JP2001122124A - Omnidirectional moving truck - Google Patents
Omnidirectional moving truckInfo
- Publication number
- JP2001122124A JP2001122124A JP30753399A JP30753399A JP2001122124A JP 2001122124 A JP2001122124 A JP 2001122124A JP 30753399 A JP30753399 A JP 30753399A JP 30753399 A JP30753399 A JP 30753399A JP 2001122124 A JP2001122124 A JP 2001122124A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- force
- speed limit
- limit value
- detecting
- 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.)
- Granted
Links
Landscapes
- Handcart (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は全方向に移動させる
ことができるパワーアシスト型の全方向移動台車に関す
るものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power-assist type omnidirectional moving vehicle capable of moving in all directions.
【０００２】[0002]
【従来の技術】台車として人力で駆動するものが広く用
いられているが、積載重量が大きくなるほど、動作が重
い、俊敏な動きが困難、坂道で危険といった問題を有し
ている。電動モータのような駆動源によって動かされる
とともに、駆動源の制御をスイッチ操作で行う動力式台
車もあるが、これは微妙な動作が困難であって、運転操
作に熟練が必要となる。2. Description of the Related Art As a bogie, a man-powered bogie is widely used. However, there is a problem that the heavier the load, the heavier the operation, the more difficult it is to move quickly, and the danger on a slope. There is a power bogie that is driven by a drive source such as an electric motor and controls the drive source by a switch operation. However, it is difficult to perform a delicate operation, and the driving operation requires skill.
【０００３】このために、人力を動力によって補助する
パワーアシスト付の台車が提案されている。特開平１０
−６９９６号公報には、手動型の台車に連結して使用さ
れるパワーアシストユニットであって、操作ハンドルに
加えられた操作力を外力検出器で検出して、検出した外
力に応じた駆動力を駆動手段に発生させることで台車の
運行を軽く行うことができるようにしたものが示されて
いる。For this reason, a bogie with power assist for assisting human power with power has been proposed. JP Hei 10
Japanese Patent Application Laid-Open No. 6996/1996 discloses a power assist unit which is used in connection with a manual type bogie, wherein an operation force applied to an operation handle is detected by an external force detector, and a driving force corresponding to the detected external force is detected. Is generated by the driving means so that the operation of the bogie can be performed lightly.
【０００４】[0004]
【発明が解決しようとする課題】ところで、このような
アシストを行うものでは、加えた操作力が大きければ移
動速度もそれに応じて速くなってしまうが、重量のある
台車の移動速度が速くなりすぎると危険である。このた
めに、移動速度に上限を設定して、その速度以上に速く
なることがないようにすることが考えられるが、全方向
移動が可能な台車の場合、周囲の人にとっては予測しに
くい動きも可能であり、この場合の安全性も確保しよう
とすると、速度制限値をきわめて低くしなくてはなら
ず、この場合、素早い移動ができなくなってしまう。By the way, in the case of performing such an assist, if the applied operating force is large, the moving speed is correspondingly increased, but the moving speed of the heavy truck becomes too fast. And dangerous. For this purpose, it is conceivable to set an upper limit on the moving speed so that the moving speed does not become faster than the upper limit. In order to ensure safety in this case, the speed limit value must be extremely low, and in this case, quick movement cannot be performed.
【０００５】本発明はこのような点に鑑み為されたもの
であり、その目的とするところは安全に且つ素早く運行
することができる全方向移動台車を提供するにある。[0005] The present invention has been made in view of the above points, and an object of the present invention is to provide an omnidirectional mobile trolley that can be operated safely and quickly.
【０００６】[0006]
【課題を解決するための手段】しかして本発明は、走行
と操舵と転向のための駆動手段と、操作力が加えられる
操作部と、操作部に加えられた操作力を検出する外力検
出手段と、外力検出手段で検出された外力に応じた駆動
力を上記駆動手段に発生させる制御手段とを備えた全方
向移動台車であって、移動速度を検出する速度検出手段
を備えて、上記制御手段は移動方向によって異なる速度
制限を行っていることに特徴を有している。速度が速く
なりすぎることがなくて、安全なものであり、しかも移
動方向によって異なる速度制限を行っているために、た
とえば前後方向のように周囲の人にとって予測しやすい
方向の動きの速度制限値は他の方向の速度制限値よりも
高くすることができるために、素早い移動が可能なもの
である。SUMMARY OF THE INVENTION The present invention provides a driving means for traveling, steering and turning, an operating part to which an operating force is applied, and an external force detecting means for detecting the operating force applied to the operating part. An omnidirectional mobile trolley comprising: a driving unit that generates a driving force corresponding to the external force detected by the external force detecting unit; and a speed detecting unit that detects a moving speed. The means is characterized in that different speed limits are performed depending on the moving direction. Since the speed is not too fast, it is safe, and different speed limits are applied depending on the direction of movement. Can be made higher than the speed limit value in the other direction, so that quick movement is possible.
【０００７】これに伴って、左右方向の速度制限値を他
の方向の速度制限値よりも低くしておくのが好ましく、
さらには引き方向についての速度制限値を他の方向につ
いての速度制限値よりも高くしておくのが好ましい。Accordingly, it is preferable that the speed limit value in the left-right direction be lower than the speed limit value in the other direction.
Further, it is preferable to set the speed limit value in the pulling direction higher than the speed limit values in the other directions.
【０００８】また、操作部に把持位置検知手段を設け
て、該把持位置検知手段の出力で速度制限値を切り換え
るようにしてもよい。[0008] Further, it is also possible to provide a grip position detecting means in the operating section and switch the speed limit value by an output of the grip position detecting means.
