Small electric vehicle

Abstract

To provide a compact motor-driven vehicle allowing a setting of traveling characteristics to be switched with a simple operation.SOLUTION: A compact motor-driven vehicle 1 includes right and left motors 40L, 40R connected to right and left drive wheels so as to be capable of transmitting power individually, an operation part 8 having a joystick type operator 83, a control part for controlling the right and left motors according to the amount of operation of the operator, and a travel permission switch 84 for permitting control of the right and left motors by the operator. The compact motor-driven vehicle is configured so as to control the right and left motors on the basis of a target vehicle speed given by an operation position of the operator 83 when the travel permission switch 84 is on, and is configured so as to be capable of changing at least one control parameter including the maximum speed by starting a control parameter selection mode when the operator 83 is subjected to tilted operation for predetermined time in a state in which the travel permission switch 84 is off.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a small electric vehicle. [Background technology]

[0002] Small electric vehicles, such as electric wheelchairs and handcart-type electric walking aids, for users who have difficulty walking, such as the elderly, are well known. For example, Patent Document 1 discloses a small electric vehicle (electric wheelchair) that is equipped with left and right motors that drive left and right drive wheels separately, determines the rotation speed of the left and right motors from the operating position of a joystick-type operation means, and is configured to move forward when the operator is tilted forward, turn when tilted diagonally forward, rotate in a fixed position when tilted diagonally backward, and stop when tilted straight backward. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-64620 A Summary of the Invention [Problem to be solved by the invention]

[0004] In small electric vehicles like the one described above, the speed (left / right speed difference) is determined by the operating position of the joystick-type controller, so for example, when turning at low speed, the controller must be held in an intermediate operating position, which poses a challenge for users with low proficiency in driving at the intended speed and route. Also, even if the vehicle speed is the same, it may feel faster or slower depending on the user's proficiency and the driving environment, so it is meaningful for users to be able to change the settings of driving characteristics, including maximum speed, in a reliable way.

[0005] The present invention has been made in consideration of the above-mentioned shortcomings of the prior art, and has an object to provide a small electric vehicle that allows the settings of driving characteristics, including maximum speed, to be reliably switched with a simple operation. [Means for solving the problem]

[0006] In order to solve the above problems, the small electric vehicle according to the present invention comprises: A vehicle body having a forward / backward direction and a width direction; Left and right drive wheels spaced apart in a width direction of the vehicle body; A swivel wheel is provided spaced apart from the left and right drive wheels in the forward and backward direction of the vehicle body; Left and right motors connected to the left and right drive wheels so as to be capable of transmitting power thereto, respectively; an operation unit having a joystick type operator; A control unit that controls the left and right motors in accordance with an amount of operation of the operator; a travel permission switch that permits control of the left and right motors by the operation member, The control unit is When the travel permission switch is in an on state, the left and right motors are controlled based on a target vehicle speed given by an operation position of the operation element, When the operating member is tilted for a predetermined period of time with the travel permission switch in an OFF state, a control parameter selection mode is started, and at least one control parameter including a maximum speed can be changed. Effect of the Invention

[0007] As described above, in the small electric vehicle according to the present invention, by tilting the operating element for a predetermined period of time with the travel permission switch in an off state, the control parameter selection mode (e.g., maximum speed selection mode) can be started and the control parameters including the maximum speed can be changed. (i) The user can easily and reliably set driving characteristics (for example, maximum speed) according to the user's level of proficiency and the driving environment, such as indoor and outdoor conditions and road conditions. (ii) Since the operating buttons for driving are used to select the control parameters, a dedicated selection switch or the like is not required, which is advantageous not only for reducing costs but also for preventing erroneous operation of a dedicated switch. (iii) The control parameter selection mode is activated only when the driving permission switch is in the off state, and is not activated when the vehicle is in a driving state. Therefore, even when the driving operation buttons are used to select the control parameters, there is no risk of accidentally starting the vehicle due to the operation being mistaken for a selection operation, or of accidentally changing the control parameters while the vehicle is driving or in a driving state. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a small electric vehicle. [Diagram 2] FIG. 2 is a block diagram showing a control system of the small electric vehicle. [Diagram 3] FIG. 4 is a block diagram showing speed map selection control and travel control. [Figure 4] 11A and 11B are schematic plan views showing a selection operation and a switching display of a speed map. [Diagram 5] 1 is a map showing the relationship between a joystick operation area and a target vehicle speed / target vehicle angular velocity. [Figure 6] 13 is a flowchart showing a selection control of a speed map. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In FIG. 1, an electric vehicle 1 according to an embodiment of the present invention has a vehicle body 2 consisting of a mobile base 21 (lower running body) and an upper frame 22 erected at the rear of it (rear base 24), and can be used in a small electric vehicle mode (riding mode 1) indicated by a solid line in the figure, and an ambulatory support vehicle mode (1') indicated by a two-dot chain line in the figure.

