control device

Abstract

To provide a control device that allows an electric cart to easily recover from a wheel derailment. [Solution] The control device according to the present invention is a control device for an electric cart comprising a guide wheel provided inside the wheel, an acceleration sensor that detects the tilt angle of the vehicle and the impact caused by the guide wheel contacting the road surface, and a display panel mounted on the vehicle, wherein the control unit stops the vehicle and displays output information on the display panel indicating a method for returning to normal driving when the acceleration sensor detects a tilt angle of a first threshold or more and an impact of a second threshold or more.

Description

Technical Field

[0001] The present invention relates to a control device.

Background Art

[0002] Conventionally, as a means of transportation that can be easily used by the elderly, the disabled due to injuries, etc., electric carts (sometimes referred to as electric wheelchairs, etc.) have become widespread. An electric cart is a vehicle that uses the power of a battery to drive a drive source such as a motor and can move (travel) while the user is in a seated position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, when a wheel of an electric cart comes off, the user may panic. A user in a panicked state may not be able to control the electric cart correctly and may not be able to return from the wheel-off state to normal driving.

[0005] An object of the present invention is to provide a control device that enables easy escape from wheel-off even when a wheel of an electric cart comes off.

Means for Solving the Problems

[0006] To achieve the above objective, the control device according to the present invention is a control device for an electric cart comprising a guide wheel provided inside the wheel, an acceleration sensor that detects the tilt angle of the vehicle and the impact caused by the guide wheel contacting the road surface, and a display panel mounted on the vehicle, wherein the control unit stops the vehicle and displays output information on the display panel indicating a method for returning to normal driving when the acceleration sensor detects a tilt angle of a first threshold or more and an impact of a second threshold or more.

[0007] With this configuration, for example, if an electric cart becomes derailed and the user is in a panic, they can verify the correct control method for the electric cart and return to normal operation. This allows users to easily recover from a derailment even if the electric cart becomes derailed.

[0008] Furthermore, the control device according to the present invention displays output information and performs recovery assistance control to return to normal driving. In addition, as part of the recovery assistance control, if the electric cart derails, the control device provides a rotational difference greater than that during normal driving between the first wheel on the derailed side and the second wheel on the non-derailed side. The control device also changes the rotational difference over time.

[0009] For example, in a situation where one wheel of an electric cart comes off, the user may have difficulty turning the steering wheel. With this configuration, the control device creates a rotational difference between the drive wheels, initiating the rotational difference. The control device then adjusts the motor output to assist steering, making it easier for the user to turn the steering wheel, and performs recovery assistance control to improve steering responsiveness. As a result, the user can easily recover from a wheel derailment. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a control device that enables an electric cart to easily recover from a wheel derailment. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is an exemplary and schematic perspective view showing the configuration of an electric cart according to an embodiment. [Figure 2] Figure 2 is a schematic diagram showing an example of a wheel derailment guide wheel according to an embodiment. [Figure 3] Figure 3 is a functional configuration diagram showing an example of the functional configuration of the control device according to the embodiment. [Figure 4] Figure 4 is a schematic diagram illustrating the first threshold according to the embodiment. [Figure 5] Figure 5 is a schematic diagram illustrating the second threshold according to the embodiment. [Figure 6] Figure 6 is a schematic diagram showing an example of output information according to the embodiment. [Figure 7] Figure 7 is a flowchart showing an example of wheel derailment detection performed by the control device according to the embodiment. [Figure 8] Figure 8 is a schematic diagram illustrating the wheel detachment state in the first modified example. [Figure 9] Figure 9 is a schematic diagram illustrating the return assist control according to the first modified example. [Figure 10] Figure 10 is an exemplary and schematic perspective view showing the configuration of the wheel according to the second modified example. [Figure 11] Figure 11 is a schematic diagram showing an example of acceleration information related to the second modified example. [Modes for carrying out the invention]