【０００９】推進方向動作時に左右方向動作についての
速度制限値を最小値とするのも好ましく、特に左右一対
の互いに独立駆動される駆動車輪を走行用及び操舵用と
しているとともに、一対の駆動車輪が取り付けられてい
るベースを鉛直軸回りに回転させる転向用回転手段を備
えた全方向移動台車である場合には、所定の進行方向動
作時には回転手段の動作を禁止するものであってもよ
い。It is also preferable to minimize the speed limit value for the left-right direction operation during the propulsion direction operation. In particular, the pair of left and right independently driven drive wheels is used for traveling and steering, and the pair of drive wheels is In the case of an omnidirectional mobile trolley provided with turning means for turning the attached base about a vertical axis, the operation of the rotating means may be prohibited during a predetermined traveling direction operation.
【００１０】操作部に加えられた操作力を検出する検出
手段は、操作部に加えられた推進方向の力と、操舵方向
の力と、水平面内のモーメントとを検出する外力検出器
を好適に用いることができる。Preferably, the detecting means for detecting the operating force applied to the operating section preferably includes an external force detector for detecting a propulsive direction force, a steering direction force, and a horizontal moment applied to the operating section. Can be used.
【００１１】そして、この全方向移動台車は、配膳車と
して好適に用いることができる。[0011] This omni-directional mobile trolley can be suitably used as a catering car.
【００１２】[0012]
【発明の実施の形態】以下本発明を図示の実施例に基づ
いて詳述すると、図２は配膳車として形成されたパワー
アシスト型の全方向移動台車の一例を示しており、操作
者の手から操作部２に加えられた力は、外力検出手段３
で検出され、検出された力検出値に基づいてＣＰＵから
なる演算手段において、前後方向、操舵のための左右方
向、転向のための回転方向への必要駆動力が演算され
る。また演算手段は、演算した必要駆動力を発生させる
ために必要な各駆動源の駆動力も演算し、演算された力
はそれぞれの駆動源の制御手段を通して各駆動源に分離
出力される。これらを制御周期毎に繰り返すことで、操
作者の意図に沿ったパワーアシストを行う。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the illustrated embodiment. FIG. 2 shows an example of a power-assisted omnidirectional mobile trolley formed as a catering car. Is applied to the operation unit 2 by the external force detection means 3
Based on the detected force detection value, the calculation means including the CPU calculates the required driving force in the front-rear direction, the left-right direction for steering, and the rotation direction for turning. The calculating means also calculates the driving force of each driving source necessary to generate the calculated required driving force, and the calculated force is separately output to each driving source through the control means of each driving source. By repeating these for each control cycle, power assist according to the operator's intention is performed.
【００１３】上記操作部２と外力検出手段３について説
明すると、操作部２は、図３及び図４に示すように、車
体１の前面に設けた横長のバーハンドルとして形成して
あり、操作部２両端は前後方向に撓み自在な板ばね２
０，２０を介してハンドルベース２１に連結してある。
また、ハンドルベース２１はその左右両端部を左右方向
に撓み自在な板ばね２２，２２を介して車体１に連結し
てある。The operation section 2 and the external force detecting means 3 will be described. As shown in FIGS. 3 and 4, the operation section 2 is formed as a horizontally long bar handle provided on the front of the vehicle body 1. 2 Both ends of the leaf spring 2 are flexible in the front-rear direction
It is connected to the handle base 21 via 0,20.
The handle base 21 is connected to the vehicle body 1 at both left and right ends thereof via leaf springs 22, 22 which can be flexed in the left and right directions.
【００１４】そして外力検出手段３は、ここでは板ばね
２０，２０の前後の撓み（変位）ｄｒ，ｄｌを夫々距離
変化として渦電流変化を利用して検出するギャップセン
サ３０，３０と、板ばね２２の左右の撓み（変位）ｄｃ
を距離変化として渦電流変化を利用して検出するギャッ
プセンサ３１とで構成してある。In this case, the external force detecting means 3 includes gap sensors 30 and 30 for detecting deflections (displacements) dr and dl before and after the leaf springs 20 and 20 using eddy current changes as distance changes, respectively. 22 right and left deflection (displacement) dc
And a gap sensor 31 that detects a change in distance using an eddy current change.
【００１５】このものにおいて、操作部２に引く方向の
力Ｆｈｘを加えたならば、図５(a)に示すように、一対
の板ばね２０，２０が同方向に撓み、操作部２に左右方
向の力Ｆｈｙを加えたならば、図５(b)に示すように、
両板ばね２０，２０は互いに逆方向に撓むとともに板ば
ね２１が撓み、さらに水平面内でのモーメントＭｈを操
作部２に加えたならば、図５(c)に示すように、両板ば
ね２０，２０は互いに逆方向に撓む（この時、板ばね２
１の撓みｄｃは０）。In this case, if a force Fhx in the pulling direction is applied to the operation unit 2, the pair of leaf springs 20 bend in the same direction as shown in FIG. When a force Fhy in the direction is applied, as shown in FIG.
When both leaf springs 20 and 20 bend in opposite directions and the leaf spring 21 bends, and a moment Mh in a horizontal plane is applied to the operation unit 2, as shown in FIG. , 20 bend in opposite directions (at this time, the leaf spring 2
The deflection dc of 1 is 0).