[0010] The movable base 21 comprises a rear base 24 (main body) on which left and right drive wheels 4 (rear wheels) and an upper frame 22 are provided, and a front base 25 on which left and right driven wheels 5 (front wheels) are provided. The front base 25 is connected to the front side of the rear base 24 so that it can slide in the front-to-rear direction, and the movable base 21 is configured so that the wheel base is extendable and contractible.

[0011] The left and right drive wheels 4 are independently driven by left and right motor units 40 (40L, 40R) mounted on the rear base 24. The left and right driven wheels 5 are configured as free wheels (omni-wheels, omnidirectional wheels) equipped with a number of rollers 50 that can rotate around a circumferential axis on the contact portion, and as described later, the electric vehicle 1 can be steered and braked / driven simply by controlling the left and right motor units 40L, 40R.

[0012] The upper frame 22 has an inverted U-shape or gate-shape, with the upper ends of a pair of left and right side frames standing upward from both the left and right sides of the rear base 24 being connected by a horizontal portion 22a extending in the vehicle width direction. The lower end of the stem 31 of the rear handle 3 is rigidly connected to a joint 23 at the center of the horizontal portion 22a in the vehicle width direction, and the seat back 6 is supported by the joint 23.

[0013] The rear handle 3 is in the shape of a T-bar having a pair of gripping parts extending to the left and right from a connection part 32 with the upper end of the stem 31. The left and right gripping parts of the rear handle 3 are provided with gripping sensors 30 that detect a state (hands-on) in which the user (or caregiver) is gripping the rear handle 3. A touch sensor such as a capacitance sensor or a pressure sensor can be used as the gripping sensor 30. The left and right gripping parts of the rear handle 3 serve as operation parts when the user uses the rear handle 3 in the walking aid mode (1') and when a caregiver or the like operates the electric vehicle with the user seated on the seat 7. In addition, a seat back 36 that serves as a backrest for the user in the riding mode (1) is provided in front of the central connection part 32 of the rear handle 3. Although not shown in FIG. 1, an electromagnetic brake release switch 34 and a speaker 35 are provided in the central connection part 32 of the rear handle 3.

[0014] A base of a support frame 81 of an armrest 82 is fixed to a bent portion in the middle in the height direction of the upper frame 22 (side frame). A joystick 83 constituting an operator of the riding mode operation unit 8 is provided at the front end portion of the right armrest 82, which is the rear side in FIG.

[0015] The joystick 83 may be a two-axis joystick that can be tilted forward, backward, left, and right and that can obtain an output according to the tilt angle, or a multi-axis joystick that includes the above function, and is preferably a contactless joystick that uses a hall sensor. The joystick 83 is configured such that a biasing force (restoring force, operation reaction force) toward a neutral position according to the tilt angle is applied by a biasing member (such as a spring) not shown, and when no operating force is applied, that is, when the user's hand is removed from the joystick 83, the joystick automatically returns to the neutral position (operation origin). The control of the left and right motor units 40 (40L, 40R) by operating the joystick 83 will be described later.

[0016] In addition, a gripping portion having the same shape as a joystick is provided at the front end of the left armrest 82, which is the near side in Figure 1, and a display unit 80 is provided on its upper surface. A travel permission switch 84 is provided on the front surface of the gripping portion, which permits travel by operating the joystick 83, i.e., permits control of the left and right motors 40L, 40R.

