JPH1016604A - Tracking type mobile device - Google Patents

Abstract

(57) [Summary] [Problem] To provide a mobile device that can follow an operator's intention. SOLUTION: An expansion / contraction amount detecting means (11, 13, 101) for detecting an expansion / contraction amount of a transmission member (3), a driving means (4) for driving a moving device main body (1), and an expansion / contraction amount detecting means (11). , 13, 101), a traveling speed setting means (102) for setting a traveling speed of the moving device in accordance with the amount of expansion and contraction of the transmission member (3), and an expansion and contraction amount detecting means (1).
Maximum speed setting means (103) for setting the maximum speed value of the moving device in accordance with the amount of expansion and contraction of the transmission member (3) detected by (1, 13, 101), and traveling speed determination means (102).
The calculated speed value output from the controller and the maximum speed determining means (10
3) A tracking type moving device having speed control means (104, 105, 16) for comparing the maximum speed value output from the control device and controlling the driving means so that the smaller one is set as the moving speed value of the moving device. is there.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a moving device that moves following an operator.

[0002]

2. Description of the Related Art Conventionally, as such a moving apparatus, there is one disclosed in Japanese Patent Application Laid-Open No. 7-52687. In this conventional moving device, the moving device moves following the movement of an operator transmitted through a transmitting member. When the transmitting member is operated back and forth, the speed of the moving device is adjusted according to the amount of expansion and contraction. Are configured to change.

[0003]

In the above-mentioned prior art, although it is possible to sufficiently follow the slow movement of a human, for example, when the operator suddenly stops the moving device to avoid danger, It could not always follow the operator's intention. The present invention has been made in view of the above-described conventional problems, and has as its object to obtain a moving device that can follow an operator as intended.

[0004]

According to the first aspect of the present invention, there is provided a transmission member (3) for transmitting the movement of a moving body (2) to an apparatus body by expanding and contracting, and an amount of expansion and contraction of the transmission member (3). Expansion / contraction amount detecting means (11, 13, 101) for detecting
In a following-type mobile device having a driving unit (4) for driving the device main body (1), an expansion / contraction amount detecting unit (11, 1).
Traveling speed setting means (102) for setting the traveling speed of the moving device in accordance with the amount of expansion and contraction of the transmission member (3) detected by the transmission member (3, 101);
Maximum speed setting means (1) for setting the maximum speed value of the moving device according to the amount of expansion and contraction of the transmission member (3) detected by (1).
03), the calculated speed value output from the traveling speed determining means (102), and the maximum speed value output from the maximum speed determining means (103), and the smaller one is set as the moving speed value of the moving device. Speed control means (104, 105, 16) for controlling the driving means as described above.

In the moving device according to the present invention, when the amount of expansion and contraction of the transmitting member is in a small range, the speed change of the moving device is kept small, and when the amount of expansion and contraction of the transmitting member increases, the moving device can be rapidly decelerated. The invention according to claim 2 is
The traveling speed setting means sets the moving speed of the moving device so that the moving acceleration of the moving device is proportional to the amount of expansion and contraction of the transmission member.

According to a third aspect of the present invention, in the moving device, when the transmitting member expands, the moving device moves forward by receiving a positive acceleration, and when the transmitting member contracts, the vehicle moves backward by receiving a negative acceleration. Is characterized in that when the moving device is moving forward, the maximum speed value is set so that the maximum speed value decreases as the amount of contraction of the transmission member from the expansion / contraction neutral position increases.

According to a fourth aspect of the present invention, the maximum speed setting means divides the amount of contraction of the transmission member from the neutral position of expansion and contraction into a plurality of regions, and sets different maximum values corresponding to the respective divided regions. The speed is stored in advance. According to a fifth aspect of the present invention, in the moving device, when the transmission member is extended, the acceleration is given and the vehicle advances, and when the transmission member is contracted, the acceleration is given and the vehicle moves backward. When the device is moving backward, the maximum speed value is set so that the maximum speed value decreases as the amount of extension of the transmission member from the expansion / contraction neutral position increases.

According to a sixth aspect of the present invention, the maximum speed setting means divides the amount of elongation of the transmission member from the neutral position of expansion and contraction into a plurality of regions, and sets a maximum value having a different value corresponding to each of the divided regions. The speed is stored in advance.

