JP2002258944A - Remote controller for mobile cart and steering input device for mobile cart - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a conveniently portable steering input device for a mobile cart for allowing an operator to easily perform a steering input without any sense of incompatibility as he or she wants, and to perform the steering input in on hand, and for ensuring safety even when it is brought into contact with an external environment during the steering operation. SOLUTION: In this steering input device 80 for a mobile cart for allowing a mobile cart 602 to travel based on the intention of an instructor, a plurality of contact force detecting devices 801 for detecting contract forces from the outside are arranged at the outer periphery of the mobile cart, and the instructor directly adds the force to any contact force detecting device 801 of the mobile cart 602 when performing the steering input so that the mobile cart can be operated based on the position of the contact force detecting device 801 and the contact force information.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device for a mobile trolley and a steering input device for a mobile trolley that carries out transport work in factories, medical welfare facilities, homes, and the like.

[0002]

2. Description of the Related Art FIG. 11 shows a conventional operation device for an omnidirectional mobile trolley. FIG. 11A shows an example of a remote operation device, and FIG. 11B shows an example of a steering input device. First, FIG. 11A will be described. The joystick 1103 can be operated separately from the omnidirectional mobile trolley 1102 running on the road surface 1101. Dolly 1102 and joystick 11
During 03, signals are exchanged via the cable 1104 or wirelessly. An example of the configuration of the joystick will be described with reference to FIG. FIG. 12 is a diagram showing a command input stage in a conventional remote control device and steering input device. In FIG. 12, a shaft 1202 is fixed on a joystick housing 1201, and a member 1203 is attached so as to be pivotable about the shaft 1202. Member 1
A shaft 1204 is fixed on the shaft 203 so as to be perpendicular to the shaft 1202, and a stick 1205 is attached to the shaft 1204 so as to be pivotable about the shaft 1204. Also stick 1205
A shaft 1206 is fixed above the shaft 1204 in a direction perpendicular to the shaft 1204.
Is installed. The housing 1201 has a resistor 1208
However, a contact 1209 that is always in contact with the resistor 1208 is attached to the member 1203, and the housing 1201 and the member 1
The resistance value changes depending on the mutual angle with the reference numeral 203. Similarly, a resistor 1210 is attached to the member 1203, and a contact 1211 that is constantly in contact with the stick 1205 is attached to the stick 1205. The resistance value changes depending on the mutual angle between the member 1203 and the stick 1205. Similarly stick 12
05 has a resistor 1212, and knob 1207 has a resistor 1212.
A contact 1213 that is always in contact with 12 is attached, and the resistance value changes depending on the mutual angle between the stick 1205 and the knob 1207. FIG. 13 shows an outline of the control system. When the stick is tilted in the XY directions or the knob is turned in the θ direction, the resistance value changes. The resistance value can be extracted from the joystick 1301 as a voltage value. The X, Y, and θ three voltage values are output from the A / D converter 1
It is input to 302 and converted into a digital signal. This voltage signal is input to the voltage-speed conversion device 1303, and calculates the speed at which the voltage is generated in the vehicle body. Based on the vehicle body command speed, the reverse kinematics calculation unit 1304 calculates the command speed of each drive motor 1305. The command speed signal is converted into an analog voltage by the D / A converter 1306 and input to the drive amplifier 1307. The drive amplifier 1307 compares the speed information detected by the pulse generator 1308 directly connected to the motor 1305 and controls the motor 1305 to follow the command speed. The above configuration is for a case where the joystick and the cart are connected by wire, and in the case of wireless, for example, A
A wireless modem is interposed between the / D converter 1302 and the voltage-speed conversion device 1303.

FIG. 14 shows the relationship between the operation of the joystick and the operation of the omnidirectional mobile trolley when this control system is used. In FIG. 14, reference numeral 1401 denotes an omnidirectional moving carriage; 1402, a joystick; 1403, a knob at the tip of the joystick. Move the joystick to Xc (FIG. 14a), Y
When the truck is tilted in the direction c (FIG. 14b), the omnidirectional carriage moves in the Xr and Yr directions accordingly. When the knob is turned (FIG. 14c), the omnidirectional cart turns accordingly. It is also possible to combine the above operations.

Next, FIG. 11B showing an example of a conventional steering input device for an omnidirectional mobile trolley will be described. Road surface 1
A joystick 1103 is fixed on an omnidirectional carriage 1102 traveling on 101. Since the configuration of the joystick and the outline of the control system are the same as those described with reference to FIGS. 12 and 13, the description is omitted.
In FIG. 16, reference numeral 1601 denotes an omnidirectional moving cart, 1602 denotes a joystick, and 1603 denotes a knob at the tip of the joystick. Move the joystick to X (FIG. 16a), Y (FIG. 1)
When tilted in the direction 6b), the omnidirectional carriage moves in the X and Y directions accordingly. Turn the knob (Fig. 16c)
Then, the omnidirectional bogie turns accordingly. It is also possible to combine the above operations.