[0017] As shown in FIG. 4, the display unit 80 is a digital indicator equipped with a light-emitting unit consisting of a plurality of display segments 80a (eight segments in the illustrated example). The light-emitting unit is composed of light-emitting elements such as LEDs. In the illustrated example, the display segments 80a are arranged in an arc shape, and function as a level indicator that indicates an increase in the display value by increasing the number of lit segments in the clockwise direction, and can display the remaining battery level, as well as displaying a speed map (an identifier corresponding to the maximum speed) selected in a speed selection mode described later. Note that a display area 80c may be provided in the center of the display area, in which characters or icons indicating the currently displayed function (remaining battery level, maximum speed, etc.) are displayed. The entire display unit 80 may also be composed of a digital display (LCD, OLED, etc.).

[0018] A movable frame 71, which serves as a support structure for the seat 7 (seat cushion), is pivoted by an axis 7a in the vehicle width direction to the pivot part 27 protruding forward from the bent part of the upper frame 22 (side frame), while the lower end of the movable frame 71 is rotatably and slidably connected to the front base 25 (pin) via a connecting part 7b (slot).

[0019] With the above configuration, when the seat 7, which is in the seating position, is rotated forward and downward as shown by the two-dot chain line in the figure from the riding mode (1) shown by the solid line in the figure to the folding position (7'), the front base 25 slides rearward in conjunction with this and the movable base 21 shortens, resulting in a walking aid mode (1') in which the user can operate the vehicle while gripping the rear handle 3 and walking upright.

[0020] Conversely, when the seat (7') in the folded position is rotated rearward and upward from the handicapped vehicle mode (1') to the seating position 7, the front base 25 slides forward, and the movable base 21 is extended to enter the riding mode (1). In this state, the upper surface 25b of the front base 25, which has moved forward of the tray 24b, can be used as a footrest for the passenger.

[0021] A locking mechanism (such as a lock pin biased by a biasing member such as a spring) that locks the front base 25 at each of the extended and retracted positions is provided inside the movable base 21, and a vehicle state detection sensor 28 (such as a mechanical switch) that detects the locked state at each position is also provided. Furthermore, a biasing member (such as a spring) that biases the front base 25 toward the intermediate position (release direction) is provided at each of the extended and retracted positions, and a release tag 26 that is connected to the locking mechanism via a Bowden cable is provided on the horizontal part 71a at the upper end of the movable frame 71.

[0022] As a result, when the release tag 26 is pulled to release the locking mechanism in each of the extended position and the retracted position, the body 2 moves to the intermediate position due to the force of the biasing member, and from this state, when the seat 7 (movable frame 71) is rotated forward / rearward from the intermediate position against the force of the biasing member, the locking mechanism is locked at the extended position / retracted position of the front base 25.

[0023] 1, a net-like luggage rack 6 is provided between the horizontal part 22a of the upper frame 22 and the horizontal part 71a of the movable frame 71. The net-like luggage rack 6 is folded (6') in the riding mode (1) and unfolded and usable in the ambulatory mode (1'). A cushion 66 is provided at the joint between the front end of the luggage rack 6 and the movable frame 71 (horizontal part 71a) to cushion the lower back of the user seated on the seat 7 in the riding mode (1) against the horizontal part 71a of the movable frame 71.

[0024] FIG. 2 is a block diagram showing the control system of the electric vehicle 1. The electric vehicle 1 is equipped with a battery 9 that supplies power to the left and right motor units 40 (40L, 40R), and a control unit 10 that controls the left and right motor units 40 (40L, 40R). The control unit 10 has an interlock function that performs control corresponding to the riding mode (1) and the ambulatory support vehicle mode (1') when in the locked state at each position detected by the vehicle state detection sensor 28.

[0025] In the riding mode (1), the grip sensor 30 is disabled, and when the travel permission switch 84 is turned on, the control unit 10 controls the speed of the left and right motor units 40 (40L, 40R) based on a control map described later by operating (amount of operation, direction of operation) the joystick 83 that constitutes the riding mode operation unit 8, so that driving operations including moving the electric vehicle 1 forward, backward, turning, and braking and stopping can be performed.

[0026] On the other hand, in the handicapped vehicle mode (1'), the riding mode operation unit 8 is disabled, and the control unit 10 executes torque control of the left and right motor units 40 (40L, 40R) based on detection information from the tilt sensor 20, the left and right rotation speed sensors 43, etc., and a predetermined control map. When the tilt sensor 20 detects a tilt equal to or greater than a predetermined threshold, a compensation torque that offsets the gravity (load) acting in accordance with the tilt is superimposed on the torque command value. The grip sensor 30 detects only the grip of the rear handle 3 by the user (hands on / off), and is not involved in the torque control of the motor units 40.

