JPS5863005A - Omnidirectional travelling vehicle - Google Patents

Omnidirectional travelling vehicle

Info

Publication number
JPS5863005A
JPS5863005A JP56161865A JP16186581A JPS5863005A JP S5863005 A JPS5863005 A JP S5863005A JP 56161865 A JP56161865 A JP 56161865A JP 16186581 A JP16186581 A JP 16186581A JP S5863005 A JPS5863005 A JP S5863005A
Authority
JP
Japan
Prior art keywords
voice
signal
command
driving
control circuit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP56161865A
Other languages
Japanese (ja)
Inventor
Ichiro Tsunaki
一郎 綱木
Mitsuhiro Shibuya
渋谷　光博
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KOUYUU KOSAN KK
SHIBUYA DENKI SEISAKUSHO KK
TOKYO JIYAIRO KK
Original Assignee
KOUYUU KOSAN KK
SHIBUYA DENKI SEISAKUSHO KK
TOKYO JIYAIRO KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KOUYUU KOSAN KK, SHIBUYA DENKI SEISAKUSHO KK, TOKYO JIYAIRO KK filed Critical KOUYUU KOSAN KK
Priority to JP56161865A priority Critical patent/JPS5863005A/en
Publication of JPS5863005A publication Critical patent/JPS5863005A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/30—Driver interactions by voice
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

PURPOSE:To eliminate the need for handle operation and lever operation and to contrive the improvement of operation by a method wherein a variable directional driving wheel is controlled in accordance with a driving command descriminated by a voice descriminating board. CONSTITUTION:A voice descriminating board 16 recognizes a command language by a voice fed from a head microphone 9 and gives a driving command to a display panel driving circuit 18 and a control circuit 17. The command language descriminating circuit 17a in the control circuit 17 separates the fed driving command language into a gyro-signal 17b, a brake signal 17c, a speed holding signal 17d, a motor reverse signal 17e, a motor speed signal 17f, an accelerating control signal 17g, and a power holding signal 17h or the like to operate a speed controls 19, a gyrodriving device 21, and a motor driving device 22. This can travel a vehicle in the omnidirection without performing handle operation and lever operation.

Description

【発明の詳細な説明】 本発明は全方向走行車両に関し、更に詳しくは、あらか
じめ登録された運転者の声による命令語により車両全全
方向に走行させることができる全方向走行車両に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an omnidirectional vehicle, and more particularly, to an omnidirectional vehicle that can drive the vehicle in all directions based on pre-registered voice commands from the driver. .

従来から車両を人間の歩行移ｆｇｖｃ近い状態で全ての
方向に自由自在に移動させようとする試みがある。近年
工場や倉庫で運搬用に使用されているフォークリフトや
、身障者のための電動車椅子等は前記式みの好例であり
、運転者のハンドル操作やレバー操作等によって全方向
に走行できるようになっている。Conventionally, there have been attempts to move vehicles freely in all directions in a state similar to human walking movement FGVC. Forklifts, which have been used for transportation in factories and warehouses in recent years, and electric wheelchairs for people with disabilities are good examples of the above-mentioned system, and they can be moved in all directions by the driver's handle or lever operation. There is.

しかしながら前記従来の全方向走行車両は必ず運転者の
手動操作によらなければ全方向に移動させることができ
ないために、フォークリフトでは人間が乗るスペース全
役けてやらねばならなかったり電動車椅子では手を使え
ない重度の上下膜障害者には運転できない等の欠点があ
った。However, the conventional omnidirectional vehicles mentioned above cannot be moved in all directions without manual operation by the driver, so forklifts have to use the entire space for a person to ride, and electric wheelchairs have to use the entire space for a person to ride. There were drawbacks, such as the inability of people with severe upper and lower membrane disorders to drive.

そこで本発明の目的は前記従来の全方向走行車両の欠点
を解消し、ハンドル操作やレバー操作等の人手を介する
ことなく、あらかじめ声を登録した運転者が進行方向を
口頭で命令することにより全方向に走行させることがで
きる優れた全方向走行車両を提供することである。Therefore, the purpose of the present invention is to eliminate the drawbacks of the conventional omnidirectional vehicle, and to enable the driver, whose voice has been registered in advance, to verbally command the direction of travel without any manual intervention such as steering wheel operation or lever operation. To provide an excellent omnidirectional vehicle that can run in any direction.