【００１６】従って、ｋ１，ｋ２，ｋ３，ｋ４を定数と
すると、 Ｆｈｘ＝ｋ１×（ｄｒ＋ｄｌ） Ｆｈｙ＝ｋ２×ｄｃ Ｍｈ＝ｋ３×（ｄｒ−ｄｌ）＋ｋ４×ｄｃ で求めることができる。なお、上記定数ｋ１，ｋ２，ｋ
３，ｋ４は実験によって求めることができる。また、力
Ｆｈｘ，Ｆｈｙの合力の大きさと方向とを（Ｆｐ，θ）
で表すと、 Ｆｐ＝（Ｆｈｘ2＋Ｆｈｙ2）1/2 θ＝ｔａｎ-1（Ｆｈｙ／Ｆｈｘ） となることから、（Ｆｐ，θ，Ｍｈ）を上記３軸力セン
サとしての外力検出器３で求めることができる。Therefore, if k1, k2, k3, and k4 are constants, Fhx = k1 × (dr + dl) Fhy = k2 × dc Mh = k3 × (dr−dl) + k4 × dc. Note that the above constants k1, k2, k
3, k4 can be determined by experiment. Further, the magnitude and direction of the resultant force of the forces Fhx and Fhy are expressed by (Fp, θ).
Since Fp = (Fhx 2 + Fhy 2 ) 1/2 θ = tan −1 (Fhy / Fhx), (Fp, θ, Mh) is calculated by the external force detector 3 as the three-axis force sensor. You can ask.
【００１７】次に全方向移動を可能としている駆動手段
について説明すると、これは図３及び図７に示すよう
に、車体１の底部に転向のためのステアリング用モータ
Ｍθによって鉛直軸回りに回転駆動される回転テーブル
４０を設けて、この回転テーブル４０に左右一対の駆動
輪４１，４１と、これら駆動輪４１，４１を個別に駆動
するモータＭｒ，Ｍｌを取り付けている。また、車体１
の前端側にはキャスター４４，４４を取り付けている。
図中４５はモータＭθ取り付け用のブラケットである。Next, a description will be given of a driving means capable of moving in all directions. As shown in FIGS. 3 and 7, the driving means is rotated around a vertical axis by a steering motor M.theta. A rotating table 40 is provided, and a pair of left and right driving wheels 41, 41 and motors Mr, Ml for individually driving the driving wheels 41, 41 are attached to the rotating table 40. Also, body 1
Casters 44, 44 are attached to the front end side of the.
In the figure, reference numeral 45 denotes a bracket for attaching the motor Mθ.
【００１８】一対の駆動輪４１，４１を前方に向けた状
態で両駆動輪４１，４１を等速で前進回転させれば、車
体１は前方へと進み、逆方向に等速で回転させれば後退
する。左右の駆動輪４１，４１を不等速で前進させれ
ば、車体１は駆動輪４１，４１の速度差に応じた旋回半
径で旋回しながら前進する。さらに、左右の駆動輪４
１，４１を等速で且つ相互に逆方向に駆動すれば、車体
１はその場旋回を行う。また、モータＭθによって回転
テーブル４０を回転させることで、左右一対の駆動輪４
１，４１が向く方向を変える転向ができるために、この
全方向移動台車は、図８に示すように、横移動及び斜め
平行移動も含む動きが可能となっている。If the two drive wheels 41, 41 are rotated forward at a constant speed with the pair of drive wheels 41, 41 facing forward, the vehicle body 1 moves forward and is rotated at a constant speed in the opposite direction. If you retreat. If the left and right drive wheels 41, 41 are advanced at an unequal speed, the vehicle body 1 advances while turning with a turning radius corresponding to the speed difference between the drive wheels 41, 41. Furthermore, left and right driving wheels 4
If the vehicles 1 and 41 are driven at a constant speed and in mutually opposite directions, the vehicle body 1 turns on the spot. Further, by rotating the rotary table 40 by the motor Mθ, a pair of left and right driving wheels 4 is provided.
As shown in FIG. 8, this omnidirectional mobile trolley is capable of movement including lateral movement and diagonal parallel movement, because the directional movement of the vehicle can be changed to change the direction in which the vehicle 1 and 41 face.
【００１９】次に、上記各モータＭθ，Ｍｒ，Ｍｌの駆
動制御について説明すると、基本的には図６に示すよう
に、外力検出器３で求めた外力の大きさと方向に応じ
て、総計３つのモータＭθ，Ｍｒ、Ｍｌの出力を計算し
て、これらモータＭθ，Ｍｒ、Ｍｌを駆動する。この
時、駆動輪４１，４１用の２駆動源Ｍｒ，Ｍｌの速度検
出を速度センサＳｓで行い、ステアリング用モータＭθ
の角度検出を角度検出用エンコーダーＳωで行う。上記
出力計算にあたっては、図９(a)に示すように、力検出
値に駆動源のトルクが単純比例するようにしてもよい
が、図９(b)に示すように、力検出値が微小である場合
には出力をゼロに保つ不感帯を設定することが好まし
い。尚、図９における線分の傾きは力増幅率を表してい
る。Next, the drive control of each of the motors Mθ, Mr and Ml will be described. Basically, as shown in FIG. The outputs of the two motors Mθ, Mr, Ml are calculated, and these motors Mθ, Mr, Ml are driven. At this time, the speed of the two driving sources Mr and Ml for the driving wheels 41 and 41 is detected by the speed sensor Ss, and the steering motor Mθ is detected.
Is detected by the angle detection encoder Sω. In the above output calculation, the torque of the drive source may be simply proportional to the force detection value as shown in FIG. 9 (a), but as shown in FIG. In this case, it is preferable to set a dead zone for keeping the output at zero. Note that the slope of the line segment in FIG. 9 represents the force amplification factor.