[0027] The control unit 10 is composed of a computer (microcomputer) consisting of a ROM that stores programs and data for executing control in each of the above modes, a RAM that temporarily stores the results of calculation processing, a CPU that performs the calculation processing, drive circuits (motor drivers) for the left and right motors 41, and a power supply circuit including a relay that turns the power of the battery 9 on and off.

[0028] The left and right motor units 40 (40L, 40R) each include a motor 41, an electromagnetic brake 42 that locks the rotor of the motor 41, and a rotational position sensor (43) that detects the rotational position of the motor 41, and the drive shaft of the motor 41 is connected to the drive wheels 4 (4L, 4R) via a reduction gear not shown in the figure so that power can be transmitted.

[0029] The left and right motors 41 are brushless DC motors in which a drive circuit switches the current of each phase coil in accordance with the rotor phase detected by a rotational position sensor (43). In the riding mode (1), the rotational position sensor (Hall sensor) is used as a vehicle speed sensor (43) that detects the actual speed of the electric vehicle 1, and in the handicapped vehicle mode (1'), the rotational position sensor is used as the rotational speed sensor 43.

[0030] In addition, the drive circuits of the left and right motors 41 are equipped with current sensors that detect coil currents. These coil currents correspond to the torques of the left and right motors 41, and the control unit 10 controls the coil currents by PWM control (pulse width modulation control) or the like, thereby controlling the torques of the left and right motors 41.

[0031] The electromagnetic brake 42 is preferably a negative actuation type electromagnetic brake that locks the drive shaft of the motor 41 in a non-excited state and unlocks it in an excited state. By using a negative actuation type electromagnetic brake, the electric vehicle 1 can be stopped reliably without consuming power when the key is turned off or while the vehicle is stopped.

[0032] On the other hand, in the event of an emergency or special situation, for example when it is desired to move the electric vehicle 1 without using the power of the motor 41 or when driving is impossible due to low remaining battery capacity, an electromagnetic brake release switch 34 is provided as a means for forcibly releasing the electromagnetic brake 42 so that the electromagnetic brake 42 can be unlocked and the electric vehicle 1 can be moved. The electromagnetic brake release switch 34 is provided adjacent to the grip portion of the rear handle 3, but can be operated regardless of grip detection by the grip sensor 30.

[0033] The inclination sensor 20 is mounted on a circuit board of the control unit 10 mounted inside the moving base 21 (rear base 24) of the vehicle body 2, and may be a two-axis inclination sensor or acceleration sensor that detects the longitudinal inclination (pitch angle P) and lateral inclination (roll angle R) of the vehicle body 2, or a multi-axis inertial sensor that integrates the above with an angular acceleration sensor (gyro sensor). When the inclination sensor 20 detects an inclination equal to or greater than a predetermined threshold, the control unit 10 is preferably configured to correct the target vehicle speed and target vehicle angular velocity so as to at least partially offset the gravity (load) acting in accordance with the inclination.

[0034] The battery 9 is a secondary battery such as a lithium ion battery mounted inside the mobile base 21, and may be configured as a detachable battery pack so that it can be easily charged from a commercial power source, etc. The battery 9 is equipped with a BMS 90 (battery management unit) for monitoring the input / output current, total voltage, remaining capacity, etc., and for managing the battery status.

[0035] The BMS90 has a function of acquiring the remaining capacity (SOC) based on the integrated value of the input / output current (integrated power consumption), and the remaining capacity acquired by the BMS90 is stored in the control unit 10 and displayed on the display unit 80. The control unit 10 is configured to prompt the user to charge the battery on the display unit 80 when the remaining capacity acquired from the BMS90 falls below a predetermined threshold.

