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1. WO2007088944 - VEHICLE OF PARALLEL TWO-WHEELED INVERSION PENDULUM TYPE

Publication Number WO/2007/088944
Publication Date 09.08.2007
International Application No. PCT/JP2007/051729
International Filing Date 01.02.2007
Chapter 2 Demand Filed 19.11.2007
IPC
B62K 17/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
17Cycles not otherwise provided for
B62K 3/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
3Bicycles
G05D 1/08 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
08Control of attitude, i.e. control of roll, pitch, or yaw
CPC
B60L 15/2009
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
15Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
20for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
2009for braking
B60L 2200/16
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
2200Type of vehicles
16Single-axle vehicles
B60L 2220/46
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
2220Electrical machine types; Structures or applications thereof
40Electrical machine applications
46Wheel motors, i.e. motor connected to only one wheel
B60L 2240/423
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
2240Control parameters of input or output; Target parameters
40Drive Train control parameters
42related to electric machines
423Torque
B60L 2260/34
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
2260Operating Modes
20Drive modes; Transition between modes
34Stabilising upright position of vehicles, e.g. of single axle vehicles
B62K 11/007
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
11Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
007Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
Applicants
  • トヨタ自動車株式会社 TOYOTA JIDOSHA KABUSHIKI KAISHA [JP]/[JP] (AllExceptUS)
  • 山田 耕嗣 YAMADA, Koji [JP]/[JP] (UsOnly)
  • 山岡 正明 YAMAOKA, Masaaki [JP]/[JP] (UsOnly)
  • 不破 稔夫 FUWA, Toshio [JP]/[JP] (UsOnly)
  • 小出 光男 KOIDE, Mitsuo [JP]/[JP] (UsOnly)
Inventors
  • 山田 耕嗣 YAMADA, Koji
  • 山岡 正明 YAMAOKA, Masaaki
  • 不破 稔夫 FUWA, Toshio
  • 小出 光男 KOIDE, Mitsuo
Agents
  • 特許業務法人 快友国際特許事務所 KAI-U PATENT LAW FIRM
Priority Data
2006-02748103.02.2006JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) VEHICLE OF PARALLEL TWO-WHEELED INVERSION PENDULUM TYPE
(FR) VEHICULE A PENDULE A RETOURNEMENT A DEUX ROUES PARALLELES
(JA) 平行二輪倒立振子型の走行体
Abstract
(EN)
Provided is a technique for braking a vehicle of parallel two-wheeled inversion pendulum type abruptly without inclining the vehicle chassis largely backward. The parallel two-wheeled inversion pendulum type vehicle comprises a pair of wheels, a pedestal (16) for supporting the paired wheels rotatably on a common axis, a wheel actuator for rotating the wheels relative to the pedestal, a chassis (12) supported on the pedestal, and an inversion control device (44) for controlling the wheel actuator in a manner to invert the pedestal. In this vehicle, the chassis is so supported on the pedestal as can move relative to the pedestal in the advancing direction of the vehicle. The vehicle further comprises positioning actuators (38, 40) for moving the chassis relative to the pedestal in the advancing direction of the vehicle, and a braking position control device (45) for controlling the positioning actuators so that the chassis may move backward of the advancing direction of the vehicle when the braking of the advancing vehicle is started.
(FR)
La présente invention concerne une technique pour freiner abruptement un véhicule à pendule à retournement à deux roues parallèles sans incliner considérablement le châssis de véhicule vers l'arrière. Le véhicule à pendule à retournement à deux roues parallèles comprend une paire de roues, un socle (16) pour supporter les roues appairées de façon rotative sur un axe commun, un actionneur de roue pour faire tourner les roues par rapport au socle, un châssis (12) supporté sur le socle, et un dispositif de commande de retournement (44) pour commander l'actionneur de roue de manière à retourner le socle. Dans ce véhicule, le châssis est supporté sur le socle de manière à pouvoir se déplacer par rapport au socle dans la direction d'avance du véhicule. Le véhicule comprend en outre des actionneurs de positionnement (38, 40) pour déplacer le châssis par rapport au socle dans la direction d'avance du véhicule, et un dispositif de commande de position de freinage (45) pour commander les actionneurs de positionnement de sorte que le châssis puisse se déplacer vers l'arrière de la direction d'avance du véhicule lorsque le freinage du véhicule qui avance est commencé.
(JA)
not available
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