【００２０】そして、速度及び角速度が夫々所定値を越
えた時には、図１０（図中の線分の傾きは速度制限率）
に示すように、進行方向と逆方向のトルク、すなわち制
動がかかるようにしている。When the speed and the angular speed exceed predetermined values, respectively, FIG. 10 (the slope of the line segment in the figure is the speed limit rate)
As shown in (1), torque in the direction opposite to the traveling direction, that is, braking is applied.
【００２１】モータＭｒの速度をＶｒ、モータＭｌの速
度をＶｌ、制限速度をＶ０、制限角速度をω０、駆動輪
４１，４１の間隔をｄとすると、推進方向の速度Ｖｘ及
び旋回の角速度ωは Ｖｘ＝（Ｖｒ＋Ｖｌ）／２ ω＝（Ｖｒ−Ｖｌ）／ｄ となり、推進方向の力増幅率をＧｐ、旋回方向の力増幅
率をＧｓとすると、Ｖｘ＜Ｖ０であれば、推進力Ｆｍｘ
は Ｆｍｘ＝Ｆｐ×Ｇｐ Ｖｘ＞Ｖ０の時、 Ｆｍｘ＝Ｆｐ×Ｇｐ−（Ｖｘ−Ｖ０）×速度制限率 ω＜ω０の時、旋回力Ｆｍｙは Ｆｍｙ＝Ｍｈ×Ｇｓ×ｄω＞ω０の時、 Ｆｍｙ＝Ｍｈ×Ｇｓ×ｄ−（ω−ω０）×角速度制限率 となる。よって、モータＭｒへの出力ＦｒとモータＭｌ
への出力Ｆｌ及びモータＭθによる回転テーブル４０の
角度（ステアリング角度）αは Ｆｒ＝（Ｆｍｘ＋Ｆｍｙ）／２ Ｆｌ＝（Ｆｍｘ−Ｆｍｙ）／２ α＝θ となる。Assuming that the speed of the motor Mr is Vr, the speed of the motor Ml is Vl, the speed limit is V0, the speed limit is ω0, and the distance between the drive wheels 41 is d, the speed Vx in the propulsion direction and the angular speed ω of the turning are Vx = (Vr + Vl) /2.omega. = (Vr-Vl) / d. Assuming that the force amplification factor in the propulsion direction is Gp and the force amplification factor in the turning direction is Gs, if Vx <V0, the propulsion force Fmx
Is Fmx = Fp × Gp Vx> V0, Fmx = Fp × Gp− (Vx−V0) × speed limiting rate When ω <ω0, turning force Fmy is Fmy = Mh × Gs × dω> ω0, Fmy = Mh x Gs x d-(ω-ω0) x angular velocity limiting rate. Therefore, the output Fr to the motor Mr and the motor Ml
The output (Fl) and the angle (steering angle) α of the rotary table 40 by the motor Mθ are as follows: Fr = (Fmx + Fmy) / 2 Fl = (Fmx−Fmy) / 2α = θ
【００２２】このように速度制限を加えた状態でパワー
アシストを行うことから、危険と思われる速度にまで速
度があがってしまうことがなく、安全に運行することが
できるものである。ただし、上記速度制限は、移動の全
方向について同じ速度で制限をかけるのではなく、移動
方向によって異なる速度で制限をかけている。Since the power assist is performed in a state where the speed is limited as described above, the vehicle can be operated safely without increasing the speed to a speed considered to be dangerous. However, the above speed limitation is not limited at the same speed in all directions of movement, but at different speeds depending on the moving direction.
【００２３】すなわち、図１及び図１１に示すように、
外力検出器３で検出された外力の方向がほぼ前後方向
（−３°＜θ＜３°）である時には人間の歩く速さ程度
である４ｋｍ／ｈで制動をかけるが、外力の方向が他の
方向である時には、１ｋｍ／ｈで制動をかけるようにし
ている。なお、前後方向の移動の場合は速度制限値を無
限大としていても、つまりは速度制限無しとしていても
よい。That is, as shown in FIGS. 1 and 11,
When the direction of the external force detected by the external force detector 3 is substantially the front-rear direction (−3 ° <θ <3 °), the braking is applied at 4 km / h, which is about the speed of human walking. When it is in the direction, the braking is applied at 1 km / h. In the case of movement in the front-back direction, the speed limit value may be set to infinity, that is, the speed limit may not be set.
【００２４】斜め平行移動や横移動は台車として珍しい
移動であり、他の人にとって予測しがたい動きをしてい
ることになるために、前後方向以外の方向の動きの速度
制限値を低くすることで、安全性を高くすることができ
るものであり、しかも移動の主たる方向である前後方向
については速度制限値を高くしているために、素早い移
動が可能なものである。The diagonal parallel movement and the lateral movement are unusual movements as a bogie, and the movement is unpredictable for other people. Therefore, the speed limit value of the movement in directions other than the front-back direction is reduced. Thus, safety can be enhanced, and quick movement is possible because the speed limit is increased in the front-rear direction, which is the main direction of movement.
【００２５】図１２及び図１３に示すように、操作部２
に加えられた外力が引き方向（−３°＜θ＜３°であり
且つＦｘ＞０）である場合にのみ、４ｋｍ／ｈで制動を
かけ、外力の方向が他の方向である時には、１ｋｍ／ｈ
で制動をかけるようにしてもよい。台車の高さが高い
と、押して移動する時（後退時）は先が見えないことに
なるために、後退時についても速度制限値を低くしてい
るのである。As shown in FIG. 12 and FIG.
Is applied at a speed of 4 km / h only when the external force applied to is in the pulling direction (-3 ° <θ <3 ° and Fx> 0), and 1 km when the direction of the external force is another direction. / H
You may make it apply a brake. If the height of the bogie is high, the head cannot be seen when the vehicle is pushed and moved (during retreat). Therefore, the speed limit value is also lowered during retreat.