[0036] (Basic driving control in riding mode) In the electric vehicle 1 configured as described above, when the travel permission switch 84 is turned on in the riding mode (1), the rotation speeds of the left and right motors 41 (40L, 40R) are controlled based on the operation (amount of operation, direction of operation) of the joystick 83 by the user. At this time, the target rotation speeds of the left and right motors 41 (40L, 40R) are not immediately determined from the operation position of the joystick 83, but rather the target vehicle speed (straight-line speed) based on the operation position of the joystick 83 and the target vehicle angular velocity based on the left-right component of the operation position of the joystick 83 are calculated separately, and the target rotation speeds of the left and right motors 41 (40L, 40R) corresponding to the rotation speeds of the left and right drive wheels 4 (4L, 4R) are calculated based on these.

[0037] That is, as shown in the block diagram of Fig. 3, the target vehicle speed calculation block 110 utilizes not only forward / rearward inputs of the joystick 83 but also left / right inputs, which allows speed control different from that during straight driving when turning, for example, decelerating driving, to be performed without special consideration. Also, the target vehicle angular speed calculation block 120 reflects not only the left / right inputs of the joystick 83 but also the actual vehicle speed at the time of operation, which allows the turning characteristics to be changed according to the driving speed of the electric vehicle 1.

[0038] In the block diagram of FIG. 3, a left and right motor target rotational speed calculation block 130 calculates the target rotational speeds of the left and right motors 41 (40L, 40R) based on the target rotational speeds of the left and right motors 41 (40L, 40R) corresponding to the target vehicle speed v calculated in the target vehicle speed calculation block 110 and the target rotational speed difference of the left and right motors 41 (40L, 40R) corresponding to the target vehicle angular speed ω calculated in the target vehicle angular speed calculation block 120.

[0039] Furthermore, in the left and right motor required torque calculation block 150, the left and right motor required torque is calculated by feedback control (e.g., PID control) that causes the actual rotational speeds of the left and right motors 41 (40L, 40R) to track the target rotational speeds based on the actual rotational speeds of the left and right motors 41 (40L, 40R) detected by the left and right rotational speed sensors 43 and the target rotational speeds of the left and right motors 41 (40L, 40R), and current control of the left and right motors 41 (40L, 40R) is executed based on the calculated left and right motor required torque.

[0040] In addition, when the inclination sensor 20 detects a vehicle body inclination (pitch angle P, roll angle R) equal to or greater than a predetermined threshold, the compensation torque calculation block 140 calculates a compensation torque in a direction that compensates for the uphill / downhill load acting according to the pitch angle P and / or the lateral load acting according to the roll angle R, and superimposes this compensation torque on the left and right motor required torque calculated in the left and right motor required torque calculation block 150.

[0041] (Control map in riding mode) As already mentioned, even when traveling at the same vehicle speed, the user may feel the speed to be fast or slow depending on the user's level of proficiency and the traveling environment. Therefore, the electric vehicle 1 of the present invention is provided with four sets of control maps (map 1 to map 4) with different traveling characteristics including maximum speed, and these control maps can be switched by the user's operation.

[0042] The four sets of control maps (Map 1 to Map 4) each include a target vehicle speed map Mv(1 to 4) and a target vehicle angular velocity map Mω(1 to 4), and are stored as look-up tables in the ROM area of ​​the control unit 10. The target vehicle speed map Mv(1 to 4) and the corresponding target vehicle angular velocity map Mω(1 to 4) are configured to be switched as a set by a switching operation described later.

[0043] FIG. 5(a) shows an example of a target vehicle velocity map Mv(1-4), and FIG. 5(b) shows an example of a target vehicle angular velocity map Mω(1-4).

[0044] In the target vehicle speed map Mv(1-4) shown in FIG. 5(a), when the operating position of the joystick 83 is in a forward region F1 including the front end of the operating range, a target forward speed v1-v4 is specified, and when it is in a rear region B1 including the rear end, a target reverse speed vb is specified.

[0045] That is, a map Mv4 in which the target forward speed (maximum speed) v4 of the electric vehicle 1 is maximum within the settable range (e.g., 4 km / h) is shown by a solid line, and a map Mv3 in which the target forward speed (maximum speed) v3 (e.g., 3 km / h), a map Mv2 in which the target forward speed (maximum speed) v2 (e.g., 2 km / h), and a map Mv1 in which the target forward speed (maximum speed) v1 (e.g., 1 km / h) are shown by dashed lines. Note that in these maps Mv1 to 4, the target reverse speed (maximum reverse speed) vb is constant (e.g., 1 km / h).