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0013] FIG. 1 is an exemplary and schematic perspective view showing the configuration of an electric cart 10 according to an embodiment. The electric cart 10 is, for example, a four-wheeled vehicle in which the front wheels are steering wheels 12FL and 12FR, and the rear wheels are drive wheels 12RL and 12RR. The steering wheels 12FL, 12FR, drive wheels 12RL, and drive wheels 12RR are collectively referred to simply as wheels 12. Further, the steering wheels 12FL and 12FR are collectively referred to simply as steering wheels 12F. Furthermore, the drive wheels 12RL and 12RR are collectively referred to simply as drive wheels 12R. The drive wheel 12RL shown in FIG. 1 is rotationally driven, for example, by a motor 14 with an electromagnetic brake 14a. Each wheel 12 is provided with a wheel-off guide wheel for reducing wheel-off of the electric cart 10. The configuration regarding the wheel-off guide wheel will be described later.

[0014] The motor 14 is arranged for each of the left and right drive wheels 12RL and 12RR. The electromagnetic brake 14a is, for example, of a non-excitation operation type, and when power supply is interrupted, it fixes the motor shaft or the like to lock the drive wheel 12R, preventing the electric cart 10 from inadvertently moving (running) when power is cut off. The electromagnetic brake 14a is an example of a locking mechanism. Note that the drive method of the drive wheels 12RL and 12RR can be appropriately selected. As shown in FIG. 1, it may be a type in which the motor 14 is directly connected to each of the drive wheels 12RR and 12RL, or a type in which the motor 14 and a transmission mechanism are combined to rotate a drive shaft to drive the drive wheels 12RL and 12RR. Also, the drive wheels 12RL and 12RR may be of an in-wheel motor type with a built-in motor 14.

[0015] The control device 16 controls the rotational direction and rotational speed of the motor 14 to achieve speed control, forward running, and reverse running. The control device 16 incorporates, for example, a CPU (Central Processing Unit), a non-volatile memory such as a flash memory, and a volatile memory such as a DRAM (Dynamic Random Access Memory).

[0016] The seat 20 is disposed on the upper surface of the housing 18 that pivotally supports the drive wheels 12RL and 12RR. A user seated on the seat 20 can operate the electric cart 10 by placing their feet on the step 22 provided in front of the housing 18, gripping the steering wheel 24, and steering the steering wheel 24.

[0017] The steering wheel 24 determines the traveling direction of the electric cart 10 by steering the steered wheels 12FL and 12FR via a steering device (not shown) connected to a steering shaft (not shown) housed in the steering wheel post 26. For example, one of the steering wheel grips 24a of the steering wheel 24 is provided with a throttle 24b, and it is possible to adjust the running (speed adjustment) of the electric cart 10. A brake lever may be provided on the steering wheel grip 24a on the side where the throttle 24b is not provided. In another embodiment, an accelerator pedal or a brake pedal may be provided on a part of the step 22, and the speed of the electric cart 10 may be adjusted by adjusting the depression of the accelerator pedal or the brake pedal.

[0018] The display panel 28 is provided between the left and right steering wheel grips 24a that constitute the steering wheel 24, and a speed indicator, a remaining amount indicator (charge amount indicator) of the battery 30 described later, various display lamps (direction indicator operation lamp, warning lamp, etc.), etc. are arranged.

[0019] The battery 30 is disposed under the seat 20. In the case of FIG. 1, the electric cart 10 can travel by receiving power supply from the battery 30 and rotating at least the motor 14 to rotate the drive wheels 12RL and 12RR. The battery 30 may be configured to be detachable. When the battery 30 is detachable and the power supply is cut off when the battery 30 is removed from the electric cart 10, the non-excitation operation type electromagnetic brake 14a operates to lock the rotation of the drive wheels 12RL and 12RR. That is, the stopped state of the electric cart 10 is maintained. The battery 30 is, for example, a lithium ion battery.

[0020] The acceleration sensor 32 is positioned below the step 22 and approximately in the center of the electric cart 10's body. The acceleration sensor 32 is, for example, a 3-axis (X-axis, Y-axis, and Z-axis) sensor. Here, the X-axis is the axis in the longitudinal direction of the vehicle body. The Y-axis is the axis in the lateral direction of the vehicle body. The Z-axis is the axis in the vertical direction of the vehicle body. The acceleration sensor 32 detects the lateral tilt of the electric cart 10 as the road surface inclination angle. The acceleration sensor 32 then outputs inclination angle information, including the detected road surface inclination angle, to the control device 16. The acceleration sensor 32 also outputs acceleration information, including the acceleration in the X-axis, Y-axis, and Z-axis directions, to the control device 16. Here, acceleration is the impact force that the electric cart 10 experiences. Information including at least one of inclination angle information or acceleration information is also called vehicle information relating to the vehicle.