【００２６】操作部２に把持位置検知手段を設けて、把
持位置検知手段の出力で速度制限値を切り換えるように
してもよい。把持位置検知手段としては、図１４に示す
ように、横長のバーハンドルである操作部２の左右両端
部と中央部とに夫々スイッチＳＷ１，ＳＷ２，ＳＷ３を
配置し、図１５に示すような判断フローを用いること
で、操作部２を片手で把持している（この場合、操作部
２の中央部を握ることになる）か、操作部２を両手で把
持しているかを判断することができる。It is also possible to provide a gripping position detecting means in the operating section 2 and switch the speed limit value by the output of the gripping position detecting means. As the gripping position detecting means, as shown in FIG. 14, switches SW1, SW2, and SW3 are disposed at the left and right ends and the center of the operation unit 2 which is a horizontally long bar handle, respectively, and a determination as shown in FIG. By using the flow, it can be determined whether the operation unit 2 is gripped with one hand (in this case, the center of the operation unit 2 is gripped) or the operation unit 2 is gripped with both hands. .
【００２７】そして、片手で操作している場合で且つ前
後方向移動の場合は、図１６(b)に示すように、前進に
ついては４ｋｍ／ｈで、後退については１ｋｍ／ｈで制
動をかけ、他の方向については１ｋｍ／ｈで制動をかけ
るものとし、両手で操作している場合は、幅寄せや前後
と横と回転との複合動作を行わせる場合であることか
ら、たとえ実際に加えている力が引き方向のみであって
も、図１７に示すように基本的に１ｋｍ／ｈで制動をか
けるものとする。両手で操作部２を握った状態で引き操
作することは起動時以外はあまり考えられないことか
ら、上記のような制御を行うことで、より安全性を高め
ることができる。In the case of one-hand operation and forward / backward movement, as shown in FIG. 16 (b), braking is applied at 4 km / h for forward movement and 1 km / h for backward movement. In the other direction, braking is performed at 1 km / h. When the vehicle is operated with both hands, it is a case of performing a width-shift or a combined operation of front, rear, side, and rotation. Even if the applied force is only in the pulling direction, braking is basically performed at 1 km / h as shown in FIG. It is unlikely that pulling operation while holding the operation unit 2 with both hands is conceivable other than at the time of startup. Therefore, by performing the above-described control, safety can be further improved.
【００２８】また、平面内で全方向移動が可能となって
いる全方向移動台車は、４輪キャスター的感覚で操作し
やすいが、引き操作の場合、操作部２と反対側が左右に
振れやすい。このために、図１８に示すように、推進方
向動作時には左右方向動作についての速度制限値を最小
値（ここではゼロ）とするのも好ましい。いわゆる尻振
り現象を生じることがなくなる。An omnidirectional mobile trolley, which can move in all directions in a plane, is easy to operate as if it were a four-wheel caster. However, in the case of a pulling operation, the side opposite to the operation unit 2 easily swings right and left. For this reason, as shown in FIG. 18, it is preferable to set the speed limit value for the left-right direction operation to the minimum value (here, zero) during the propulsion direction operation. The so-called swinging phenomenon does not occur.
【００２９】ところで、モータＭｒ、Ｍｌで夫々駆動さ
れる駆動輪４１，４１で走行及び操舵を、回転手段であ
るモータＭθで両駆動輪４１，４１を旋回させてステア
リングを変更する上記全方向移動台車においては、所定
の進行方向動作時にはモータＭθの動作を禁止して固定
状態とするのも好ましい。これは、Ｆｈｘ，Ｆｈｙ，Ｍ
ｈのうち、左右方向に関係するＦｈｙ方向の力出力に制
限を加えることで実現することができる。すなわち、 Ｆｈｘ＝ｋ１×（ｄｒ＋ｄｌ） Ｆｈｙ＝ｋ２×ｄｃ Ｍｈ＝ｋ３×（ｄｒ−ｄｌ）＋ｋ４×ｄｃ のうち、Ｆｈｙについての式を Ｆｈｙ＝ｋ２’×ｋ２×ｄｃ としてｋ２’＝０程度とすることで、Ｆｈｙ≒０とする
ことができ、 Ｆｐ＝（Ｆｈｘ2＋Ｆｈｙ2）1/2≒Ｆｈｘ θ＝ｔａｎ-1（Ｆｈｙ／Ｆｈｘ）≒０ となる。これでα＝θ≒０となり、左右方向に振れなく
なる。引き動作時には純粋な２車輪駆動の駆動機構とな
るわけであり、操作の感覚が掴みやすくなる。The above-mentioned omnidirectional movement in which the driving wheels 41, 41 driven by the motors Mr, Ml respectively drive and steer, and the steering is changed by turning both the driving wheels 41, 41 by means of the rotating means Mθ. In the bogie, it is also preferable that the operation of the motor Mθ is prohibited during a predetermined traveling direction operation to be in a fixed state. This is Fhx, Fhy, M
h can be realized by limiting the force output in the Fhy direction related to the left-right direction. That is, among Fhx = k1 × (dr + dl) Fhy = k2 × dc Mh = k3 × (dr−dl) + k4 × dc, the equation for Fhy is set to about k2 ′ = 0 as Fhy = k2 ′ × k2 × dc. Accordingly, Fhy ≒ 0 can be obtained, and Fp = (Fhx 2 + Fhy 2 ) 1/2 ≒ Fhx θ = tan −1 (Fhy / Fhx) ≒ 0. As a result, α = θ ≒ 0, and there is no swing in the left-right direction. At the time of the pulling operation, the driving mechanism becomes a pure two-wheel drive mechanism, and the feeling of operation is easily grasped.