前記目的を達成する本発明の全方向走行車両は、自由論
と方向可変駆動輪とを備えると共に、この方向可変駆動
輪を作動させる制御装置を配置した全方向走行車両であ
って、前記制御装置は、音声識別ボードと、この音声識
別ボードによって識別された駆動命令語に従って前記方
向可変駆動輪を駆動する制御回路と、この制御回路と連
動して前記駆動命令語をデジタル表示すると共に前記可
変駆動輪の作動状態を表示する表示ツヤネルとから構成
されており、登録限定された運転者の音声命令によって
全方向に走行できるようにしたことを特徴としている。An omnidirectional vehicle of the present invention that achieves the above object is an omnidirectional vehicle that is equipped with a variable-direction drive wheel and a control device for operating the variable-direction drive wheel, wherein the control device includes a voice identification board, a control circuit for driving the variable direction drive wheels in accordance with the drive command word identified by the voice identification board, and a control circuit for digitally displaying the drive command words in conjunction with the control circuit; It consists of a display panel that displays the operating status of the wheels, and is characterized by the ability to drive in all directions based on voice commands from a registered driver.

以下図面を用いて本発明の詳細な説明する。The present invention will be described in detail below using the drawings.

第１図は本発明の全方向走行車両の一実施例を示す電動
車椅子１の斜視図である。本実施例の電動車椅子１は方
向可変駆動輪２と自由輪であるキャスター輪３を備えた
台車４上にアームレスト５ａ１フツトレスト５ｂ、’バ
ックレスト５ｃを有する座椅子５が載置されている。方
向可変駆動輪２はモータ６により左右独立して正、逆ど
ちらの方向にも回転することができる上に、台車番に設
けられた図示しない駆動輪取付軸回転装置（以後ジャイ
ロと記す）［よりその向きも変わるので、電動車椅子１
を全方向に自由自在に走行させることができる。７はバ
ッテリである。FIG. 1 is a perspective view of an electric wheelchair 1 showing an embodiment of the omnidirectional vehicle of the present invention. In the electric wheelchair 1 of this embodiment, a seat 5 having an armrest 5a, a footrest 5b, and a backrest 5c is placed on a trolley 4 having variable direction drive wheels 2 and caster wheels 3 which are free wheels. The variable direction drive wheel 2 can be rotated by the motor 6 independently in either the forward or reverse direction, and is also equipped with a drive wheel attachment shaft rotation device (hereinafter referred to as gyro) (not shown) provided on the truck number. Electric wheelchair 1
can run freely in all directions. 7 is a battery.

本発明の電動車椅子１では前記方向可変駆動輪２の回転
方向および向きを運転者の声によるパターン化された命
令１４語、により制御するようになっており、その制御
をするのが右側のアームレスト５ａの前部に設けられた
コントロールがツクス８である。本発明ではあらかじめ
声を登録した運転者がヘッドマイク９（第１図ではバッ
クレス）５ＣＫ引掛けられている）を頭につけてこれに
パターン化された命令語で希望動作を告げれば、その命
令通りにコントロールがツクス８が方向可変駆動輪２を
駆動する。このａ４ターン化された駆動命令語は第２図
に示すように前記・ント・−”ルがツクス８の表示・母
ネル８ａの中央部に設けられた表示器１１に数字で表示
され、運転者に今どの命令が実行されているかわかるよ
うになっていると共に、その命令による電動車椅子１の
進行方向または動作を発光ダイオード１２で示すように
なっている。In the electric wheelchair 1 of the present invention, the rotational direction and direction of the variable direction drive wheels 2 are controlled by 14 patterned commands by the driver's voice, and the control is performed by the right armrest. The control provided on the front part of 5a is Tux 8. In the present invention, the driver who has registered his/her voice in advance attaches the head microphone 9 (backless in Figure 1) 5CK hooked to his/her head and communicates the desired action using a patterned command word. The control unit 8 drives the variable direction drive wheel 2. As shown in FIG. 2, this A4-turn drive command word is displayed numerically on the display 11 provided in the center of the main channel 8a. The user can see which command is currently being executed, and the light emitting diode 12 indicates the direction of movement or movement of the electric wheelchair 1 according to the command.

本実施例では前記ノ４ターン化された駆動命令語は最大
３２語まで登録可能であり、声を登録して電動車椅子１
を動作させることができる話者は２人まで可能である。In this embodiment, up to 32 words can be registered as the drive command words converted into 4 turns, and the electric wheelchair 1 can be registered by registering the voice.
Up to two speakers can operate the .