[0021] (Configuration of the derailment guide wheel) Figure 2 is a schematic diagram showing an example of a derailment guide wheel 40 according to an embodiment. The derailment guide wheel 40 is an example of a guide wheel. To specifically explain the derailment guide wheel 40, Figure 2 shows a derailment guide wheel 40RL provided on the drive wheel 12RL. The derailment guide wheel 40 is provided on the inside of the wheel 12, and specifically, between the wheel 12 and the body of the electric cart 10. The derailment guide wheel 40RL shown in Figure 2 is provided between the drive wheel 12RL and the housing 18.

[0022] For example, the position of the wheel 12 and the derailment guide wheel 40RL is such that, if distance L1 is the distance between the inner side surface B1 of the wheel 12 and the inner side surface B2 of the derailment guide wheel 40RL, then distance L1 is in the range of approximately 1 / 2 to 1 / 5 of the length of the tread width L2 of the wheel 12. For example, the maximum outer diameter of the derailment guide wheel 40RL is the side end portion B3 of the tread pattern of the wheel 12. For example, the minimum outer diameter of the derailment guide wheel 40RL is approximately 1 / 3 of the distance L3, if, for example, distance L3 is the distance between the side end portion B3 and the wheel rim portion B4 of the wheel 12. By equipping the electric cart 10 with a derailment guide wheel 40, the risk of tipping over can be reduced. Note that the position, maximum outer diameter, and minimum outer diameter of the derailment guide wheel 40RL are not limited to these and can be appropriately set according to the model of the electric cart 10 and the size of the wheel 12.

[0023] (Functional configuration of the control unit) Figure 3 is a functional configuration diagram showing an example of the functional configuration of the control device 16 according to the embodiment. The control device 16 comprises a first acquisition unit 161, a first determination unit 162, a second determination unit 163, a detection unit 164, and a control unit 165. However, the functions of the control device 16 are not limited to these.

[0024] The first acquisition unit 161 acquires vehicle information relating to the vehicle. Specifically, the first acquisition unit 161 acquires vehicle information relating to the vehicle output by the acceleration sensor 32. For example, the first acquisition unit 161 acquires vehicle information output by the acceleration sensor 32, which includes at least one of tilt angle information or acceleration information.

[0025] The first determination unit 162 determines whether the inclination angle is greater than or equal to the first threshold. Specifically, the first determination unit 162 determines whether the inclination angle included in the inclination angle information of the vehicle information acquired by the first acquisition unit 161 is greater than or equal to the first threshold. The first threshold will be explained using Figure 4.

[0026] Figure 4 is a schematic diagram illustrating the first threshold according to the embodiment. Figure 4 is a schematic diagram of the electric cart 10 viewed from the rear. Figure 4 shows the electric cart 10, drive wheel 12RL, drive wheel 12RR, derailment guide wheel 40RL, derailment guide wheel 40RR, the road surface 50 on which the electric cart 10 is traveling, and the first threshold α1. In Figure 4, the electric cart 10 is in a state where it has derailed from the road surface 50 and is tilted to the left. The first threshold α1 sets the tilt angle in the state where it has derailed from the road surface 50. Note that the first threshold α1 in Figure 4 is the tilt angle in the state where it is tilted to the left, but is not limited to this, and can also be set to the tilt angle in the state where it is tilted to the right. The first threshold α1 is set for each model of electric cart 10, for example.

[0027] Returning to Figure 3, let's continue the explanation. The second determination unit 163 determines whether the impact is equal to or greater than the second threshold. Specifically, the second determination unit 163 determines whether the impact included in the acceleration information of the vehicle information acquired by the first acquisition unit 161 is equal to or greater than the second threshold. Here, the second threshold will be explained using Figure 5.