【００３０】なお、ここでは検出した外力に応じたトル
クを駆動部に発生させるものを示したが、外力に応じた
速度あるいは加速度を発生させるものであってもよく、
いずれの場合も上記の速度制限を同様にして適用するこ
とができる。Although the drive unit generates a torque corresponding to the detected external force here, the drive unit may generate a speed or an acceleration corresponding to the external force.
In either case, the above speed limits can be applied in a similar manner.
【００３１】また、ここでは前後方向移動が主たる移動
方向となる配膳車を例にとったために、前後方向（特に
引き方向）の速度制限値を他の方向の速度制限値よりも
高くしているものを示したが、速度制限値を高くする移
動方向（速度制限値を低くする移動方向）は上記の例に
限定されるものではなく、要はその台車にとって安全性
を確保しやすい方向の移動については速度制限値を高く
し（もしくは速度制限無しとし）、安全性を確保しにく
い方向の移動については速度制限値を低くすればよいも
のである。Also, in this example, the serving truck in which the movement in the front-back direction is the main movement direction is taken as an example, so that the speed limit value in the front-back direction (particularly the pulling direction) is set higher than the speed limit values in other directions. Although the moving direction in which the speed limit value is increased (the moving direction in which the speed limit value is lowered) is not limited to the above example, the movement in the direction in which the bogie easily secures safety is essential. For, the speed limit value may be increased (or no speed limit is set), and the speed limit value may be decreased for movement in a direction in which safety is not easily ensured.
【００３２】[0032]
【発明の効果】以上のように本発明においては、走行と
操舵と転向のための駆動手段と、操作力が加えられる操
作部と、操作部に加えられた操作力を検出する外力検出
手段と、外力検出手段で検出された外力に応じた駆動力
を上記駆動手段に発生させる制御手段とを備えた全方向
移動台車において、移動速度を検出する速度検出手段を
備えて、上記制御手段は移動方向によって異なる速度制
限を行っているために、速度が速くなりすぎることがな
くて、安全なものであり、しかも周囲の人にとって予測
しやすい方向の動きと予測しにくい方向の動きとで異な
る速度制限を行うことができるために、移動についての
主たる方向である前後方向については速度制限値を高く
することができ、全方向移動について速度制限によって
十分な安全性を確保しつつ、素早い移動も可能とするこ
とができる。As described above, according to the present invention, the driving means for running, steering and turning, the operating part to which the operating force is applied, and the external force detecting means for detecting the operating force applied to the operating part are provided. An omni-directional vehicle having control means for causing the driving means to generate a driving force corresponding to the external force detected by the external force detecting means, wherein the control means includes a speed detecting means for detecting a moving speed. Since different speed limits are applied depending on the direction, the speed does not become too fast, it is safe, and the speed in the direction that is easy to predict for the surrounding people and the speed in the direction that is difficult to predict Since the speed can be restricted, the speed limit can be increased in the front-rear direction, which is the main direction of movement, and sufficient safety can be ensured by speed limitation in all directions. While, it may be a possible quick move.
【００３３】これに伴って、左右方向の速度制限値を他
の方向の速度制限値よりも低くしておくのが素早い移動
を確保しつつ、予測しにくい動きについての安全性を高
めることができる点で好ましく、さらには引き方向につ
いての速度制限値を他の方向についての速度制限値より
も高くしておくと、素早い移動と安全性を確保しにくい
方向への移動についての安全性確保とを図ることができ
る。In accordance with this, it is possible to increase the safety of a movement that is difficult to predict while keeping the speed limit in the left-right direction lower than the speed limit in the other direction, while ensuring quick movement. If the speed limit value in the pulling direction is higher than the speed limit value in the other direction, it is possible to secure quick movement and secure safety in a direction in which safety is difficult to secure. Can be planned.
【００３４】また、操作部に把持位置検知手段を設け
て、該把持位置検知手段の出力で速度制限値を切り換え
るならば、操作者が操作する体勢に応じてより適切な安
全性確保を行うことができる。If a grip position detecting means is provided in the operating section and the speed limit value is switched by the output of the grip position detecting means, more appropriate safety can be ensured in accordance with the posture operated by the operator. Can be.
【００３５】推進方向動作時に左右方向動作についての
速度制限値を最小値とするのも、不要な左右振れを防ぐ
ことができて好ましいものとなる。この時、左右一対の
互いに独立駆動される駆動車輪を走行用及び操舵用とし
ているとともに、一対の駆動車輪が取り付けられている
ベースを鉛直軸回りに回転させる転向用の回転手段を備
えた全方向移動台車である場合には、所定の進行方向動
作時に回転手段の動作を禁止することによって、左右振
れを簡単に防ぐことができる。It is also preferable to set the speed limit value for the left-right direction operation to the minimum value during the propulsion direction operation because unnecessary left-right swing can be prevented. At this time, a pair of left and right independently driven driving wheels are used for traveling and steering, and all directions including turning means for turning the base on which the pair of driving wheels are mounted about a vertical axis are provided. In the case of a mobile trolley, right and left sway can be easily prevented by prohibiting the operation of the rotating means during the predetermined traveling direction operation.
【００３６】操作部に加えられた操作力を検出する検出
手段は、操作部に加えられた推進方向の力と、操舵方向
の力と、水平面内のモーメントとを検出する外力検出器
を用いることで、必要とする方向の力検出を簡単に行う
ことができる。The detecting means for detecting the operation force applied to the operation unit uses an external force detector for detecting the force in the propulsion direction, the force in the steering direction, and the moment in the horizontal plane applied to the operation unit. Thus, force detection in a required direction can be easily performed.