[0009]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 shows a schematic configuration of a mobile device according to an embodiment of the present invention, and FIG. 2 shows a state where an operator is operating the mobile device. As shown in FIG. 2, the moving device 1 transmits the movement of the operator 2 to the transmission member 3.
, And the drive means 4 is driven based on the detection result to move following the operator 2. This mobile device 1 is used, for example, in a railway station yard, at an airport,
It can be used as a self-propelled article carrier used in harbors, factories, construction sites, amusement parks, golf courses, and the like.

As shown in FIGS. 1 and 3, the moving device 1 comprises a moving device main body 1a (see FIG. 2), a driving means 4,
A detection unit 5 that detects the movement of the operator 2 via the transmission member 3 and a control unit 6 that controls the driving unit 4 based on the detection result of the detection unit 5 are provided. The drive unit 4 includes a traveling mechanism 7, a steering mechanism 8, a motor controller 9, and a servo driver 10.

The detecting means 5 includes a front-rear potentiometer 11 for detecting a change in the distance between the operator 2 and a moving device main body (hereinafter, simply referred to as a "main body") 1a, and a left-right rotation angle of the transmission member 3. Has a left-right potentiometer 12 for detecting Potentiometers 11 and 12
Outputs a voltage signal having a voltage value corresponding to the detected value.

The control means 6 includes an A / D converter 13, a CPU
(Central processing unit) 14, digital output unit 15, and D
/ A converter 16. Potentiometers 11 and 12
Are output from the A / D converter 13
Is converted to a digital value, and then sent to the CPU 14.
The CPU 14 calculates the speed and the rotation angle of the steered wheels. The calculated speed value is transmitted to the motor controller 9 via the D / A converter 16, and the calculated rotation angle value of the steered wheels is transmitted via the digital output device 15. Then, they are output to the servo driver 10 as control signals.

As shown in FIG. 3, the traveling mechanism 7 includes a total of three wheels, one front wheel 21 and two rear wheels 22, which also serve as a steering wheel and a driving wheel, and a traveling motor 2 for driving the steering wheel 21.
And 3. The steered wheels 21 are rotatably supported by the main body 1a via the rotation support mechanism 24 of the steering mechanism 8, and are rotatably supported by a wheel support member 25 integrated with the rotation support mechanism 24. The traveling motor 23 is controlled by the motor controller 9 controlled by the speed value control signal.
, And its rotation is transmitted to the steered wheels 21 via a speed reducer (not shown). On the other hand, the two rear wheels 22 are rotatably supported by two wheel support members 26 fixed to the main body 1a.

The steering mechanism 8 includes the rotation support mechanism 24,
It has a steering motor 27 and a speed reducer (not shown) that transmits the rotation of the steering motor 27 to the rotation support mechanism 24. The steering motor 27 is driven by the servo driver 10 controlled by a control signal of the rotation angle value of the steered wheel,
The rotation is transmitted to the rotation support mechanism 24 via a speed reducer (not shown). Thus, the steering wheel 21 is rotated by the steering motor 27 by an angle corresponding to the rotation angle of the transmission member 3.

The structure of the detecting means 5 will be described with reference to FIGS. As shown in FIG. 4, the detecting means 5 is the operator 2
(See FIG. 2) and the change in the distance between the main body 1a and the outer cylinder 3
The expansion / contraction amount detection mechanism 30 that detects the amount of movement of the inner cylinder 301 from the neutral position with respect to 02 (hereinafter, this amount of movement is referred to as the amount of expansion / contraction of the transmission member 3), and the rotation amount of the transmission member 3
A rotation angle detection mechanism 40 that detects the rotation angle of the outer cylinder 301 with respect to the main body 1a.

The extension / contraction detecting mechanism 30 will be described with reference to FIG. A cylindrical block 303 is attached to one end of the outer cylinder 302. The inner circumference of the block 303 is the inner cylinder 30
1 is freely slidable in the front-rear direction. A block 304 and a block 305 are fixed to the outer periphery of the inner cylinder 301. A cylindrical spring retainer 306 and a spring retainer 307 are provided between the blocks 304 and 305, and a compression coil spring 308 is sandwiched between the spring retainers 306 and the spring retainers 307. The spring retainer 306 and the spring retainer 307 are not fixed to the inner cylinder 301 or the outer cylinder 302.

