxiliary instruction is a combination of instructions that rotate the left and right drive motors 103 and 104 in a reverse manner relative to each other so as to rotate the left drive wheel 101 in the forward direction and rotate the right drive wheel 102 in the rearward direction.

[0086] As described above, the control device 1 according to the embodiment is configured so as to be capable of maneuvering the electric vehicle 100 which has the left and right drive wheels 101 and 102 and the left and right drive motors 103 and 104 respectively independently driving these left and right drive wheels 101 and 102. This control device 1 has the joystick 2 which is maneuverable by movement so as to issue the turning direction instruction of the vehicle 100 and the traffic instruction part 3 which issues the traffic instruction of the vehicle 100 by a different maneuver from the moving maneuver of this joystick 2. The joystick 2 has the handle 21 which can be grasped by an occupant on the vehicle 100. By differentiating between the rotational speeds of the left and right drive motors 103 and 104 based on the combination of the turning direction instruction of the joystick 2 and the traffic instruction of the traffic instruction part 3, the smooth turning or the turning by pivoting braking of the vehicle 100 is performed.

[0087] Generally, while the joystick 2 allows easy control of the vehicle 100, there is a high chance that the joystick 2 will be contacted by mistake by the occupant. On the contrary, in the control device 1 according to the embodiment, the turning direction instruction of the vehicle 100 is issued by the movement operation of the joystick 2, and the traffic instruction of the vehicle 100 is issued by the operation of the traffic instruction part 3, which is different from the movement operation of the joystick 2. Therefore, even if the occupant mistakenly contacts the joystick 2, it is possible to prevent the vehicle 100 from moving forward or backward contrary to the occupant's intention.In addition, since the moving operation of the joystick 2, which issues the turning direction instruction, and the operation of the traffic instruction part 3, which issues the traffic instruction, can be clearly separated, the confusion between the operation of issuing the turning direction instruction and the operation of issuing the traffic instruction, made by the occupant, can be prevented. On the other hand, since the turning direction instruction of the joystick 2 and the traffic instruction of the traffic instruction part 3 are combined, the difference between the rotational speeds of the left and right driving motors 103 and 104 is easily caused, and the smooth turning or the turning by pivoting braking of the vehicle 100 can be easily performed by this difference, the vehicle 100 is easy to maneuver.Thus, the erroneous maneuvering of the vehicle 100 by the occupant can be avoided, and the maneuverability of the vehicle 100 can be improved.

[0088] In the control device 1 according to the embodiment, the traffic instruction part 3 is configured by means of the switches 31 and 32 having the push buttons 31a and 32a and is installed in the handle 21 of the joystick 2. In addition, the push buttons 31a and 32a are located near the inside of the handle 21 with respect to the outer surface 21a of the handle 21.

[0089] Therefore, even if the occupant mistakenly contacts the handle 21 of the joystick 2, the occupant hardly contacts the push buttons 31a and 32a of the push switches 31 and 32. Furthermore, since as long as the confusion between the movement maneuver of the joystick 2 for issuing the turn direction instruction and the maneuvers of the push buttons 31a and 32a for issuing the traffic instruction, made by the occupant, is prevented, the movement maneuver of the joystick 2 and the maneuver of the push buttons 31a and 32a can be easily performed by one hand of the occupant, which grasps the handle 21 of the joystick 2, the maneuverability of the vehicle 100 can be improved while the maneuver by mistake by the occupant can be avoided.

[0090] In the control device 1 according to the embodiment, the traffic instruction part 3 comprises the advance instruction part 31 which issues the advance instruction of the vehicle 100. Furthermore, the traffic instruction part 3 further comprises the reverse instruction part 32 for issuing the reverse instruction of the vehicle 100. Therefore, since the operation of the advance instruction part 31, which issues the advance instruction, and the operation of the reverse instruction part 32, which issues the reverse instruction, can be clearly separated, the confusion between the operation of issuing the advance instruction and the operation of issuing the reverse instruction, made by the occupant, can be avoided.

[0091] In the control device 1 according to the embodiment, the advance instruction part 31 is configured so as to issue the instruction for changing the advance speed of the vehicle 100 by changing the maneuvering amplitude of the advance instruction part 31. By changing the rotational speeds of the left and right drive motors 103 and 104 on the basis of the advance speed changing instruction of the advance instruction part 31, the advance speed V of the vehicle 100 is changed. Therefore, since the advance instruction of the vehicle 100 and the advance-related advance speed changing instruction of the vehicle 100 can be issued by the advance instruction part 31, the vehicle 100 can be easily maneuvered.