[0046] When the joystick 83 is operated in a left or right region F2 including the left or right end, the target forward speeds vc1 to vc4 are specified, and when the joystick 83 is operated in a central region n including the center (neutral position), the target forward speeds are specified to be stopped (target speed zero). Between the central region n and the forward region F1, there is provided a transition region F3 in which the target vehicle speeds v1 to v4 gradually increase from the central region n to the forward region F1.

[0047] That is, a map Mv4 that provides the maximum target forward speed vc4 (e.g., 2 km / h) within the settable range when the joystick 83 is operated in the left or right region F2 is shown by a solid line, and a map Mv3 that provides the target forward speed vc3 (e.g., 1.5 km / h), a map Mv2 that provides the target forward speed vc2 (e.g., 1 km / h), and a map Mv1 that provides the target forward speed vc1 (e.g., 0.5 km / h) are shown by dashed lines. In this way, a forward speed is given even when the joystick 83 is operated in the left or right region F2, so that a transition to forward turning can be made when target vehicle angular velocities ω1 to ω4 are specified as described below, and a steering feel similar to that of an automobile or bicycle steered by a handlebar is obtained.

[0048] 5(b), when the operation position of the joystick 83 is in a left or right region F2 including the left or right ends of the operation range, the target vehicle angular velocity ω1 to ω4 is specified, and when the operation position is in a central region n including the center (neutral position), the target vehicle angular velocity zero is specified. In addition, between the central region n and the left or right region F2, there is provided a transition region F4 where the target vehicle angular velocities ω1 to ω4 gradually increase from the central region n to the left or right region F2.

[0049] That is, a map Mω4 that results in the maximum target vehicle angular velocity ω4 (e.g., 150 degrees per second, 2.62 rad / s) within the settable range when the joystick 83 is operated in the left or right region F2 is shown by a solid line, and a map Mω3 that results in the target vehicle angular velocity ω3 (e.g., 120 degrees per second, 2.09 rad / s), a map Mω2 that results in the target vehicle angular velocity ω2 (e.g., 90 degrees per second, 1.57 rad / s), and a map Mω1 that results in the target vehicle angular velocity ω1 (e.g., 60 degrees per second, 1.05 rad / s) are shown by dashed lines.

[0050] (Control map selection operation in ride mode) In the electric vehicle 1 having the control maps (Maps 1 to 4: target vehicle speed maps Mv(1 to 4); target vehicle angular velocity maps Mω(1 to 4)) as described above, when the travel permission switch 84 is in the off state in the riding mode (1) and the joystick 83 is operated in a specific manner by the user, the speed selection mode 100 is activated as shown in FIG. 3, and the control maps (Maps 1 to 4) can be selectively changed.

[0051] For example, as shown by the symbol 83' in Figure 4, when the user tilts the joystick 83 backward for a predetermined period of time (e.g., 5 seconds), identifiers (801 to 804) corresponding to four sets of control maps (Map 1 to Map 4) are displayed sequentially on the display unit 80.

[0052] In the illustrated example, two display segments 80a of the display unit 80 lit up (80a') or flashing correspond to map 1 (801; maximum speed 1 km / h), four lit up or flashing correspond to map 2 (802; maximum speed 2 km / h), six lit up or flashing correspond to map 3 (803; maximum speed 3 km / h), and eight lit up or flashing correspond to map 4 (804; maximum speed 4 km / h), and the display of these identifiers (801 to 804) is switched at regular intervals.

[0053] Then, when a desired identifier is displayed, if the joystick 83' is returned to the neutral position (83), or if the joystick 83' is released and self-returns to the neutral position (83), the control map (map 1 to map 4) corresponding to that identifier is determined, and this selection result is stored in the ROM area of ​​the control unit 10, and the speed selection mode 100 ends. This selection result is maintained until it is next changed in the speed selection mode 100.

[0054] (Control flow including control map selection operation) 6 shows a control flow including the above-mentioned control map selection operation at the start-up of the electric vehicle 1. When the power of the electric vehicle 1 is turned on by operating the key 11 to start up the system (step 201), the manually propelled vehicle mode (1') or the riding mode (1) is determined according to the frame configuration at the time of start-up (step 202).