FIG. 5 shows a cross section including the block 304, which is cut at a right angle to the central axis of the inner cylinder 301 and the outer cylinder 302. Two blocks 304 are fixed to the outer periphery of the inner cylinder 301 in the left-right direction in FIG. Further, two blocks 309 are fixed to the inner periphery of the outer cylinder 302 in the vertical direction in FIG. There is a gap between the outer circumference of the block 304 and the inner circumference of the outer cylinder 302, and there is also a gap between the inner circumference of the block 309 and the outer circumference of the inner cylinder 301.

FIG. 6 shows a cross section including the block 305, which is cut at a right angle to the central axis of the inner cylinder 301 and the outer cylinder 302. 6, two blocks 305 are fixed to the outer periphery of the inner cylinder 301. Also, two blocks 310 are fixed to the inner periphery of the outer cylinder 302 in the vertical direction in FIG. The block 305 is integrated with a connecting member 313 connected to a timing belt 312 outside the outer cylinder 302 through a slit 311 provided in the outer cylinder 302. There is a gap between the outer circumference of the block 305 and the inner circumference of the outer cylinder 302, and there is also a gap between the inner circumference of the block 310 and the outer circumference of the inner cylinder 301.

The compression coil spring 308 is compressed to some extent in the neutral position shown in FIG. 4, while the spring retainer 306 is moved to the blocks 304 and 30.
On the other hand, the spring retainer 307 is pressed against the blocks 305 and 310 on the other hand. With such a configuration, the expansion / contraction detecting mechanism 30 is configured to hold the inner cylinder 301 at the neutral position shown in FIG. 4 when the operator 2 does not apply a pushing or pulling force to the inner cylinder 301. ing.

In FIG. 4, the operator 2 moves the inner cylinder 301 in FIG.
FIG. 7 shows a state of being pulled from the neutral position shown in FIG. In FIG.
The inner cylinder 301, the block 304, the block 305, and the spring retainer 307 move integrally to the left in the drawing. At this time, the left end of the compression coil spring 308 and the spring holder 3
In a state where the block 06 is prevented from moving leftward by the block 309, the right end of the compression coil spring 308 is pressed leftward by the spring retainer 307, so that the compression coil spring 308 is compressed. At this time, the urging force of the compression coil spring 308, which is proportional to the length of pulling the inner cylinder 301 from the neutral position (the amount of extension of the transmission member 3 from the neutral position), is a force in the direction of returning the inner cylinder 301 to the neutral position. Occurs and this force also acts on the operator 2. Therefore, when the operator 2 releases the hand from the transmission member 3, the inner cylinder 301 is
8 returns to the neutral position shown in FIG.

Contrary to the above, FIG. 8 shows a state in which the operator 2 has pushed the inner cylinder 301 from the neutral position shown in FIG. 4 (moved to the right in FIG. 4).
8, the inner cylinder 301, the block 304, the spring retainer 306, and the block 305 move integrally to the right in the drawing. At this time, while the right end of the compression coil spring 308 and the spring retainer 307 are prevented from moving rightward by the block 310, the left end of the compression coil spring 308 is pressed rightward by the spring retainer 306, so that the compression coil spring 308 is compressed. Is done. At this time, the inner cylinder 301
Of the compression coil spring 308, which is proportional to the length of the pressing force from the neutral position (the amount of contraction of the transmission member 3 from the neutral position), is generated as a force in the direction of returning the inner cylinder 301 to the neutral position. It also acts on the operator 2. Accordingly, when the operator 2 removes his hand from the transmission member 3, the inner cylinder 301 returns to the neutral position shown in FIG.

The expansion / contraction amount detecting mechanism 30 further includes an outer cylinder 30.
2 and a pulley 314 and 315 supported rotatably.
Having. A timing belt 312 is wound around both pulleys 314 and 315. As shown in FIG. 6, a connecting member 313 for transmitting the movement of the inner cylinder 301 to the timing belt 312 is fixed to a block 305 fixed to the inner cylinder 301. This connecting member 313 protrudes outside from a slit 311 provided in the outer cylinder 302,
The tip is connected to the timing belt 312.
Accordingly, the movement of the inner cylinder 301 from the neutral position is transmitted to the timing belt 312 via the block 305 and the connecting member 313, and the pulleys 314 and 315 rotate.

The pulley 315 has a potentiometer 11
Are connected to each other. The potentiometer 11 is fixed to the outer cylinder 302 by a fixture (not shown). Therefore, the potentiometer 11 rotates according to the amount of movement of the inner cylinder 301 from the neutral position, that is, the amount of expansion and contraction of the transmission member 3. In the expansion / contraction amount detecting mechanism 30 having the above configuration, the output voltage value of the potentiometer 11 is uniquely determined by the rotation angle thereof.
Is detected as a voltage value, and a voltage signal representing the voltage value is output. The potentiometer 11 may be of a contact type or a non-contact type, and may be of any type as long as it is a measuring device capable of detecting an angle, such as a rotary encoder.

The amount of expansion and contraction of the transmission member 3 is expressed by the following equation (1).

[0025]

(Equation 1)

However, in equation (1), when the transmitting member 3 is pulled from the neutral position, the amount of expansion / contraction L of the transmitting member 3 has a positive sign, and when the transmitting member 3 is pushed from the neutral position, It is assumed that the output voltage value of the potentiometer 11 is adjusted so that the amount of expansion / contraction L of the transmission member 3 has a negative sign. From the amount of expansion and contraction of the transmission member 3, the moving device 1
Various methods are conceivable as to the method of converting to the traveling speed value. As an example, in the present invention, an acceleration proportional control method is used. The acceleration proportional control method is a control method in which the acceleration of the moving device 1 is proportional to the amount of expansion and contraction of the transmission member 3. The traveling speed of the moving device 1 at this time is expressed by the following equation 2.

[0027]

(Equation 2)

In equation (2), when the transmission member 3 is pulled from the neutral position, the amount of expansion / contraction L of the transmission member 3 has a positive sign, so that the traveling speed of the moving device 1 is accelerated. When the transmission member 3 is pulled from the neutral position from the state where the moving device 1 is stopped, the moving device 1 moves forward, so that when the moving device 1 moves forward, the traveling speed v of the moving device 1 has a positive sign. Conversely, when the transmission member 3 is pushed in from the neutral position, the expansion / contraction amount L of the transmission member 3 has a negative sign, so the traveling speed of the moving device 1 is reduced. When the transmission member 3 is pushed in from the neutral position from the state where the moving device 1 is stopped, the moving device 1 moves backward. Therefore, when the moving device 1 moves backward, the traveling speed v of the moving device 1 has a negative sign. When the transmission member 3 is in the neutral position, the transmission member 3
Since the amount of expansion and contraction of the moving device 1 becomes 0, the acceleration of the moving device 1 becomes 0, and the traveling speed of the moving device 1 does not accelerate or decelerate while running, and keeps a constant speed, and stops while stopping.

As shown in FIG. 9, the CPU 14 includes an expansion / contraction amount calculation unit 101, a maximum speed calculation unit 103, and a traveling speed calculation unit 1
02, a calculation speed / maximum speed comparison unit 104, and a traveling speed voltage value conversion unit 105. In addition, the CPU 14 has a portion for controlling the steered wheels 21, but is omitted here. In the expansion / contraction amount calculation unit 101 in the CPU 14, the voltage value (voltage value corresponding to the expansion / contraction amount of the transmission member 3) obtained by converting the voltage signal output from the front / rear potentiometer 11 into a digital value by the A / D converter 13 is used. It is configured to convert into the amount of expansion / contraction L of the transmission member 3 according to the above equation 1.

The traveling speed calculating section 102 is configured to convert the amount of expansion and contraction of the transmission member 3 into the traveling speed value of the moving device 1 according to the above equation (2). The traveling speed value of the moving device 1 obtained at this time is referred to as a calculated speed.
The maximum speed calculation unit 103 is configured to obtain the maximum speed of the moving device 1 from the amount of expansion and contraction of the transmission member 3 and the sign of the traveling speed value of the moving device 1 according to the graph shown in FIG.
FIG. 10 shows a thick solid line graph 5 when the speed of the moving device 1 is positive, that is, when the moving device 1 is traveling forward.
01, the value of the maximum speed is calculated, and when the speed of the mobile device 1 is negative, that is, when the mobile device 1 is traveling backward, the value of the maximum speed is calculated according to the thick broken line graph 502. .

In FIG. 10, among predetermined values of the transmission member expansion / contraction amount L, L4 indicates a limit value when the transmission member 3 is pushed, and L8 indicates a limit value when the transmission member 3 is pulled. That is, the transmission member 3 cannot be pushed beyond L4, nor can it be pulled beyond L8. FIG. 11 shows a flowchart of the maximum speed value calculation in the maximum speed calculation unit 103. In FIG. 11, the maximum speed calculation unit 103 inputs the traveling speed v of the moving device 1 and the amount of expansion / contraction L of the transmission member 3 (Step 201, Step 202),
When the traveling speed v has a positive sign (step 203),
That is, when the moving device 1 is moving forward, the maximum speed value is calculated based on a predetermined value at the time of the next moving forward.

When the moving device 1 moves forward, the maximum speed calculating unit 10
3 sets the maximum speed value of the moving device 1 to v1 when the expansion / contraction amount L of the transmission member 3 is larger than the predetermined value L1 (step 204) (step 205, step 218). Not more than predetermined value L1 and predetermined value L2
If it is greater than (step 206), the maximum speed value of the moving device 1 is set to v2, which is smaller than v1 (steps 207 and 218), and the amount of expansion / contraction L of the transmission member 3 is less than or equal to the predetermined value L2 and When the value is larger than the value L3 (step 208), the maximum speed value of the mobile device 1 is set to v3 which is a value smaller than v2 (step 20).
9, step 218), when the expansion / contraction amount L of the transmission member 3 is equal to or less than the predetermined value L3, the maximum speed value of the moving device 1 is set to 0 (steps 210 and 218). Here, the predetermined values L1, L2, and L3 of the amount of expansion / contraction L of the transmission member 3 are negative values, and the set values v1, v2, and v3 of the maximum speed are positive values.

In FIG. 11, when the traveling speed v of the mobile device 1 has a negative sign (step 203), that is, when the mobile device 1 is moving backward, the maximum speed is determined based on a predetermined value at the time of the next reverse movement. Calculate the speed value. When the moving device 1 moves backward, the maximum speed calculation unit 103 sets the maximum speed value of the moving device 1 to v4 when the amount of expansion / contraction L of the transmission member 3 is smaller than the predetermined value L5 (step 211) (step 2).
12, step 218), when the amount of expansion / contraction L of the transmission member 3 is equal to or larger than the predetermined value L5 and smaller than the predetermined value L6 (step 213), the maximum speed value of the moving device 1 is set to v5 which is larger than v4. When the expansion / contraction amount L of the transmission member 3 is equal to or more than the predetermined value L6 and smaller than the predetermined value L7 (step 215), the maximum speed value of the moving device 1 is set to a value larger than v5. V
6 (steps 216 and 218), and when the amount of expansion / contraction L of the transmission member 3 is equal to or greater than the predetermined value L7 (step 215), the maximum speed value of the moving device 1 is set to 0 (step 217). Here, L5, L6, and L7 are positive values, and the set values v4, v5, and v6 of the maximum speed values are negative values.

Here, predetermined values L1, L2, L3, L4, L of the amount of expansion / contraction L of the transmission member 3 in FIGS. 10 and 11 are shown.
5, L6, L7, L8, and set values v1, v of the maximum speed value
For specific values of 2, v3, v4, v5, v6,
The limit value of the amount of expansion and contraction of the transmission member 3 and the compression coil spring 308 provided inside the transmission member 3 (FIGS. 4, 7, and 8)
Cannot be specified because various values can be considered depending on the elasticity coefficient of the moving device 1 and the elasticity coefficient of the moving device 1.

In FIG. 10, at the maximum speed 501 when the moving device moves forward, the maximum speed position is set to v1 regardless of the amount of pulling of the transmission member. Therefore, it is to prevent a situation in which the moving device keeps accelerating if the transmission member is constantly pulled during the forward movement. The same applies to the maximum speed 502 when the moving device moves backward.

The CPU 14 compares the maximum speed value obtained by the maximum speed calculation section 103 with the calculation speed obtained by the traveling speed calculation section 102 in the calculation speed / maximum speed comparison section 104. A flowchart used for this comparison is shown in FIG. In FIG. 12, the calculation speed / maximum speed comparison unit 104
First, the maximum speed Vmax is input from the maximum speed calculation unit 103 (step 231), and the calculation speed Vcalc is input from the traveling speed calculation unit 102 (step 230). If the maximum speed value is greater than the calculated speed value (step 232), the traveling speed value is set to the maximum speed value (step 233). If the calculated speed value is smaller than the maximum speed value (step 232), The running speed value is set as the calculated speed value (step 234). That is, calculation speed
The maximum speed comparison unit 104 is configured to compare the calculated speed value with the maximum speed value and set the smaller one as the traveling speed value.

The traveling speed value obtained by the calculated speed / maximum speed comparison unit 104 is sent to a traveling speed voltage value conversion unit 105 and converted into an output voltage value as a digital value.
The voltage signal is output from the D / A converter 16 to the motor controller 9. The contents described above will be described in more detail based on specific setting values. Here, an example of the relationship between the amount of expansion and contraction when the transmission member 3 is pushed in and the maximum speed of the moving device 1 is set as shown by a thick solid line graph 503 in FIG. The moving device 1 is an operator 2 as shown in FIG.
Is a device that operates and moves the transmission member 3,
3, the maximum speed of the mobile device 1 is a speed at which a normal person walks at a high speed, and is 1.5 m / sec (5.4 km / h).
Is set to Further, the limit value in the pushing direction of the transmission member 3 is set to 0.1 m.

First, as a precondition, the operator 2 and the moving device 1 are moved at a speed of 1.5 m / s with the amount of expansion and contraction of the transmission member 3 being 0 m.
Is moving forward. In the above formula 2, since the acceleration of the mobile device 1 is 0, the mobile device 1 operates at a speed of 1.
It keeps running at a constant speed of 5m. Also, the above equation 2
As an example of the moving device acceleration per unit expansion and contraction amount of the transmission member in the above, the following is set.

[0039]

(Equation 3)

Here, the traveling speed of the mobile device 1 is set to 1.
Consider deceleration from 5 m to 0.5 m / s. There are two methods of decelerating, a method of slow deceleration and a method of abrupt deceleration. First, a method of gently decelerating will be described with reference to FIG. In FIG. 13, the transmission member 3
Is less than 0.03 m, the maximum speed of the moving device 1 is 1.5 m / sec. Therefore, if the pushing amount is set within 0.03 m, the moving device 1 decelerates at the acceleration obtained according to the pushing amount according to the above equation (2). Here, as shown in a thick broken line graph 504 in FIG.
Suppose you push it in. At this time, the mobile device 1 starts to decelerate at an acceleration of 0.08 m / sec, which is a result calculated by the above equation (2). When the pushing amount of the transmission member 3 is kept at 0.02 m, the moving device 1 continues to decelerate as shown by a thick solid line graph 505, and from t0 to 12.
After 5 seconds, the speed of the moving device 1 becomes 0.5 m / sec. At this point, when the transmitting member 3 is returned to the neutral position (the amount of expansion / contraction is set to 0 m), the moving device 1 continues traveling at a constant speed of 0.5 m / sec. That is, when the pushing amount of the transmission member 3 is set to 0.02 m, the moving device 1 slowly decelerates from 1.5 m / s to 0.5 m / s in 12.5 seconds.

Next, a method of rapidly decelerating will be described with reference to FIG. In FIG. 13, when the pushing amount of the transmission member 3 is in the range of 0.03 m to 0.06 m,
The maximum speed of the moving device 1 is 0.8 m / sec. here,
As shown by the thick broken line graph 506 in FIG.
At 0, it is assumed that the transmission member 3 is pushed in by 0.05 m.
At this time, since the maximum speed corresponding to the pushing amount of 0.05 m is 0.8 m / sec, the traveling speed of the moving device 1 is first set to 1.5 m / sec as shown by a thick solid line graph 507.
m to 0.8 m / s. Next, the mobile device 1 starts to decelerate at an acceleration of 0.2 m / sec, which is a result calculated by the above-described Expression 2. When the pushing amount of the transmission member 3 is kept at 0.05 m, the moving device 1 continues to decelerate as shown by a thick solid line graph 507, and t0
1.5 seconds later, the speed of the moving device 1 becomes 0.5 m / sec. At this point, when the transmitting member 3 is returned to the neutral position (the amount of expansion / contraction is set to 0 m), the moving device 1 continues traveling at a constant speed of 0.5 m / sec. That is, when the pushing amount of the transmission member 3 is set to 0.05 m, the moving device 1 rapidly decelerates from 1.5 m / s to 0.5 m / s in 1.5 seconds.

Next, a case where the operator 2 stops while traveling at a speed of 1.5 m / sec will be described with reference to FIG. When the operator 2 stops at time t0 in FIG.
As shown in a thick solid line graph 509, the vehicle travels at a speed of 1.5 m / sec.
Is pushed in as shown by the thick broken line graph 508.
When the pushing amount reaches 0.03 m, the moving device 1
The running speed is 0.8 s / sec as shown in the setting example of FIG.
m. If the operator 2 is still stopped, the moving device 1 continues traveling while decelerating at an acceleration corresponding to the amount of expansion and contraction of the transmission member, and the transmission member 3 is further pushed in. When the pushing amount eventually reaches 0.06 m, the traveling speed of the moving device 1 is limited to 0.4 m / sec as shown in the setting example of FIG. If the operator 2 is still stopped, the moving device 1 continues traveling while decelerating at an acceleration corresponding to the amount of expansion and contraction of the transmission member, and the transmission member 3 is further pushed in. When the pushing amount reaches 0.09 m, the traveling speed of the moving device 1 is limited to 0 m / sec as shown in the setting example of FIG. 13 and the moving device 1 stops.

That is, when the operator 2 stops, the moving device 1 travels and stops while decelerating the range of the pushing amount of the transmission member 3 (0.1 m in the setting example in FIG. 13). Therefore, the operator 2 does not need to perform any intentional operation to stop the mobile device 1 and can stop the mobile device rapidly in a short time only by stopping the mobile device 1 itself. Become.

As described above, depending on whether the pushing amount of the transmission member 3 is reduced or increased, the operator 2 intentionally determines whether the traveling speed of the moving device 1 is to be reduced slowly or rapidly. Or unintentional selection. When the operator 2 wants to slightly reduce the traveling speed of the moving device 1, a gentle deceleration method in which the transmission member 3 is slightly pushed is employed. If an obstacle or the like appears in front, the transmission member is used. It is possible to take a sharp deceleration method that pushes a lot of 3s. In many cases, a gentle deceleration method corresponds to a natural speed change such as a change in pace, which the operator 2 does not intend to decelerate, and a rapid deceleration method requires the operator 2 to avoid danger. Respond to intentional deceleration to take.

In the specific examples described above, the method of depressing the transmission member 3 while the moving device 1 is moving forward to decelerate has been described. Conversely, even when the moving device 1 is moving backward, it is possible to perform the deceleration operation in exactly the same way as in the case of forward movement by setting appropriate values in the thick broken line graph 502 in FIG. In the above embodiment, an example in which the speed limiting step is divided into four steps as shown in FIGS. 10 and 13 has been described. However, the number of divisions does not need to be four, and the limit value of the amount of expansion and contraction of the transmission member 3 and the compression coil spring 3 provided inside the transmission member 3
08 (see FIGS. 4, 7 and 8) and the speed value that can be obtained by the moving device 1. Further, the condition is such that the maximum speed value decreases as the pushing amount of the transmission member 3 increases when moving forward, and the maximum speed value decreases as the amount of pulling of the transmission member 3 increases when moving backward. In this case, a polygonal change as shown in FIG.
As shown in FIG. 8, the change may be continuous.

In the above embodiment, as shown in FIGS. 10, 13, 17 and 18, the maximum speed value is set so as to be symmetrical when moving forward and when moving backward. The graph of the set values does not need to be symmetrical, and there is no problem even if the predetermined value of the amount of expansion and contraction of the transmission member 3 and the set value of the maximum speed of the moving device 1 are different between forward and reverse. In addition,
In the above-described embodiment, the traveling mechanism 7 includes one front wheel 21 that is both a steering wheel and a driving wheel, and two rear wheels 22 that are idle wheels. However, the present invention is not limited to this. The number of driving wheels may be two, and the driving wheels may be rear wheels. In short, since the present invention controls the traveling speed of the moving device, it is not limited to the number or position of the driving wheels.

[0047]

As described above, according to the moving device according to the present invention, the speed change of the moving device responds gently to slight expansion and contraction of the transmission member that is not intended by the operator. On the other hand, when the operator intentionally expands or contracts the transmission member for the purpose of decelerating the moving device, the moving device rapidly decelerates. Therefore, even when an obstacle suddenly appears during movement, the deceleration time is shortened, and the vehicle can travel safely.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of a moving device according to a position embodiment of the present invention.

FIG. 2 is a perspective view showing a state in which an operator is operating a moving device.

FIG. 3 is a perspective view of the moving device as viewed obliquely from below.