[0092] The control device 1 according to the embodiment has the auxiliary instruction part 4 which is configured so as to output the auxiliary instruction of the vehicle 100. When this auxiliary instruction is combined with the instruction other than the auxiliary instruction, the optional maneuver of the electric vehicle 100 is performed. The auxiliary instruction part 4 is installed in the joystick 2. Therefore, since combining the auxiliary instruction of the auxiliary instruction part 4 and the instruction other than the auxiliary instruction, the optional maneuver of the vehicle 100 is easily performed, the maneuverability of the vehicle 100 can be improved.Furthermore, since it is possible to make the optional maneuver of the vehicle 100 not be performed when the auxiliary instruction of the auxiliary instruction part 4 is not combined with the instruction other than the auxiliary instruction, even if the occupant mistakenly performs the emission maneuver. of the instruction other than the auxiliary instruction, it is possible to prevent the optional maneuver of the vehicle 100 from being performed by mistake.

[0093] In the control device 1 according to the embodiment, the advance instruction of the advance instruction part 31 is included as an instruction other than the auxiliary instruction. An increase in the advance speed of the vehicle 100 is included as an optional maneuver of the vehicle 100. By increasing the rotational speeds of the left and right drive motors 103 and 104 based on the combination of the advance instruction of the advance instruction part 31 and the auxiliary instruction of the auxiliary instruction part 4, the advance speed of the vehicle 100 is increased. Therefore, since combining the advance instruction of the advance instruction part 31 with the auxiliary instruction of the auxiliary instruction part 4, the advance speed V of the vehicle 100 is easily increased, the maneuverability of the vehicle 100 can be improved.Furthermore, when the advance instruction of the advance instruction part 31 is not combined with the auxiliary instruction of the auxiliary instruction part 4, since an abnormal increase in the advance speed V of the vehicle 100 can be avoided, if the occupant mistakenly operates the advance instruction part 31, an erroneous increase in the advance speed V of the vehicle 100 in an abnormal manner can be avoided.

[0094] In the control device 1 according to the embodiment, the turning direction instruction of the joystick 2 is included as an instruction other than the auxiliary instruction. The turning of the vehicle 100 is included as an optional maneuver of the vehicle 100. The turning of the vehicle 100 is performed by reversing the rotations of the left and right drive motors 103 and 104 relative to each other based on the combination of the turning direction instruction of the joystick 2 and the auxiliary instruction of the auxiliary instruction part 4. Therefore, since the turning direction instruction of the joystick 2 and the traffic instruction of the traffic instruction part 3 are combined, the turning of the vehicle 100 can be easily performed, and the maneuverability of the vehicle 100 can be improved.Furthermore, since when the turning direction instruction of the joystick 2 is not combined with the auxiliary instruction of the auxiliary instruction part 4, abnormal execution of the vehicle turning can be avoided, if the occupant mistakenly operates the joystick 2, the mistaken execution of the vehicle turning 100 in an abnormal manner can be avoided.

[0095] In the control device 1 according to the embodiment, the auxiliary instruction part 4 is the push switch 4 having the push button 4a and is installed in the distal end part 21b of the handle 21 of the joystick 2. Since this distal end part 21b of the handle 21 is rarely touched by mistake by the occupant when performing the movement maneuver of the joystick 2, it is possible to prevent the auxiliary instruction part 4 of the distal end part 21b of the handle 21 from being mistakenly touched by the occupant. Accordingly, the mistaken execution of the optional maneuver of the vehicle 100 can be prevented. On the other hand, since the auxiliary instruction part 4 installed in the distal end part 21b of the handle 21 is the push switch 4, the maneuverability of the auxiliary instruction part 4 is ensured.