【００３７】そして、この全方向移動台車は、重くて背
の高い配膳車に適用した場合、実用的価値がきわめて高
いものとなる。When the omnidirectional mobile trolley is applied to a heavy and tall serving truck, its practical value is extremely high.
【図１】本発明の実施の形態の一例の動作を示すフロー
チャートである。FIG. 1 is a flowchart showing an operation of an example of an embodiment of the present invention.
【図２】(a)は同上の斜視図、(b)はブロック図である。2 (a) is a perspective view of the same, and FIG. 2 (b) is a block diagram.
【図３】同上の透視図である。FIG. 3 is a perspective view of the same.
【図４】同上の操作部及び外力検出手段の平面図であ
る。FIG. 4 is a plan view of an operation unit and an external force detection unit according to the first embodiment;
【図５】(a)(b)(c)は外力検出手段の動作説明図であ
る。FIGS. 5A, 5B, and 5C are explanatory diagrams of the operation of the external force detecting means.
【図６】同上の基本制御フローを示すフローチャートで
ある。FIG. 6 is a flowchart showing a basic control flow of the above.
【図７】同上の駆動部を示すもので、(a)は正面図、(b)
は底面図である。7A and 7B show a driving unit of the above, wherein FIG. 7A is a front view and FIG.
Is a bottom view.
【図８】(a)(b)は動作を示す平面図である。FIGS. 8A and 8B are plan views showing the operation.
【図９】(a)(b)はパワーアシストについての説明図であ
る。FIGS. 9A and 9B are explanatory diagrams of power assist.
【図１０】同上の速度制限についての説明図である。FIG. 10 is an explanatory diagram of the above speed limit.
【図１１】(a)は同上の前後方向移動の場合の説明図、
(b)は同上の斜めや横移動の場合の説明図である。FIG. 11 (a) is an explanatory diagram of the case of the same fore-and-aft movement,
(b) is an explanatory view in the case of the same diagonal or lateral movement.
【図１２】さらに他例のフローチャートである。FIG. 12 is a flowchart of still another example.
【図１３】(a)は同上の前後方向移動の場合の説明図、
(b)は同上の斜めや横移動の場合の説明図である。FIG. 13 (a) is an explanatory diagram of the case of the same fore-aft movement,
(b) is an explanatory view in the case of the same diagonal or lateral movement.
【図１４】操作部の他例の平面図である。FIG. 14 is a plan view of another example of the operation unit.
【図１５】同上の動作説明図である。FIG. 15 is an explanatory diagram of the operation of the above.
【図１６】(a)は片手操作の状態を示す部分平面図、(b)
は片手操作で引き方向移動の場合の説明図、(c)は片手
操作で斜めや横移動の場合の説明図である。FIG. 16A is a partial plan view showing a state of one-handed operation, and FIG.
FIG. 4 is an explanatory diagram in the case of a one-handed operation and a movement in the pulling direction, and FIG.
【図１７】(a)は両手操作の状態を示す部分平面図、(b)
は両手操作で引き方向移動の場合の説明図、(c)は両手
操作で斜めや横移動の場合の説明図である。17A is a partial plan view showing a state of a two-hand operation, and FIG.
FIG. 4 is an explanatory diagram in the case of a two-hand operation in a pulling direction movement, and FIG. 7C is an explanatory diagram of a two-hand operation in a diagonal or lateral movement.
【図１８】さらに他例を示すもので、(a)は引き方向移
動の場合の説明図、(b)は横移動の力成分が入った場合
の説明図である。FIGS. 18A and 18B show still another example, in which FIG. 18A is an explanatory diagram in the case of a pulling-direction movement, and FIG.
１ 車体 ２ 操作部 ３ 外力検出手段 DESCRIPTION OF SYMBOLS 1 Body 2 Operation part 3 External force detection means
フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｂ６２Ｄ 119:00 Ｂ６２Ｂ 3/00 Ｇ (72)発明者 山下 秀樹 大阪府門真市大字門真1048番地松下電工株 式会社内 (72)発明者 前田 裕史 大阪府門真市大字門真1048番地松下電工株 式会社内 Ｆターム(参考） 3D032 CC16 CC22 DA15 DA23 DA62 DA63 EA02 3D033 CA13 CA16 CA28 CA31 3D034 CB03 CB09 CC09 CC17 CD15 CE03 CE13 3D050 AA01 BB05 DD03 KK03 KK13Continuation of the front page (51) Int.Cl. 7 Identification symbol FI Theme coat II (reference) B62D 119: 00 B62B 3/00 G (72) Inventor Hideki Yamashita 1048 Ojimonzuma, Kadoma-shi, Osaka Matsushita Electric Works Co., Ltd. (72) Inventor Hiroshi Maeda 1048 Kazuma Kadoma, Kadoma City, Osaka Prefecture F-term in Matsushita Electric Works Co., Ltd. (reference) DD03 KK03 KK13
Claims (8)
操作力が加えられる操作部と、操作部に加えられた操作
力を検出する外力検出手段と、外力検出手段で検出され
た外力に応じた駆動力を上記駆動手段に発生させる制御
手段とを備えた全方向移動台車であって、移動速度を検
出する速度検出手段を備えて、上記制御手段は移動方向
によって異なる速度制限を行っていることを特徴とする
全方向移動台車。Driving means for running, steering and turning;
An operating unit to which an operating force is applied, an external force detecting unit that detects an operating force applied to the operating unit, and a control unit that causes the driving unit to generate a driving force corresponding to the external force detected by the external force detecting unit. An omni-directional mobile trolley, comprising: speed detecting means for detecting a moving speed, wherein the control means performs different speed restrictions depending on the moving direction.