[0028] Figure 5 is a schematic diagram illustrating the second threshold according to the embodiment. Figure 5 shows a graph with time on the horizontal axis and acceleration on the vertical axis, illustrating the change in acceleration output by the acceleration sensor 32 over time. Figure 5 shows graph G1 and the second threshold α2, illustrating the change in impact received by the electric cart 10 from the road surface 50 while it is running. Here, graph G1 shows that at time T1, the amplitude of acceleration exceeds the second threshold α2. Furthermore, comparing the amplitude of acceleration before and after time T1, the amplitude of acceleration after time T1 is significantly larger than the amplitude of acceleration before time T1. This indicates that the electric cart 10 has derailed from the road surface 50 at time T1. The second threshold α2 sets the impact in the state where the cart has derailed from the road surface 50. The second threshold α2 is set for each model of electric cart 10, for example.

[0029] Returning to Figure 3, let's continue the explanation. The detection unit 164 detects that the electric cart 10 is in a wheel-off state. Specifically, when the first determination unit 162 determines that the tilt angle is greater than or equal to the first threshold α1, and the second determination unit 163 determines that the impact is greater than or equal to the second threshold α2, the acceleration sensor 32 detects that the tilt angle and impact are greater than or equal to the threshold, and detects that the electric cart 10 is in a wheel-off state.

[0030] The control unit 165 performs a stop control to stop the electric cart 10 when the acceleration sensor 32 detects an inclination angle greater than or equal to a first threshold α1 and an impact greater than or equal to a second threshold α2. Specifically, the control unit 165 performs a stop control to stop the electric cart 10 when the detection unit 164 detects that the electric cart 10 is in a derailed state. Here, the stop control to stop the electric cart 10 is, for example, a control that activates the electromagnetic brake 14a to lock the rotation of the drive wheels 12RL and 12RR. However, the stop control to stop the electric cart 10 is not limited to this. The control unit 165 also performs a control that displays output information on the display panel 28 indicating a method for the electric cart 10 to return to normal driving. Here, the output information will be explained with reference to Figure 6.

[0031] Figure 6 is a schematic diagram showing an example of output information according to the embodiment. The output information 60 shown in Figure 6 is, for example, information when the electric cart 10 tilts to the left and a wheel comes off. The output information 60 includes the text "A wheel has come off! Turn the steering wheel to the right to avoid it" and an image showing the state of the electric cart 10 when the steering wheel is turned to the right, displayed on the display panel 28. However, the output information 60 is not limited to this. For example, if the electric cart 10 tilts to the right and a wheel comes off, the output information 60 includes the text "A wheel has come off! Turn the steering wheel to the left to avoid it" and an image showing the state of the electric cart 10 when the steering wheel is turned to the left.

[0032] (Wheel derailment determination in the embodiment) Figure 7 is a flowchart showing an example of wheel derailment detection performed by the control device 16 according to this embodiment.

[0033] The first acquisition unit 161 acquires vehicle information related to the vehicle output by the acceleration sensor 32 (step S71). The first determination unit 162 determines whether the inclination angle included in the inclination angle information of the vehicle information acquired by the first acquisition unit 161 is greater than or equal to the first threshold α1 (step S72). If the first determination unit 162 determines that the inclination angle included in the inclination angle information of the vehicle information acquired by the first acquisition unit 161 is not greater than or equal to the first threshold α1 (step S72: No), the process proceeds to step S71. On the other hand, if the first determination unit 162 determines that the inclination angle included in the inclination angle information of the vehicle information acquired by the first acquisition unit 161 is greater than or equal to the first threshold α1 (step S72: Yes), the process proceeds to step S73.

[0034] In step S73, the second determination unit 163 determines whether the impact included in the acceleration information of the vehicle information acquired by the first acquisition unit 161 is greater than or equal to the second threshold α2 (step S73). If the second determination unit 163 determines that the impact included in the acceleration information of the vehicle information acquired by the first acquisition unit 161 is not greater than or equal to the second threshold α2 (step S73: No), the process proceeds to step S71. On the other hand, if the second determination unit 163 determines that the impact included in the acceleration information of the vehicle information acquired by the first acquisition unit 161 is greater than or equal to the second threshold α2 (step S73: Yes), the process proceeds to step S74.