[0096] Above, one embodiment of the present invention is described. However, the present invention is not limited to the embodiment described above, and a variety of variations and modifications of the present invention can be made based on the technical idea of ​​the present invention. List of reference signs

[0097] 1 Control device, 2 Joysticks, 21 ... Handle, 21a... Outer surface, 21b ... Distal end portion 3 ... Traffic instruction part, 31 ... Advance instruction part (Push switch), 31a... Push button, 32 ... Reversing instruction part (Push switch), 32a ... Push button (Push switch), 4 ... Auxiliary instruction part (Push switch), 4a... Push button, 100 ... Electric Vehicle (Vehicle), 101 ... Left drive wheel (Left rear drive wheel), 102 ... Right drive wheel (Right rear drive wheel), 103 ... Left drive motor (Left rear drive motor), 104 ... Right Drive Motor (Right Rear Drive Motor) List of cited documents Patent documents

[0098] [Patent Document 1] JP 2000-005239 A.

Claims

Claims

1. A control device (1) for an electric vehicle (100), the control device being configured to enable the electric vehicle to be maneuvered, the electric vehicle having: left (101) and right (102) drive wheels which are located respectively on a left side and a right side of the electric vehicle facing in a forward direction; and left (103) and right (104) drive motors respectively independently driving the left and right drive wheels, the control device comprising: a joystick (2) configured to be maneuverable by movement so as to issue a turning direction instruction of the electric vehicle;and a traffic instruction part (3) configured to issue a traffic instruction of the electric vehicle by a maneuver, different from the electric vehicle moving maneuver of the joystick, the traffic instruction part (3) having a forward instruction part (31) which issues a forward instruction for the electric vehicle, wherein the joystick (2) has a handle (21) configured to be maneuverable to be grasped by an occupant of the electric vehicle, and, by differentiating between the rotational speeds of the left (103) and right (104) drive motors on the basis of a combination of the turning direction instruction of the joystick (2) and the traffic instruction of the traffic instruction part (3), a smooth turn of the electric vehicle or a pivotal braking turn of the electric vehicle is performed.;

2. The control device (1) of the electric vehicle (100) according to claim 1, wherein the traffic instruction part (3) is configured using a push switch (31) having a push button (31a) and is installed in the handle (21) of the joystick (2), and the push button is located near an inside of the handle relative to an outer surface (21a) of the handle.

3. A control device (1) of the electric vehicle (100) according to claim 1 or 2, wherein the driving instruction part (3) further comprises a reversing instruction part (32) which issues a reversing instruction of the electric vehicle.

4. Control device (1) of the electric vehicle (100) according to one of claims 1 to 3, wherein the advance instruction part (31) is configured to issue an instruction to change the advance speed of the electric vehicle by changing an operating amplitude of the advance instruction part, and by changing the rotational speeds of the left (103) and right (104) drive motors based on the instruction to change the advance speed of the advance instruction part, a advance speed of the electric vehicle is changed.

5. A control device (1) of the electric vehicle (100) according to one of claims 1 to 4, the control device comprising an auxiliary instruction part (4) configured to issue an auxiliary instruction of the electric vehicle, wherein when the auxiliary instruction is combined with an instruction other than the auxiliary instruction, an optional maneuver of the electric vehicle is performed, and the auxiliary instruction part (4) is installed in the joystick (2).

6. The control device (1) of the electric vehicle (100) according to claim 5, wherein the traffic instruction part (3) has an advance instruction part (31) of the electric vehicle, the advance instruction part issuing an advance instruction as an instruction other than the auxiliary instruction, the advance instruction of the advance instruction part is included, as an optional maneuver of the electric vehicle, the increase in the advance speed of the electric vehicle is included, and, by increasing the rotational speeds of the left (103) and right (104) drive motors based on a combination of the advance instruction of the advance instruction part (31) and the auxiliary instruction of the auxiliary instruction part (4), the advance speed of the electric vehicle is increased.

7. A control device (1) of the electric vehicle (100) according to claim 5 or 6, wherein, the turn direction instruction of the joystick (2) is included as an instruction other than the auxiliary instruction, a rotation of the electric vehicle is included as an optional maneuver of the electric vehicle, and the rotation of the electric vehicle is performed by reversing the rotations of the left (103) and right (104) drive motors relative to each other based on a combination of the turn direction instruction of the joystick (2) and the auxiliary instruction of the auxiliary instruction part (4).

8. Control device (1) of the electric vehicle (100) according to one any of claims 5 to 7, wherein the auxiliary instruction part (4) is a push switch having a push button (4a) and is installed in a distal end part (21b) of the handle (21) of the joystick (2).

Images