Vehicle
A vehicle includes a drive unit, a direction input device, a mode switching operator, and a control device. The drive unit is provided at a vehicle body frame and is capable of translating in all directions on a floor surface and turning. The direction input device receives a direction input. The mode switching operator receives a mode switching input. The control device is configured to: switch a travel mode of the drive unit between a translation mode and a turning mode based on the mode switching input, control the drive unit to translate with respect to the floor surface based on a signal from the direction input device when the translation mode is selected, and control the drive unit to turn with respect to the floor surface based on a signal corresponding to a left or right direction from the direction input device when the turning mode is selected.
1 . A vehicle comprising:
a vehicle body frame;
a seat arranged above the vehicle body frame and supporting hips of a user;
a lifting apparatus provided between the vehicle body frame and the seat, for lifting and lowering the seat between a low position and a high position;
a seat position sensor that detects a position of the seat with respect to the vehicle body frame;
at least one drive unit which is provided at the vehicle body frame and is capable of translating in all directions on a floor surface and capable of turning;
a direction input device which receives a direction input corresponding to at least front, rear, left, and right directions inputted by a user;
a mode switching operator which receives a mode switching input corresponding to mode switching performed by the user; and
a control device which controls the drive unit based on signals from the direction input device and the mode switching operator, wherein
the direction input device includes a movement direction switch and a tilt angle sensor provided at the vehicle body frame to detect a tilt angle of the vehicle body frame, and
the control device is configured to:
switch a travel mode of the drive unit between a translation mode and a turning mode based on the mode switching input,
control the drive unit so that the drive unit translates with respect to the floor surface based on a signal from the direction input device when the translation mode is selected,
control the drive unit so that the drive unit turns with respect to the floor surface based on a signal corresponding to a left or right direction from the direction input device when the turning mode is selected,
control the at least one drive unit based on inverted pendulum control and drive the drive unit to translate or turn in a same direction as the tilt angle based on the tilt angle when the seat is at the high position; and
control the at least one drive unit based on the signal from the direction input device when the seat is at the low position.
2 . The vehicle according to claim 1 , wherein the movement direction switch is a joystick.
3 . The vehicle according to claim 1 , wherein the mode switching operator is a push switch.
4 . The vehicle according to claim 2 , wherein the mode switching operator is a push switch.
5 . The vehicle according to claim 1 , wherein the movement direction switch and the mode switching operator are a common joystick, and
the joystick outputs a signal corresponding to the direction input when receiving a tilt operation performed by the user, and outputs a signal corresponding to the mode switching input when receiving a push-in operation at a neutral position performed by the user.
6 . The vehicle according to claim 1 , further comprising an indicator for indicating the travel mode being executed.
7 . The vehicle according to claim 2 , further comprising an indicator for indicating the travel mode being executed.
8 . The vehicle according to claim 3 , further comprising an indicator for indicating the travel mode being executed.
9 . The vehicle according to claim 5 , further comprising an indicator for indicating the travel mode being executed.
10 . The vehicle according to claim 1 , wherein
the drive unit is provided as a pair of left and right drive units, and
each of the drive units comprises:
a pair of drive disks rotatably supported by the vehicle body frame and arranged coaxially and opposed to each other;
a plurality of drive rollers rotatably supported by the drive disk;
a pair of actuators respectively rotating the pair of drive disks independently; and
a drive wheel which has an annular shape, is arranged coaxially with the drive disks between the pair of drive disks, is in contact with the plurality of drive rollers, and is rotatable around a central axis and around an annular axis.
11 . The vehicle according to claim 2 , wherein
the drive unit is provided as a pair of left and right drive units, and
each of the drive units comprises:
a pair of drive disks rotatably supported by the vehicle body frame and arranged coaxially and opposed to each other;
a plurality of drive rollers rotatably supported by the drive disk;
a pair of actuators respectively rotating the pair of drive disks independently; and
a drive wheel which has an annular shape, is arranged coaxially with the drive disks between the pair of drive disks, is in contact with the plurality of drive rollers, and is rotatable around a central axis and around an annular axis.
12 . The vehicle according to claim 3 , wherein
the drive unit is provided as a pair of left and right drive units, and
each of the drive units comprises:
a pair of drive disks rotatably supported by the vehicle body frame and arranged coaxially and opposed to each other;
a plurality of drive rollers rotatably supported by the drive disk;
a pair of actuators respectively rotating the pair of drive disks independently; and
a drive wheel which has an annular shape, is arranged coaxially with the drive disks between the pair of drive disks, is in contact with the plurality of drive rollers, and is rotatable around a central axis and around an annular axis.
13 . The vehicle according to claim 5 , wherein
the drive unit is provided as a pair of left and right drive units, and
each of the drive units comprises:
a pair of drive disks rotatably supported by the vehicle body frame and arranged coaxially and opposed to each other;
a plurality of drive rollers rotatably supported by the drive disk;
a pair of actuators respectively rotating the pair of drive disks independently; and
a drive wheel which has an annular shape, is arranged coaxially with the drive disks between the pair of drive disks, is in contact with the plurality of drive rollers, and is rotatable around a central axis and around an annular axis.
14 . The vehicle according to claim 6 , wherein
the drive unit is provided as a pair of left and right drive units, and
each of the drive units comprises:
a pair of drive disks rotatably supported by the vehicle body frame and arranged coaxially and opposed to each other;
a plurality of drive rollers rotatably supported by the drive disk;
a pair of actuators respectively rotating the pair of drive disks independently; and
a drive wheel which has an annular shape, is arranged coaxially with the drive disks between the pair of drive disks, is in contact with the plurality of drive rollers, and is rotatable around a central axis and around an annular axis.