[0005]

However, in the method shown in the conventional example, when the postures of the joystick and the bogie are different, there is a problem that the direction of tilting the stick and the moving direction of the bogie do not match. FIG. 15 is an explanatory diagram of the problem. Dolly 1501, joystick 15 in initial state
02 has the same X-axis direction, so that the cart moves correctly in the direction in which the stick is tilted, as shown in FIG. However, when the posture of the joystick held by the instructor is different from the posture of the bogie, as in the case of the bogie 1503 and the joystick 1504 as an example of traveling, the direction in which the stick is tilted does not match the direction in which the bogie moves. For this reason, the teacher must continue to operate while always grasping the position of the trolley and the position of the joystick.
There is a problem that operability is extremely deteriorated. JP-A-6-179187 (azimuth detecting type teaching mechanism) is an example of a manipulator operating device that shows a measure against this problem. In this method, an azimuth detecting device is mounted on both a robot manipulator end effector and a joystick capable of inputting two degrees of freedom within a plane, and the input direction of the joystick is coordinate-transformed based on the detected relative posture. With this method, the direction in which the joystick is tilted and the direction in which the bogie moves correspond to each other, so that the operability in the command direction is improved. However, when applied to a mobile trolley, a large teaching box is inconvenient to carry, and a joystick operation including a posture input knob must always be performed using both hands, which imposes a heavy burden on the operator. Therefore, the present invention provides a remote control device for an omnidirectional mobile trolley that is easy to carry out, allows easy steering input, is easy to carry, and enables one-handed steering input according to the will of the operator. It is the purpose.

Further, in the system shown in the conventional example, there is a problem that the operation of the stick is complicated and skill is required for steering input. In particular, in the case of moving in the X and Y directions while turning in the θ direction, it is necessary to perform a complicated operation of tilting the stick while turning the knob, which gives an uncomfortable feeling to the operator and makes it impossible to perform a natural steering input. was there. Further, even when the movable trolley comes into contact with the external environment during steering, the trolley operates according to the instruction of the joystick, so that excessive force is applied to the external environment, which is dangerous. Therefore, the present invention provides a steering input device for a mobile trolley, which is capable of performing easy steering input without discomfort according to an operator's will and ensuring safety even in the event of contact with an external environment during steering. It is intended to do so. As described above, an object of the present invention is to enable easy steering input without discomfort according to the operator's intention, to enable convenient and portable one-handed steering input, To ensure safety in the event of environmental contact.

[0007]