話者１人で電動車椅子１を動作させるには第２図の表示
／４’ネル８ａ上にある話者スイッチ１０ｔ−Ｚの位置
にし、話者２人の場合は話者スイッチ１０をＡまたはＢ
の位置にする。話者２人の場合は１人最大１６語の駆動
命令語が登録可能である。そして、話者スイッチ１０を
Ｚの位置で音声を登録した場合は、Ｚ位置以外ではコン
トロールがツクス８は作動しないが、ＡまたはＢの位置
で音声を登録した場合は、ＡまたはＢの位置ではコント
ロールがツクス８はその位置で音声を登録した人のみの
命令し力）受付けないが、Ｚ位置にするとＡ、Ｂ位置で
音声を登録した２人の人の命令をどちらも受付ける。To operate the electric wheelchair 1 with one speaker, set the speaker switch 10 on the display/4' channel 8a in FIG. B
position. In the case of two speakers, each person can register up to 16 driving command words. If the voice is registered with the speaker switch 10 in the Z position, the control 8 will not operate in any position other than the Z position, but if the voice is registered in the A or B position, the control will not operate in any position other than the Z position. Tux 8 control will not accept commands from only those who have registered their voices at that position, but if it is set to the Z position, it will accept commands from both people who have registered their voices at positions A and B.

このような運転者の音昔の登録および登録した音声によ
る駆動命令語の登録は表示・母ネル８ａ上の登録キー１
３、テストキー１４、リセットキー１５ヲ操作し、表示
器１１Ｖｃ表示される数字を見ながらヘッドマイク９を
通じて行なう。本発明の電動車椅子１に用いる駆動命令
語およびその内容は例えば次表に示すようなものである
。To register the driver's voice and register the drive command using the registered voice, press the registration key 1 on the display/main panel 8a.
3. Operate the test key 14 and reset key 15, and use the head microphone 9 while looking at the numbers displayed on the display 11Vc. The drive command words and their contents used in the electric wheelchair 1 of the present invention are as shown in the following table, for example.

裏 本発明の電動車椅子１は前記のような　命令語により全
方向に自由自在に走行することができるのであるが、次
に前記命令語を認識して駆動輪２を制御する駆動装置の
構成を第３図のブロック図を用いて説明する。The electric wheelchair 1 of the present invention can move freely in all directions using the commands as described above. This will be explained using the block diagram shown in FIG.

本発明の電動車椅子１を音声による前記命令語により制
御する音声制御装置２０は、ヘッドマイク９Ｉ／ｃより
入力された音声による命令語をあらかじめ登録された音
声と比較して、登録者の音声であると認識された時には
その命令語″ｆ：５ビットの信号として出力する音声認
識が−ド１６（三洋電機株式会社製Ｓ１１’Ｊ−ａ２）
と、この音声認識ボード１６からの信号を識別して方向
可変駆動輪２を制御する制御回路１７と、この制御回路
１７の識別した駆動命令語およびこの時の方向可変駆動
輪２の作動状態を前記表示ノ４ネル８ａ上に表示する表
示ノｆネル駆動回路１８と、加速減速を滑らかに行なう
速度制御装置１９とから構成されている。そして前記制
御回路１７は、音声認識？−ド１６からの信号を命令語
識別回路１７ａで識別し、入力された音声による駆動命
令語をジャイロ信号１フｂ、ブレーキ信号１７Ｃ１速度
保持信号１７ｄ、モータ正逆転信号１７ｅ、モータ速度
信号１７ｆ、加速度制御信号１７ｇ、電源保持信号１７
ｈ等に分離し、前表に示した駆動命令語の内容に従って
、速度制御装置１９、ジャイロ駆動装置２１、モータ駆
動装置２２ヲ同時に、あるいは別々に作動させて電動車
椅子を全方向に走行させるのである。The voice control device 20, which controls the electric wheelchair 1 of the present invention using the voice command, compares the voice command input from the head microphone 9I/c with a pre-registered voice, and compares the voice command input from the head microphone 9I/c with the voice registered in advance. When it is recognized that the command word "f" exists, the voice recognition outputs it as a 5-bit signal.
A control circuit 17 identifies the signal from the voice recognition board 16 to control the variable direction drive wheels 2, and a control circuit 17 identifies the drive command word identified by the control circuit 17 and the operating state of the variable direction drive wheels 2 at this time. It is comprised of a display channel drive circuit 18 that displays information on the display channel 8a, and a speed control device 19 that smoothly performs acceleration and deceleration. And the control circuit 17 performs voice recognition? - The signal from the code 16 is identified by the command word identification circuit 17a, and the drive command word by the input voice is the gyro signal 1fb, the brake signal 17C1, the speed holding signal 17d, the motor forward/reverse signal 17e, the motor speed signal 17f, Acceleration control signal 17g, power hold signal 17
h, etc., and operate the speed control device 19, gyro drive device 21, and motor drive device 22 simultaneously or separately according to the contents of the drive command words shown in the previous table to make the electric wheelchair run in all directions. be.

