To provide a walking aid vehicle that can achieve operability that suits the situation on an uphill road.SOLUTION: A walking aid vehicle (1) includes: an operating part (3) disposed on an upper part of a vehicle body such that a user in a walking attitude can hold the operating part; detection means (30) for detecting an operation force that acts on the operating part; and inclination detection means (20) for detecting inclination of the vehicle. When the inclination in the travel direction detected by the inclination detection means (20) is less than a threshold, a normal control (100) is performed, in which positive torque is generated for drive motors (40L, 40R) by an operation to push the operating part (3) forward and negative torque is generated for the drive motors by an operation to pull the operating part backward. When the inclination in the travel direction detected by the inclination detection means (20) is not less than the threshold and an operation force that pushes the operating part forward is detected, the control is shifted to a pull control (110), in which positive torque is generated for the drive motors by an operation force to pull the operating part.SELECTED DRAWING: Figure 5
【課題】登坂路でその状況に適した操作性を得ることができる歩行補助車両を提供する。【解決手段】歩行補助車両(1)は、利用者が歩行姿勢で把持できるように車体の上部に設けられた操作部(3)と、前記操作部に作用する操作力を検出する手段(30)と、車体の傾斜を検出する傾斜検出手段(20)とを備え、傾斜検出手段(20)に検出される進行方向の傾斜が閾値未満の場合に、操作部(3)を前方に押す操作で駆動モータ(40L,40R)に正方向のトルクを発生させ、前記操作部を後方に引く操作で前記駆動モータに逆方向のトルクを発生させる通常制御(100)を行い、前記傾斜検出手段(20)に検出される進行方向の傾斜が閾値以上かつ前記操作部を前方に押す操作力が検出された場合に、前記操作部を引く操作力で前記駆動モータに正方向のトルクを発生させるプル制御(110)に移行するように構成されている。【選択図】図5
WALING AID VEHICLE
歩行補助車両
2021-05-27
Patent
Electronic Resource
Japanese
IPC: | A61H PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY , Geräte für die physikalische Therapie, z.B. Vorrichtungen zum Lokalisieren oder Anregen spezieller Reflexpunkte am Körper / B62B Von Hand bewegte Fahrzeuge, z.B. Handkarren oder Kinderwagen , HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS |