JPH08194537A - Unmanned mobile trolley - Google Patents
Unmanned mobile trolleyInfo
- Publication number
- JPH08194537A JPH08194537A JP7021252A JP2125295A JPH08194537A JP H08194537 A JPH08194537 A JP H08194537A JP 7021252 A JP7021252 A JP 7021252A JP 2125295 A JP2125295 A JP 2125295A JP H08194537 A JPH08194537 A JP H08194537A
- Authority
- JP
- Japan
- Prior art keywords
- handrail
- pedestrian
- contact sensor
- unmanned mobile
- mobile trolley
- 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
Links
Landscapes
- Handcart (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
(57)【要約】
【目的】従来のボタン型の停止スイッチ（３）は、とっ
さの場合には押しにくく、移動台車が移動中なので停止
スイッチを押すタイミングが遅れるという問題を解決す
る。
【構成】歩行者が存在する環境で使用される無人移動台
車において、歩行者のための手すりを兼ねる手すり型の
接触センサー（２）を備え、自動運転中に歩行者が前記
接触センサに触れると一時停止するようにする。
(57) [Abstract] [Purpose] The conventional button-type stop switch (3) is difficult to push in the case of an emergency, and solves the problem that the timing of pressing the stop switch is delayed because the moving carriage is moving. [Structure] In an unmanned mobile trolley used in an environment where pedestrians are present, a handrail-type contact sensor (2) also serving as a handrail for the pedestrian is provided, and when the pedestrian touches the contact sensor during automatic driving. Try to pause.
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えば病院や老人ホー
ムの廊下など多くの人間が介在する環境で使用する無人
移動台車（自立走行車、自律走行車ともいう) におい
て、安全に停止でき、また歩行の補助となるものに関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention can be safely stopped in an unmanned mobile vehicle (also called an autonomous vehicle or autonomous vehicle) used in an environment in which many people intervene, such as in a corridor of a hospital or a nursing home. It also relates to things that aid walking.
【０００２】[0002]
【従来の技術】このような移動台車として図４に示すも
のがある。１は移動台車本体、４は手動操作ハンドル、
５は手動操作前後進スイッチ、６は環境認識用センサ、
７はバンパ、８は荷台である。この装置は、移動台車本
体１に内蔵されたコンピュータによって、環境認識用セ
ンサ６で周囲の環境を認識しつつ駆動される車輪（図で
は移動台車本体１の下にあるので見えない）により自律
的に走行するものである。そして、自動（無人）運転時
の非常停止や一時停止をするためのボタン型の停止スイ
ッチ３を設けている。なお、手動操作もできるようにす
るため、手動操作ハンドル４、手動操作前後進スイッチ
５を備えている。一方、無人搬送車のバンパ自体が接触
センサとなり衝突を検出して停止させるものは公知であ
る（例えば、特開昭６２−２９３３２２号公報参照）。2. Description of the Related Art FIG. 4 shows such a moving carriage. 1 is a moving carriage main body, 4 is a manual operation handle,
5 is a manually operated forward / backward switch, 6 is a sensor for environment recognition,
Reference numeral 7 is a bumper, and 8 is a luggage carrier. This device is autonomously driven by wheels (not visible because it is below the moving carriage body 1 in the figure) driven by a computer built in the moving carriage body 1 while recognizing the surrounding environment by the environment recognition sensor 6. It is intended to drive to. A button-type stop switch 3 is provided for emergency stop or temporary stop during automatic (unmanned) operation. A manual operation handle 4 and a manual operation forward / backward switch 5 are provided to enable manual operation. On the other hand, it is known that the bumper of the automatic guided vehicle itself serves as a contact sensor to detect a collision and stop the collision (see, for example, JP-A-62-293322).
【０００３】[0003]
【発明が解決しようとする課題】ところが、ボタン型の
停止スイッチはとっさの場合には押しにくく、特に移動
台車が移動中の時は停止スイッチを押すタイミングが遅
れる可能性があった。また、移動台車が廊下の壁近くに
停止しているときなどは、移動台車が邪魔になり、歩行
者が手すりを利用できなかった。また、歩行者の足元に
パンパで接触させることは危険である。そこで、本発明
は停止スイッチを押す操作が簡単で、また手すりを必要
とする歩行者の歩行の障害にならないような移動台車を
提供することを目的とする。However, the button-type stop switch is difficult to push in the case of quick movement, and there is a possibility that the timing of pushing the stop switch may be delayed especially when the moving carriage is moving. In addition, when the mobile trolley was stopped near the wall of the corridor, the mobile trolley was an obstacle and pedestrians could not use the handrail. In addition, it is dangerous to contact the foot of a pedestrian with a pamper. Therefore, it is an object of the present invention to provide a moving carriage that is easy to press a stop switch and does not hinder the walking of a pedestrian who needs a handrail.
【０００４】[0004]
【課題を解決するための手段】上記の課題を解決するた
めに、本発明は、歩行者が存在する環境で使用される無
人移動台車において、歩行者のための手すりを兼ねる手
すり型の接触センサーを備え、自動運転中に歩行者が前
記接触センサに触れると一時停止するようにしたもので
ある。In order to solve the above problems, the present invention relates to a handrail type contact sensor which also serves as a handrail for a pedestrian in an unmanned mobile vehicle used in an environment where a pedestrian exists. When the pedestrian touches the contact sensor during automatic driving, the vehicle is temporarily stopped.
【０００５】[0005]
【作用】上記手段によって、自動運転中に手すり型接触
センサに触れることで、容易に移動台車を一時停止させ
ることができる。図３のように台車が廊下の壁近くにあ
って、廊下の手すりが利用できないときでも、歩行者は
移動台車の手すりを利用することができる。With the above means, the hand truck can be easily stopped by touching the handrail type contact sensor during automatic driving. Even when the carriage is near the wall of the corridor as shown in FIG. 3 and the handrail in the corridor cannot be used, a pedestrian can use the handrail of the moving carriage.
【０００６】[0006]
【実施例】以下本発明の実施例を図に基づいて説明す
る。図１は本発明の実施例を示す図である。本発明の移
動台車は移動台車本体１に接触センサによって構成され
た手すり２を備えている。他は図４に示した従来例と同
じである。図５に内部ブロック図を示す。通常は環境認
識用センサ５１の検出信号から環境認識部５２で環境を
認識しつつ、走行制御部５５は予め指示された経路を走
行するよう、図示しない車輪、操舵装置等を駆動制御す
る。しかし歩行者が手すり２を握ったりすると、手すり
型接触センサ５３からの信号は接触判断部５４に伝えら
れ、接触と判断されれば、走行制御部５５に停止を指令
する。手すり型接触センサ５３からの信号が途絶えれ
ば、接触判断部５４は走行制御部５５に再開を指令す
る。ただし、一定時間後に再開するようにした方が安全
上適している。このようにすると、歩行者が自動運転中
に手すり２に触れると、前記移動台車１が一時停止し、
手を離しても一定時間停止する。したがって、歩行者が
前記移動台車１とすれ違うときなどに、バランスを崩し
て手すり２によりかかると、前記移動台車１は停止し、
歩行者は歩行の補助として手すり２を利用することがで
きる。歩行者が手すり２から手を離すと、一定時間後に
前記移動台車１は再び目的地に向けて移動を開始する。
また、図３のように移動台車１が廊下９の壁近くにあっ
て廊下の手すり１１を利用できない場合、手すり１１の
代わりに移動台車１の手すり２を利用することによって
バランスを崩さずに歩行が可能である。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an embodiment of the present invention. The mobile trolley of the present invention is provided with a handrail 2 composed of a contact sensor on a mobile trolley body 1. Others are the same as the conventional example shown in FIG. FIG. 5 shows an internal block diagram. Normally, while the environment recognition unit 52 recognizes the environment from the detection signal of the environment recognition sensor 51, the traveling control unit 55 drives and controls wheels, steering devices, and the like (not shown) so that the vehicle travels on a route designated in advance. However, when a pedestrian grips the handrail 2, a signal from the handrail-type contact sensor 53 is transmitted to the contact determination unit 54, and if the contact is determined, the travel control unit 55 is instructed to stop. When the signal from the handrail-type contact sensor 53 is interrupted, the contact determination unit 54 commands the travel control unit 55 to restart. However, it is safer to restart after a certain period of time. In this way, when a pedestrian touches the handrail 2 during automatic driving, the moving carriage 1 is temporarily stopped,
Even if you release your hand, it will stop for a certain period of time. Therefore, when a pedestrian passes the moving carriage 1 and the balance is lost and the handrail 2 strikes, the moving carriage 1 stops,
Pedestrians can use the handrail 2 as an aid for walking. When the pedestrian releases his hand from the handrail 2, the mobile carriage 1 starts moving toward the destination again after a certain time.
Further, as shown in FIG. 3, when the moving carriage 1 is near the wall of the corridor 9 and the handrail 11 in the corridor cannot be used, the handrail 2 of the moving carriage 1 is used instead of the handrail 11 to walk without losing the balance. Is possible.