なお、本発明の全方向走行車両に採用した、あらかじめ
登録された運転者の音声によって方向可変駆動輪を作動
させる制御装置は、運転者の音声が不明瞭で識別できな
い場合、高速で前進中に突然後退の命令が入力された場
合等は安全のために方向可変駆動輪の作動を滑らかに停
止させて、乗車している人に危険のないように１１゜ なっている。　　　　□： 以上説明したように本発明の全方向走行車両は、自由輪
と方向可変駆動輪とを備えると共に、この方向可変駆動
輪を作動させる制御装置を配置した全方向走行車両であ
って、前記制御装置は１．音声識別デートと、この音声
識別ボードによって識別された駆動命令語に従って前記
方向可変駆動輪を駆動する制御回路と、この制御耐路と
連動して前記駆動命令語をデジタル表示すると共に前記
可変駆動輪の作動状態を表示する表示パネルとから構成
されており、登録限定された運転者の音声命令によって
全方向に走行できるようにしたことにより、例えばこれ
が電動車椅子である場合には手金使壊ない重度の上下肢
障害者でもつきそいなしで自由にどこにでも行くことが
できるという効果があり、作業用車両の場合’には人が
乗って行けない危険な場所にも荷物を運んだりすること
ができるという効果があり、これ以外にも各方面に応用
ができるという利点がある。Note that the control device adopted in the omnidirectional vehicle of the present invention, which operates the variable direction drive wheels based on the driver's voice registered in advance, is capable of operating the variable-direction drive wheels based on the driver's voice registered in advance. If a command to reverse is suddenly input, the variable direction drive wheels are smoothly stopped for safety reasons, and are set at an angle of 11 degrees so as not to pose any danger to the occupants. □: As explained above, the omnidirectional vehicle of the present invention includes a free wheel and a variable direction drive wheel, and is equipped with a control device for operating the variable direction drive wheel. The control device is 1. a control circuit that drives the variable direction drive wheels in accordance with the voice identification date and the drive command word identified by the voice identification board; and a control circuit that digitally displays the drive command words in conjunction with the control circuit; The device consists of a display panel that displays the operating status of the wheelchair, and can be driven in any direction by voice command from a registered driver, so if the wheelchair is an electric wheelchair, for example, there is no need to use the deposit. It has the effect of allowing people with severe upper and lower limb disabilities to go anywhere freely without being followed, and in the case of a work vehicle, it can carry cargo to dangerous places where people cannot ride. In addition to this effect, it has the advantage that it can be applied to various fields.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の全方向走行車両の一実施例を示す電動
車椅子の斜視図、第２図は本発明の電動車椅子の音声に
よるコントロールボックスの表示パネルの一実施例の平
面図、第３図は本発明の電動車椅子を音声駆動する駆動
装置の概略構成を示すブロック図である。 １・・・電動車椅子、２・・・駆動輪、３・・・キャス
ター輪、４・・・台車、５・・・座椅子、６・・・モー
タ、７・・・バッテリ、８・・・コントロールボックス
、８ａ・・・表示ノソネル、９・・・ヘッドマイク、１
０・・・話者スイッチ、１１・・・１＋タ一ン表示器、
１６・・・音色認識ボード、１７・・・制御回路、１８
・・・表示パネル駆動回路、１９・・・速度制御装置、
２０・・・音声制御装置、２１・・・ジャイロ駆動装置
、２２・・・モータ駆動装置。 代理人　弁理士　小　川　信　− 弁理士　野　口　賢　照 弁理士斎下和彦 第１図 手続補正書 ２発明の名称 全方向走行車両 ３、補正をする者 事件との関係　　　　特許出願人 代表者野田武勇 ４、代　理　人FIG. 1 is a perspective view of an electric wheelchair showing an embodiment of the omnidirectional vehicle of the present invention, FIG. 2 is a plan view of an embodiment of the display panel of the audio control box of the electric wheelchair of the present invention, and FIG. The figure is a block diagram showing a schematic configuration of a drive device for voice-driving an electric wheelchair according to the present invention. 1... Electric wheelchair, 2... Drive wheels, 3... Caster wheels, 4... Trolley, 5... Seat chair, 6... Motor, 7... Battery, 8...・Control box, 8a...Display nosonnel, 9...Head microphone, 1
0...Speaker switch, 11...1+Tin display,
16... Tone recognition board, 17... Control circuit, 18
...display panel drive circuit, 19...speed control device,
20... Voice control device, 21... Gyro drive device, 22... Motor drive device. Agent: Patent Attorney Makoto Ogawa - Patent Attorney Ken Noguchi Teru Patent Attorney Kazuhiko Saishita Figure 1 Procedural Amendment 2 Name of Invention Omnidirectional Vehicle 3 Relationship with the Person Who Makes the Amendment Patent Applicant Representative Takeyu Noda 4. Agent