[0055] If the riding mode (1) is determined (step 202, YES), and the travel permission switch 84 is not operated (step 203, NO), and the joystick 83 is tilted backward for a predetermined time (e.g., 5 seconds) (step 204, YES), the speed map selection mode is activated and the identifiers (801 to 804) corresponding to the control maps (maps 1 to 4) are switched and displayed (step 205).

[0056] When a desired identifier is displayed, if the joystick 83 is returned to the neutral position (step 206, YES), the speed map (map 1 to map 4) corresponding to that identifier is determined (step 207).

[0057] Thereafter, or after it has been determined that the vehicle is in the riding mode (1) for the first time, when the travel permission switch 84 is turned on (step 203, YES), the electromagnetic brake 42 is unlocked, the electric vehicle 1 enters the travel mode, and the vehicle can be traveled by operating the joystick 83 based on the speed map (map 1 to map 4) selected in advance (step 210).

[0058] When the electric vehicle 1 is in the riding mode (1) and the power is turned off using the key 11 (step 211, YES), a predetermined termination control is executed and the power is turned off (step 213). Also, when a predetermined time has elapsed without any operation (step 212, YES), the electromagnetic brake 42 is locked and the mode returns from the traveling mode (step 201) to the standby state.

[0059] (Actions and Effects Based on the Embodiments) As described above in detail, in the electric vehicle 1 of the present invention, when in the riding mode (1) and the travel permission switch 84 is in the off state, tilting the joystick 83 for a predetermined period of time activates the speed map selection mode and the speed map (Map 1 to Map 4) can be changed, so that the user can easily and reliably set the travel characteristics (maximum speed, upper limit speed, turning characteristics) according to the user's level of proficiency and the travel environment, such as indoor / outdoor and road conditions.

[0060] For example, when a user first begins using the vehicle and has low proficiency, the user can select a speed map with a low maximum speed (map 1, 2, etc.), and as the user's proficiency improves, the user can change to a speed map with a high maximum speed (map 3, 4), allowing the electric vehicle 1 to be introduced without difficulty.

[0061] In addition to being used as a personal vehicle, the electric vehicle 1 also has the advantage that when it is used shared or temporarily by multiple users in public facilities or nursing homes, or when it is rented, the driving characteristics can be easily changed to suit the user's level of proficiency and preferences.

[0062] Furthermore, a user who has become somewhat familiar with the operation can select a speed map with a high maximum speed (map 4) to drive on paved roads outdoors, and then when moving indoors, change to a speed map with a low maximum speed (maps 3, 2, etc.), eliminating the inconvenience of having to keep the joystick 83 in an intermediate position to drive at low speeds indoors, where roads are often narrow and winding.

[0063] Since the joystick 83 is used for the speed map selection operation, a dedicated selection switch or the like is not required, which is advantageous for reducing costs and also prevents erroneous operation of the dedicated switch. Furthermore, the speed map selection mode is activated only when the travel permission switch 84 is in the off state, and is not activated in the travel mode, i.e., in a state where the vehicle is capable of travelling, so that even though the joystick 83 is used for the speed map selection operation, there is no risk of accidentally starting the electric vehicle 1 due to mistaking it for a selection operation, or accidentally changing the speed map while the electric vehicle 1 is travelling or in a state where the vehicle is capable of travelling.

[0064] Furthermore, tilting the joystick 83 with the travel permission switch 84 in the off state sequentially displays the speed maps (Map 1 to Map 4), and returning the joystick 83 to the neutral position determines the speed map (Map 1 to Map 4) being displayed, allowing the selection operation to be performed simply and reliably. With the travel permission switch 84 in the off state, the electromagnetic brake 42 is locked, so the electric vehicle 1 will not move during the speed map selection operation.

[0065] Furthermore, by tilting the joystick 83 to switch between the speed maps (Map 1 to Map 4) toward the user, i.e., backward in the vehicle longitudinal direction, it is possible to prevent the joystick 83 from being accidentally operated by the user's body, arm, baggage, etc. The operation of pulling the joystick 83 toward the user is difficult to perform unless the user intends to do so. Also, even if the user mistakenly believes that the travel permission switch 84 is in the OFF state despite being turned on, and pulls the joystick 83 toward the user, the reverse speed is kept low, so problems caused by erroneous operation can be minimized.