FIG. 4 is a perspective view showing an example of a structure of a transmission member in a partial cross section.

FIG. 5 is a cross-sectional view showing a part of the structure of the expansion and contraction amount detection mechanism shown in FIG. 4;

FIG. 6 is a sectional view showing a part of the structure of the expansion / contraction amount detecting mechanism shown in FIG. 4;

FIG. 7 is a perspective view similar to FIG. 4, showing a state where a transmission member is pulled.

FIG. 8 is a perspective view similar to FIG. 4, showing a state where a transmission member is pushed in.

FIG. 9 is a block diagram illustrating a configuration of a control unit illustrated in FIG. 1;

FIG. 10 is an operation explanatory diagram for explaining the operation of the embodiment;

FIG. 11 is a flowchart showing a part of the operation of the embodiment.

FIG. 12 is a flowchart illustrating a part of the operation of the embodiment;

FIG. 13 is an operation explanatory diagram for describing the operation of the embodiment similar to FIG. 10 based on specific numerical values.

FIG. 14 is an explanatory diagram illustrating the operation of the mobile device based on specific numerical values.

FIG. 15 is an explanatory diagram illustrating the operation of the mobile device based on specific numerical values similar to FIG.

FIG. 16 is an explanatory diagram showing the operation of the mobile device based on the same specific numerical values as in FIG. 14;

FIG. 17 is an operation explanatory view showing an example of a modification of FIG. 10;

FIG. 18 is an operation explanatory diagram showing an example of a modification of FIG. 10;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Moving device 2 ... Operator 3 ... Transmission member 4 ... Driving means 5 ... Detection means 6 ... Control means 7 ... Traveling mechanism 8 ... Steering mechanism 9 ··· Motor controller 10 ··· Servo driver 11 ··· Front-rear direction potentiometer 12 ··· Left-right direction potentiometer 13 ··· A / D converter 14 ··· CPU 15 ··· Digital output device 16 ··· D / A converter 21 ・ ・ ・ Steering wheel 22 ・ ・ ・ Rear free wheel 23 ・ ・ ・ Traveling motor 27 ・ ・ ・ Steering motor 30 ・ ・ ・ Expansion / contraction amount detection mechanism 40 ・ ・ ・ Rotation angle detection mechanism

Claims (6)

[Claims] 1. A tracking device comprising: a transmission member that transmits the movement of a moving body to an apparatus main body by expanding and contracting; an expansion / contraction amount detection unit that detects an expansion / contraction amount of the transmission member; and a driving unit that drives the apparatus main body. In the mold moving device, a traveling speed setting unit that sets a traveling speed of the moving device according to an extension / contraction amount of the transmission member detected by the extension / contraction amount detection unit; and the transmission member detected by the extension / contraction amount detection unit. A maximum speed setting unit that sets a maximum speed value of the moving device according to the amount of expansion and contraction of the moving device; a calculated speed value output from the traveling speed determination unit; and a maximum speed value output from the maximum speed determination unit. And a speed control means for controlling the driving means so that a smaller one is set as a moving speed value of the moving apparatus. 2. The moving speed setting device according to claim 1, wherein the traveling speed setting means sets the moving speed of the moving device so that the moving acceleration of the moving device is proportional to the amount of expansion and contraction of the transmission member. apparatus. 3. The moving device, when the transmission member is extended, is given a positive acceleration to move forward, and when the transmission member is contracted, is given a negative acceleration to move backward. The maximum speed value is set such that, when the moving device is moving forward, the maximum speed value decreases as the amount of contraction of the transmission member from the expansion / contraction neutral position increases.
The described device. 4. The maximum speed setting means divides a contraction amount of the transmission member from a neutral position of expansion and contraction into a plurality of regions, and a maximum speed having a different value corresponding to each of the divided regions is stored in advance. 4. The device according to claim 3, wherein: 5. The moving device, when the transmission member is extended, is given a positive acceleration to move forward, and when the transmission member is contracted, is given a negative acceleration to move backward. When the moving device is moving backward, the maximum speed value is set so that the maximum speed value decreases as the amount of extension of the transmission member from the expansion / contraction neutral position increases.
The described device. 6. The maximum speed setting means divides the amount of extension of the transmission member from the expansion / contraction neutral position into a plurality of areas, and stores a maximum value of a different value corresponding to each of the divided areas in advance. 6. The device according to claim 5, wherein