Claims (1)

【特許請求の範囲】[Claims] 自由輪と方向可変駆動輪とを備えると共に、この方向可
変駆動輪を作動させる制御装置を配置した全方向走行車
両であって、前記制御装置は、音声識別が一ドと、この
音声識別デートによって識別された駆動命令語に従って
前記方向可変駆動輪を駆動する制御回路と、この制御回
路と連動して前記駆動命令語をデジタル表示すると共に
前記可変駆動輪の作動状態全表示する表示パネルとから
構成したことを特徴とする全方向走行車両。The omnidirectional vehicle is equipped with a free wheel and a variable-direction drive wheel, and is provided with a control device for operating the variable-direction drive wheel, and the control device is configured to perform voice identification based on the voice identification date and the voice identification date. Consisting of a control circuit that drives the variable direction drive wheels according to the identified drive command, and a display panel that digitally displays the drive command in conjunction with the control circuit and displays all operating states of the variable drive wheels. An omnidirectional vehicle that is characterized by:
JP56161865A 1981-10-09 1981-10-09 Omnidirectional travelling vehicle Pending JPS5863005A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP56161865A JPS5863005A (en) 1981-10-09 1981-10-09 Omnidirectional travelling vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP56161865A JPS5863005A (en) 1981-10-09 1981-10-09 Omnidirectional travelling vehicle

Publications (1)

Publication Number Publication Date
JPS5863005A true JPS5863005A (en) 1983-04-14

Family

ID=15743424

Family Applications (1)

Application Number Title Priority Date Filing Date
JP56161865A Pending JPS5863005A (en) 1981-10-09 1981-10-09 Omnidirectional travelling vehicle

Country Status (1)

Country Link
JP (1) JPS5863005A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005296082A (en) * 2004-04-06 2005-10-27 Hiroshima Pref Gov Electric wheelchair
JP2009197675A (en) * 2008-02-21 2009-09-03 Denso Corp Fuel injection device
KR20150047526A (en) * 2012-08-20 2015-05-04 라발 에이.씨.에스. 엘티디 Vehicle fuel accessory
CN112932822A (en) * 2021-01-29 2021-06-11 西安交通大学 Pose detection and control method of electric wheelchair

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005296082A (en) * 2004-04-06 2005-10-27 Hiroshima Pref Gov Electric wheelchair
JP2009197675A (en) * 2008-02-21 2009-09-03 Denso Corp Fuel injection device
KR20150047526A (en) * 2012-08-20 2015-05-04 라발 에이.씨.에스. 엘티디 Vehicle fuel accessory
CN112932822A (en) * 2021-01-29 2021-06-11 西安交通大学 Pose detection and control method of electric wheelchair

Similar Documents

Publication Publication Date Title
US10513286B1 (en) Removable manual controls for an autonomous vehicle
JP3747316B2 (en) Electric mobile vehicle steering / drive control method, electric mobile vehicle steering / drive control device, and electric mobile vehicle
US5923096A (en) All-electric vehicle control system
CA2289245C (en) Clutch for multi-directional transportation device
EP2823795A1 (en) Electric assisted walker
JPH09315799A (en) Drive system for vertical mast personnel lift
JPS5863005A (en) Omnidirectional travelling vehicle
JP3395007B2 (en) Self-propelled vehicle
Koppa State of the art in automotive adaptive equipment
JP2001122124A (en) Omni-directional mobile trolley
Grier 17 Automated Vehicle Design for People with Disabilities
WO2011081617A1 (en) Electronic steering assembly for dual motor vehicle
JPH02141332A (en) Driving direction reversing device and passenger traveling facility reversing device for motor-driven passenger car
Östlund Joystick-controlled cars for drivers with severe disabilities
JPH06225910A (en) Motor-driven wheelchair
KR102159666B1 (en) Electric wheelchair with auxiliary footrest
KR20230027357A (en) Self driving electric wheelchair
JPH08256523A (en) Under-the-shelf work vehicle
WO2025262591A1 (en) Electric vehicle with switchable guide
JP3246619U (en) Brake operation confirmation display device
JPH07123529A (en) Small electric car
KR102843414B1 (en) Electric wheelchair equipped with operating handlebar and P, D, N lever buttons for helper
JP2000024048A (en) Electric wheelchair
JP7602723B2 (en) Small electric vehicle
CN213008554U (en) Drifting vehicle