制限値よりも低くしていることを特徴とする請求項１記
載の全方向移動台車。2. The omnidirectional mobile trolley according to claim 1, wherein a speed limit value in the left-right direction is lower than a speed limit value in the other direction.
向についての速度制限値よりも高くしていることを特徴
とする請求項１または２記載の全方向移動台車。3. The omnidirectional mobile trolley according to claim 1, wherein a speed limit value in the pulling direction is higher than a speed limit value in the other direction.
把持位置検知手段の出力で速度制限値を切り換えること
を特徴とする請求項１〜３のいずれかの項に記載の全方
向移動台車。4. The omnidirectional movement according to claim 1, wherein a grip position detecting means is provided in the operation unit, and the speed limit value is switched by an output of the grip position detecting means. Trolley.
の速度制限値を最小値とすることを特徴とする請求項１
〜３のいずれかの項に記載の全方向移動台車。5. The system according to claim 1, wherein a speed limit value in the left-right direction operation during the propulsion direction operation is set to a minimum value.
An omnidirectional mobile trolley according to any one of the above-mentioned items.
輪を走行用及び操舵用としているとともに、一対の駆動
車輪が取り付けられているベースを鉛直軸回りに回転さ
せる転向用回転手段を備えた全方向移動台車であって、
所定の進行方向動作時には回転手段の動作を禁止してい
ることを特徴とする請求項５記載の全方向移動台車。6. A turning device for turning a pair of left and right independently driven wheels for traveling and steering and for turning a base on which the pair of driven wheels are mounted about a vertical axis. A directional carriage,
6. The omnidirectional mobile trolley according to claim 5, wherein the operation of the rotating means is prohibited during a predetermined traveling direction operation.
出手段は、操作部に加えられた推進方向の力と、操舵方
向の力と、水平面内のモーメントとを検出する外力検出
器であることを特徴とする請求項１〜６のいずれかの項
に記載の全方向移動台車。7. A detection means for detecting an operation force applied to the operation unit is an external force detector for detecting a force in the propulsion direction, a force in the steering direction, and a moment in a horizontal plane applied to the operation unit. The omni-directional mobile trolley according to any one of claims 1 to 6, wherein:
徴とする請求項１〜７のいずれかの項に記載の全方向移
動台車。8. The omnidirectional mobile trolley according to claim 1, wherein the trolley is a serving car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30753399A JP3501044B2 (en) | 1999-10-28 | 1999-10-28 | Omni-directional mobile trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30753399A JP3501044B2 (en) | 1999-10-28 | 1999-10-28 | Omni-directional mobile trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001122124A true JP2001122124A (en) | 2001-05-08 |
| JP3501044B2 JP3501044B2 (en) | 2004-02-23 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP30753399A Expired - Lifetime JP3501044B2 (en) | 1999-10-28 | 1999-10-28 | Omni-directional mobile trolley |
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| JP (1) | JP3501044B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004114800A (en) * | 2002-09-25 | 2004-04-15 | Matsushita Electric Works Ltd | Power-assisted power truck |
| JP2005271835A (en) * | 2004-03-26 | 2005-10-06 | Sanyo Electric Co Ltd | Lorry |
| JP2007334435A (en) * | 2006-06-12 | 2007-12-27 | Matsushita Electric Works Ltd | Autonomous traveling vehicle |
| JP2010216867A (en) * | 2009-03-13 | 2010-09-30 | Railway Technical Res Inst | Component forces measuring apparatus |
| JP2012066783A (en) * | 2010-09-27 | 2012-04-05 | Mitsuba Corp | Control device and moving body |
| JP2013193597A (en) * | 2012-03-21 | 2013-09-30 | Toyota Industries Corp | Driving and steering device for vehicle |
| JP2018034633A (en) * | 2016-08-31 | 2018-03-08 | 国立大学法人東京工業大学 | Detachable motor-driven carriage |
| KR20200132349A (en) * | 2019-05-17 | 2020-11-25 | (주) 티로보틱스 | Steering apparatus for automated guided vehicle and autonomous mobile robot |
-
1999
- 1999-10-28 JP JP30753399A patent/JP3501044B2/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004114800A (en) * | 2002-09-25 | 2004-04-15 | Matsushita Electric Works Ltd | Power-assisted power truck |
| JP2005271835A (en) * | 2004-03-26 | 2005-10-06 | Sanyo Electric Co Ltd | Lorry |
| JP2007334435A (en) * | 2006-06-12 | 2007-12-27 | Matsushita Electric Works Ltd | Autonomous traveling vehicle |
| JP2010216867A (en) * | 2009-03-13 | 2010-09-30 | Railway Technical Res Inst | Component forces measuring apparatus |
| JP2012066783A (en) * | 2010-09-27 | 2012-04-05 | Mitsuba Corp | Control device and moving body |
| JP2013193597A (en) * | 2012-03-21 | 2013-09-30 | Toyota Industries Corp | Driving and steering device for vehicle |
| JP2018034633A (en) * | 2016-08-31 | 2018-03-08 | 国立大学法人東京工業大学 | Detachable motor-driven carriage |
| KR20200132349A (en) * | 2019-05-17 | 2020-11-25 | (주) 티로보틱스 | Steering apparatus for automated guided vehicle and autonomous mobile robot |
| KR102196767B1 (en) | 2019-05-17 | 2020-12-30 | (주) 티로보틱스 | Steering apparatus for automated guided vehicle and autonomous mobile robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3501044B2 (en) | 2004-02-23 |
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