[0066] However, the speed map selection operation is not necessarily limited to tilting the joystick 83 backward. After the speed map selection mode is activated by tilting the joystick 83 backward, the speed map (Map 1 to Map 4) can be switched by operating the joystick 83 left or right.

[0067] In the above embodiment, four sets of control maps (maps 1 to 4) including the target vehicle speed maps Mv(1 to 4) and the target vehicle angular velocity maps Mω(1 to 4) are selectively switched, but the number of control maps (maps 1 to 4) is not limited to four, and may be two, three, or five or more. Also, it is possible to switch only the target vehicle speed maps Mv(1 to 4).

[0068] In the above embodiment, the case has been shown in which a forward speed is given in the target vehicle speed map Mv(1-4) by operating the joystick 83 in the left and right directions, but it is also possible to give only the target vehicle angular speeds (ω1-ω4) as shown in FIG. 5(b) by operating the joystick 83 in the left and right directions.

[0069] Furthermore, instead of selectively switching among the control maps (Maps 1 to 4), it is also possible to selectively switch only specific control parameters such as the maximum speed (upper limit speed) when moving forward or turning, and it is also possible to set gains to the target vehicle speed or target vehicle angular velocity when moving forward or turning in response to the amount of operation of the joystick 83, and selectively switch the gains from several candidates to selectively switch the driving characteristics or turning characteristics.

[0070] Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications and changes can be made based on the technical concept of the present invention.

[0071] For example, in the above embodiment, the electric vehicle 1 is described as having an ambulatory assistance vehicle mode, but the present invention can also be implemented as a small electric vehicle or electric wheelchair that does not have an ambulatory assistance vehicle mode.

[0072] Furthermore, in the above embodiment, an omniwheel is used as the driven wheel 5, but a caster-type free wheel may also be used. [Explanation of symbols]

[0073] 1 Electric vehicles 2. Body 3 Rear handle (operating part for walking aid mode) 4 Drive wheels (rear wheels) 5 Driven wheels (swivel wheels, front wheels) 6. Cargo storage area 7 Sheets 8. Ride mode operation section 9 Battery 10 Control section 20 Tilt Sensor 21 Mobile Base 22 Upper Frame 24 Rear base 25 Front Base 26 Release Tag 28 Vehicle condition detection sensor 30 Grasping Sensor 34 Electromagnetic brake release switch 40(40L,40R) Motor unit 41 Left and right motors 42 Left and right electromagnetic brakes 43 Left and right rotation speed sensor 80 Display section 82 Armrest 83 Joystick (operator) 84 Travel permission switch

Claims

1. A vehicle body having a forward / backward direction and a width direction; Left and right drive wheels spaced apart in a width direction of the vehicle body; A swivel wheel is provided spaced apart from the left and right drive wheels in the forward and backward direction of the vehicle body; Left and right motors connected to the left and right drive wheels so as to be capable of transmitting power thereto, respectively; an operation unit having a joystick type operator; A control unit that controls the left and right motors in accordance with an amount of operation of the operator; a travel permission switch that permits control of the left and right motors by the operation member, The control unit is When the travel permission switch is in an on state, the left and right motors are controlled based on a target vehicle speed given by an operation position of the operation element, a small electric vehicle configured to activate a control parameter selection mode and change at least one control parameter including a maximum speed when the operating element is tilted for a predetermined period of time with the travel permission switch in an off state.

2. a display unit for displaying the control parameters in the control parameter selection mode, 2. The small electric vehicle according to claim 1, wherein the tilt operation of the control device sequentially displays identifiers of the candidates for the control parameter, and the display candidate is selected by returning the control device to a neutral position.

3. The small electric vehicle according to claim 2 , wherein the display unit includes a light-emitting portion formed of a plurality of display segments, and is configured to digitally display the identifier by a combination of the display segments.

4. 4. The small electric vehicle according to claim 1, wherein the control parameter selection mode is activated when the operating element is tilted rearward in the front-rear direction of the vehicle with the travel permission switch in an off state.

5. The small electric vehicle according to any one of claims 1 to 4, wherein the control unit includes a target vehicle speed map that defines a relationship between the operation position of the operator and the target vehicle speed, and the candidates for the control parameter are composed of a plurality of target vehicle speed maps having different target maximum speeds.

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