【０００７】図２は本発明の第２の実施例を示す概略図
である。様々な身長の歩行者が存在することを考慮し、
手すり２を２段設け、図１の手動操作様ハンドル５にも
自動運転中には手すり２と同様に停止スイッチとしての
機能を持たせ、かつ手すり２と一体構造にした例であ
る。FIG. 2 is a schematic diagram showing a second embodiment of the present invention. Considering the existence of pedestrians of various heights,
This is an example in which the handrail 2 is provided in two stages and the manual operation-like handle 5 in FIG. 1 also has a function as a stop switch during the automatic operation similarly to the handrail 2 and is integrated with the handrail 2.
【０００８】[0008]
【発明の効果】以上述べたように、本発明によれば、無
人走行中に手すり型接触センサに触れることで、ボタン
型のスイッチより容易に移動台車を一時停止させること
ができる。また、移動台車とすれ違う時にバランスを崩
しても、移動台車の手すりによりかかれば移動台車は停
止するので、台車に引きずられることなく体を支えるこ
とができる。さらに、台車が廊下の壁近くにあって、廊
下の手すりが利用できないときでも、歩行者は移動台車
の手すりを利用して体を支えることができる。As described above, according to the present invention, by touching the handrail type contact sensor during unmanned traveling, the moving carriage can be stopped more easily than the button type switch. Further, even if the balance is lost when passing by the moving dolly, the moving dolly stops due to the handrail of the moving dolly, so that the body can be supported without being dragged by the dolly. Furthermore, even when the dolly is near the wall of the corridor and the handrails in the corridor are not available, pedestrians can support their bodies using the handrails of the mobile dolly.
【図１】本発明の実施例を示す図FIG. 1 is a diagram showing an embodiment of the present invention.
【図２】本発明の他の実施例を示す図FIG. 2 is a diagram showing another embodiment of the present invention.
【図３】移動台車が壁近くにある状況を説明する図FIG. 3 is a diagram for explaining a situation in which a moving carriage is near a wall.
【図４】従来の移動台車を示す図FIG. 4 is a diagram showing a conventional moving carriage.
【図５】本発明の内部ブロック図FIG. 5 is an internal block diagram of the present invention.
１…移動台車本体 ２，５３…手すり型接触センサ ３…停止スイッチ ４…手動操作ハンドル ５…手動操作前後進スイッチ ６，５１…環境認識用センサ ７…バンパ ８…荷台 ９…廊下 １０…廊下の壁 １１…歩行者用手すり １２…歩行者 ５２…環境認識部 ５４…接触判断部 ５５…走行制御部 1 ... Mobile trolley body 2, 53 ... Handrail type contact sensor 3 ... Stop switch 4 ... Manual operation handle 5 ... Manual operation forward / backward switch 6,51 ... Environment recognition sensor 7 ... Bumper 8 ... Luggage 9 ... Corridor 10 ... Corridor Wall 11 ... Handrail for pedestrian 12 ... Pedestrian 52 ... Environment recognition unit 54 ... Contact determination unit 55 ... Travel control unit
Claims (3)
動台車において、 歩行者のための手すりを兼ねる手すり型の接触センサー
を備え、自動運転中に歩行者が前記接触センサに触れる
と一時停止するようにした無人移動台車。1. An unmanned mobile trolley used in an environment where pedestrians are present, is provided with a handrail-type contact sensor that doubles as a handrail for pedestrians, and temporarily touches the pedestrians during automatic driving. An unmanned mobile trolley that was set to stop.
と、無人運行を再開するようにした請求項１記載の無人
移動台車。2. The unmanned mobile vehicle according to claim 1, wherein when the pedestrian releases the hand touching the contact sensor, the unmanned operation is resumed.
開するようにした請求項２記載の無人移動台車。3. The unmanned mobile vehicle according to claim 2, wherein the unmanned operation is restarted after a preset time has elapsed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7021252A JPH08194537A (en) | 1995-01-13 | 1995-01-13 | Unmanned mobile trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7021252A JPH08194537A (en) | 1995-01-13 | 1995-01-13 | Unmanned mobile trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08194537A true JPH08194537A (en) | 1996-07-30 |
Family
ID=12049896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7021252A Pending JPH08194537A (en) | 1995-01-13 | 1995-01-13 | Unmanned mobile trolley |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08194537A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634321A (en) * | 2020-04-24 | 2020-09-08 | 好孩子儿童用品有限公司 | A cart with active follow function |
| JP2023013129A (en) * | 2021-07-15 | 2023-01-26 | 株式会社マキタ | truck |
-
1995
- 1995-01-13 JP JP7021252A patent/JPH08194537A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634321A (en) * | 2020-04-24 | 2020-09-08 | 好孩子儿童用品有限公司 | A cart with active follow function |
| JP2023013129A (en) * | 2021-07-15 | 2023-01-26 | 株式会社マキタ | truck |
| US12330510B2 (en) | 2021-07-15 | 2025-06-17 | Makita Corporation | Cart |
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