[0035] In step S74, the detection unit 164 determines, based on the first determination unit 162, that the tilt angle is greater than or equal to the first threshold α1, and based on the second determination unit 163, that the impact is greater than or equal to the second threshold α2. The acceleration sensor 32 then detects that the tilt angle and impact are greater than or equal to the thresholds, and detects that the electric cart 10 is in a wheel-off state (step S74). Subsequently, the control unit 165, upon detecting that the electric cart 10 is in a wheel-off state using the detection unit 164, performs stop control to stop the electric cart 10 (step S75). Next, the control unit 165 performs control to display output information 60 on the display panel 28 indicating a method for the electric cart 10 to return to normal driving (step S76). When step S76 is completed, this process performed by the control device 16 is finished.

[0036] (Effects of the embodiment) As described above, the control device 16 according to this embodiment is a control device 16 for an electric cart 10 that includes a derailment guide wheel 40 provided inside the wheel 12, an acceleration sensor 32 that detects the tilt angle of the vehicle and the impact caused by the derailment guide wheel 40 contacting the road surface 50, and a display panel 28 mounted on the vehicle. The control device 16 includes a control unit 165 that stops the vehicle and displays output information 60 on the display panel 28 indicating a method for returning to normal driving when the acceleration sensor 32 detects a tilt angle of α1 or more and an impact of α2 or more.

[0037] With this configuration, for example, if the electric cart 10 becomes derailed, the user in a panic state can confirm the correct control method for the electric cart 10 and return to normal operation from the derailment. As a result, the user can easily recover from the derailment even if the electric cart 10 becomes derailed.

[0038] (First variation) For example, if the electric cart 10 has a wheel come off, it may display output information 60 to the user indicating how to return to normal driving, and may also perform recovery assistance control to return to normal driving.

[0039] Figure 8 is a schematic diagram illustrating the wheel derailment state according to the first modified example. Figure 8 is a top view of the electric cart 10 seen from directly above. Figure 8 shows the steering wheel 12FL, steering wheel 12FR, drive wheel 12RL, drive wheel 12RR, derailment guide wheel 40FL, derailment guide wheel 40FR, derailment guide wheel 40RL, derailment guide wheel 40, and the road surface 50. The electric cart 10 shown in Figure 8 is in a derailment state 80 in which the steering wheel 12FL and drive wheel 12RL have come off the road surface 50. Note that in the derailment state 80, the steering wheel 12FR and drive wheel 12RR have not come off the road surface 50. In the derailment state 80 of the electric cart 10 shown in Figure 8, the user can return to normal driving by moving the electric cart 10 along the direction of arrow M1 (the positive direction of the XY axis).

[0040] However, in a derailed state where one of the wheels 12 of the electric cart 10 has come off, it may be difficult for the user to turn the steering wheel 24. For example, as shown in Figure 8, in a derailed state 80 where the steering wheel 12FL and drive wheel 12RL of the electric cart 10 have come off, it may be difficult for the user to turn the steering wheel 24 to the right (positive direction of the X axis).

[0041] Therefore, the control device 16 according to the first modified example creates a rotational difference in the drive wheel 12R, initiating the rotational difference. The control device 16 then adjusts the output of the motor 14 to assist steering, making it easier for the user to turn the steering wheel 24 to the right, and performs return assist control to improve the steering performance of the steering wheel 24.

[0042] Figure 9 is a schematic diagram illustrating the return assist control according to the first modified example. Figure 9 shows the first return state 81, second return state 82, and third return state 83, in which the output of the motor 14 is adjusted to return to normal driving from the wheel-off state 80 shown in Figure 8. The control device 16 provides a rotational difference greater than that during normal driving between the drive wheel 12RL on the wheel-off side and the drive wheel 12RR on the non-wheel-off side. Here, the drive wheel 12RL on the wheel-off side is called the first wheel, and the drive wheel 12RR on the non-wheel-off side is called the second wheel.

[0043] For example, in the first recovery state 81, the control unit 165 of the control device 16 makes the output M2 of the motor 14 of the derailed drive wheel 12RL greater than the output M3 of the motor 14 of the non-derailed drive wheel 12RR. In the second recovery state 82, the control unit 165 maintains the output M2 of the motor 14 of the derailed drive wheel 12RL and stops the output M4 of the motor 14 of the non-derailed drive wheel 12RR. In the third recovery state 83, the control unit 165 maintains the output M2 of the motor 14 of the derailed drive wheel 12RL and makes the output M5 of the motor 14 of the non-derailed drive wheel 12RR less than or equal to the output M2.

[0044] In other words, the control unit 165 controls the motor 14 so as time progresses, starting from the timing when the return assist control is initiated, that the rotational difference changes. For example, the control unit 165 controls the motor 14 using the RTC (real-time clock) provided by the control device 16. Alternatively, the control unit 165 may control the motor 14 in accordance with the time-dependent change in the tilt angle included in the tilt angle information of the vehicle information acquired by the first acquisition unit 161.

[0045] In this recovery assist control, for example, when transitioning from a derailed state 80 to a third recovery state 83, the electric cart 10 may make a sharp turn and exhibit abrupt behavior. Therefore, in order to prevent abrupt behavior in the electric cart 10, the control unit 165 controls the motor 14 so that the direction of rotation and the difference in rotation change over time, from the first recovery state 81 to the third recovery state 83.

[0046] As described above, the control device 16 according to the first modified example displays output information 60 and performs recovery assistance control to return to normal driving. In addition, if the electric cart 10 derails, the control device 16 creates a rotational difference greater than that during normal driving between the first wheel on the derailed side and the second wheel on the non-derailed side. Furthermore, the control device 16 changes the direction of rotation and the rotational difference as time passes.

[0047] For example, in a derailed state 80 where one of the steering wheels 12FL and drive wheels 12RL of the electric cart 10 have come off, it may be difficult for the user to turn the steering wheel 24 to the right (positive direction of the X axis). With this configuration, the control device 16 creates a rotational difference in the drive wheel 12R, initiating the rotational difference. The control device 16 then adjusts the output of the motor 14 to assist steering, making it easier for the user to turn the steering wheel 24 to the right, and performs recovery assistance control to improve the steering performance of the steering wheel 24. As a result, the user can easily recover from a derailed state even if the electric cart 10 has come off a wheel.

[0048] Furthermore, when the electric cart 10 returns to normal operation from the derailed state 80, the control unit 165 may perform control to display recovery information on the display panel 28 indicating that the electric cart 10 has returned to normal operation. The recovery information may include, for example, the text "Normal operation is now possible" and a warning sound to alert the user. As a method for returning the electric cart 10 to normal operation, in the derailed state 80 shown in Figure 8, the user may move the electric cart 10 along the negative direction of the Y axis to return it to normal operation.

[0049] (Second variation) For example, the derailment guide wheel 40 of the electric cart 10 is equipped with a ground contact mechanism that contacts the road surface 50, and the electric cart 10 may detect that the wheel 12 is punctured or has low air pressure when the ground contact mechanism contacts the road surface 50.

[0050] (Configuration of the grounding mechanism) Figure 10 is an exemplary and schematic perspective view showing the configuration of the wheel 12 according to a second modified example. The wheel 12 shown in Figure 10 is, for example, the left steering wheel 12FL and the left drive wheel 12RL. In addition to the derailment guide wheel 40, the wheel 12 is further equipped with a ground contact mechanism 41. The ground contact mechanism 41 has a convex shape and multiple units are provided on the outer circumferential surface of the derailment guide wheel 40. Although not shown in Figure 10, multiple ground contact mechanisms 41 are also provided on the outer circumferential surface of the derailment guide wheel 40 of the right steering wheel 12FR and the right drive wheel 12RR.

[0051] Figure 11 is a schematic diagram showing an example of acceleration information related to the second modified example. Graph G3 in Figure 11 shows an example of acceleration information output by the acceleration sensor 32 when the ground contact mechanism 41 contacts the road surface 50, with time on the horizontal axis and acceleration on the vertical axis. For example, when the ground contact mechanism 41 contacts the road surface 50, a vibration waveform showing a constant vibration pattern is generated, as shown in graph G3.

[0052] For example, the second determination unit 163 determines whether the acceleration information of the vehicle information acquired by the first acquisition unit 161 shows a vibration waveform with a certain vibration pattern. If the second determination unit 163 determines that the acceleration information of the vehicle information acquired by the first acquisition unit 161 shows a vibration waveform with a certain vibration pattern, the detection unit 164 detects that the air pressure of the wheel 12 has decreased and detects that the electric cart 10 is punctured or has low air pressure. Furthermore, if the control unit 165 detects that the electric cart 10 is punctured or has low air pressure by the detection unit 164, it performs stop control to stop the electric cart 10.

[0053] The control unit 165 then controls the display panel 28 to display puncture information indicating that the electric cart 10 has a puncture or low air pressure. The puncture information includes, for example, text on the display panel 28 such as "!Puncture! Low air pressure! Stop the vehicle and check," and a warning sound to alert the user. This allows the user to understand that the wheel 12 of the electric cart 10 has a puncture or low air pressure, reducing the possibility of panic.

[0054] (Third variation) In the second modified example described above, a configuration was explained in which the control device 16 detects a puncture or low air pressure. For example, the control device 16 may determine the position of the wheel 12 by using tilt angle information. Specifically, the first determination unit 162 determines that the tilt angle included in the tilt angle information of the vehicle information acquired by the first acquisition unit 161 is greater than or equal to a third threshold indicating a puncture or low air pressure state. Here, the third threshold may be set for the front and rear wheels of the wheel 12, or for each of the steering wheel 12FL, steering wheel 12FR, drive wheel 12RL, and drive wheel 12RR. Alternatively, a table may be set associating the third threshold with the vibration waveform of the second modified example and each of the wheels 12, i.e., the steering wheel 12FL, steering wheel 12FR, drive wheel 12RL, and drive wheel 12RR.

[0055] Then, the detection unit 164 detects a wheel 12 with low air pressure and detects that the electric cart 10 is either punctured or has low air pressure, based on the first determination unit 162 determining that the tilt angle included in the tilt angle information of the vehicle information acquired by the first acquisition unit 161 is greater than or equal to a third threshold indicating a puncture or low air pressure state, and the second determination unit 163 determining that the acceleration information of the vehicle information acquired by the first acquisition unit 161 is a vibration waveform showing a certain vibration pattern. This allows the user to understand that the wheel 12 of the electric cart 10 is punctured or has low air pressure, reducing the possibility of panic.

[0056] Although embodiments of the present invention have been described above, these embodiments are presented as examples only and are not intended to limit the scope of the invention. This novel embodiment can be implemented in various other forms. Furthermore, various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. Moreover, this embodiment is included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of symbols]

[0057] 10 Electric carts 12 wheels 12F Steering Wheel 12R drive wheels 14 motors 16 Control device 24 handles 28 Display Panel 32 Accelerometer 40 Derailment Guide Wheel 41 Earthing mechanism 161 First acquisition part 162 1st Judgment Department 163 Second Judgment Section 164 Detection unit 165 Control Unit

Claims

1. Guide wheels located inside the wheels, An acceleration sensor that detects the vehicle's tilt angle and the impact caused by the guide wheel contacting the road surface, A display panel to be mounted on the aforementioned vehicle, A control device for an electric cart, comprising: The system includes a control unit that, when the acceleration sensor detects a tilt angle exceeding a first threshold and an impact exceeding a second threshold, stops the vehicle and displays output information on the display panel indicating a method for returning to normal driving. Control device.

2. The control unit displays the output information and performs recovery assistance control to return to normal driving. The control device according to claim 1.

3. The control unit, as part of the return assist control, provides a rotational difference greater than that during normal operation between the first wheel on the side that has come off and the second wheel on the side that has not come off, when the electric cart comes off. The control device according to claim 2.

4. The control unit changes the rotation difference over time. The control device according to claim 3.

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