SUMMARY OF THE INVENTION In order to solve the above problems, the invention of a remote control device for a mobile trolley according to claim 1 is provided.
In a steering input device for a mobile trolley for causing the mobile trolley to travel based on a teacher's intention, the mobile trolley can be separated from the mobile trolley by wire or wireless and can be remotely operated, and has one degree of freedom of translation and a vertical axis in a horizontal plane. A command input means capable of inputting a speed of one degree of rotation around the vehicle; and a relative attitude measuring means around a vertical axis between the movable trolley and the command input means, wherein the command input means is provided based on the relative attitude. It is characterized in that the direction of the translation speed command is calculated. According to a second aspect of the present invention, in the remote control device for a movable trolley according to the first aspect, the relative attitude measuring means uses two gyro sensors respectively mounted on the trolley and the command input means. According to a third aspect of the present invention, in the remote control device for a mobile trolley according to the first or second aspect, the command input means includes a speed input grip having a single degree of freedom in a horizontal plane and a turning angular speed input knob around a vertical axis. And can be easily operated with one hand. With the above configuration, when the command input means is directed in an arbitrary direction and the translation speed in the horizontal plane is input, the omnidirectional mobile trolley performs a translational movement in the direction in which the command input means is directed. Simple and easy steering input can be performed. Further, since there is no need for a device such as a joystick for simultaneously inputting two degrees of freedom of translation, the device can be miniaturized, convenient to carry, and one-handed. According to a fourth aspect of the present invention, there is provided a steering input device for a movable trolley for causing the movable trolley to travel based on a teacher's intention, wherein an external contact force is detected on an outer periphery of the movable trolley. A plurality of contact force detecting devices are arranged, and when a steering input is made, a teacher directly applies a force to the moving vehicle so that the moving vehicle is operated based on the position of the detecting device and its information. According to a fifth aspect of the present invention, in the steering input device for a movable trolley according to the fourth aspect, the movable trolley is an omnidirectional movable trolley. The invention according to claim 6 is the invention according to claim 4 or 5
In the steering input device for a mobile trolley described above, the contact force detection device is a device that can convert pressure into a resistance value. According to a seventh aspect of the present invention, in the steering input device for a movable trolley according to any one of the fourth to sixth aspects, the contact force detecting device is provided in a gap between the trolley main body and a cover placed around the main body. It is characterized by being a device for measuring the distance between the two. With the above configuration, the operator directly applies a command force to the mobile trolley without using the joystick lever, so that it is very natural as if you were actually pushing and moving the trolley. Steering input without discomfort is possible. In addition, when the vehicle comes into contact with the outside environment during steering, the contact force is also included in the steering input and processed, so that the mobile trolley does not proceed in the contact direction and does not apply excessive force to the outside environment. It is safe.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. 1 to 3 are views showing a first embodiment of the present invention. In FIG. 1, a command input device 103 can be operated separately from an omnidirectional mobile trolley 102 traveling on a road surface 101. Dolly 102 and command input device 10
Between the three, signals are exchanged via the cable 104 or wirelessly. A gyro sensor 105 is attached to the omnidirectional mobile carriage 102, and a gyro sensor 106 is attached to the command input device 103, and each detects a posture change from the start. Further, the omnidirectional mobile carriage 102 is provided with a slot 107 for accommodating the command input device 103 in one direction, and the command input device 103 is accommodated in the slot 107 at the time of startup. FIG. 2 shows an example of the configuration of the command input device 103. In FIG. 2A showing a use state of the command input device, a grip 202 and a knob 203 are mounted on a housing 201 of the command input device as described later, and the operator holds the housing 201 with one hand. Grip 202 with index finger
Is operated with the thumb. In FIG. 2B, which is an exploded perspective view of a main part of the command input device, a housing 201 is shown.
Are fixed so that the shaft 204 and the shaft 205 are orthogonal to each other. When the operator grips the housing 201, the shaft 2
04 is arranged horizontally and axis 205 is arranged vertically. A grip 202 is mounted so as to be able to translate along an axis 204. A resistor 206 is attached to the housing 201, and a contact 207 that is always in contact with the resistor 206 is attached to the grip 202. The resistance value changes depending on the mutual position between the housing 201 and the grip 202. A knob 203 is attached so as to be pivotable about the shaft 205. Case 2
01 is provided with a resistor 208, and a knob 203 is provided with a contact 209 which is always in contact with the resistor 208.
The resistance value changes depending on the mutual angle between 01 and the knob 203. A gyro sensor 210 is attached to the housing 201 so that an angular velocity around the axis 205 can be detected. FIG. 3 shows an outline of the control system. Command input device 3
When the user grips the grip 302 or turns the knob 303, the resistance value changes. The resistance value can be extracted from the command input device 301 as a voltage value. The voltage value based on the position of the grip 302 and the voltage value based on the angle of the knob 303 are input to the A / D converter 304 and converted into digital signals. This voltage signal is input to a voltage-speed conversion device 305, which calculates a translation speed and a turning angular speed generated on the vehicle body with respect to the voltage. On the other hand, a gyro sensor 306 is attached to the command input device 301, and the attitude angular velocity information of the command input device 301 can be extracted as a voltage value. This voltage value is supplied to the A / D converter 3
After being converted into a digital signal by the
And the attitude of the command input device is calculated. In addition, a gyro sensor 310 is attached to the omnidirectional mobile trolley 309, so that the attitude angular velocity information of the trolley can be extracted as a voltage value. This voltage value is supplied to the A / D converter 31
After being converted into a digital signal by 1, the digital signal is integrated by an integrator 312, and the posture of the cart is calculated. Integrator 308
And the output of the integrator 312 is input to the subtractor 313,
By taking the difference between each other, the command input device 301 and the carriage 309
Find the relative attitude of. The output of the voltage-speed conversion device 305 and the output of the subtractor 313 are input to the vehicle body command speed calculation device 314, and the magnitude of the translation speed command is calculated from the command value of the grip 302, and the direction is calculated from the relative posture. As for the turning angular velocity command, the command value of the knob 303 is used. On the basis of the above-mentioned vehicle body command speed, the inverse kinematics calculation unit 31
At 5, the command speed of each drive motor 316 is calculated.
The command speed signal is converted into an analog voltage by the D / A converter 317 and input to the drive amplifier 318.
The drive amplifier 318 compares the speed information detected by the pulse generator 319 directly connected to the motor 316 and controls the motor 316 to follow the command speed. The above configuration is for the case where the command input device and the carriage are connected by wire. In the case of wireless communication, for example, the A / D converter 304, the voltage-speed conversion device 305, and the A / D
A wireless modem will be interposed between the converter 307 and the integrator 308.

FIG. 4 shows the relationship between the command input device and the operation of the omnidirectional mobile trolley when this control system is used. FIG.
Numeral 401 denotes an omnidirectional mobile trolley, 402 denotes a command input device, 4
03 is a knob of the command input device. When the grip is operated by pointing the command input device in an arbitrary direction, the omnidirectional cart translates in the direction in which the command input device is directed at a speed corresponding to the grip operation amount. Also, when the knob is turned, the omnidirectional bogie turns accordingly. It is also possible to combine the above operations. FIG. 5 is an explanatory diagram of the problem solving. Slot 502 on the trolley 501 in the initial state
The command input device 503 is housed in such a manner that the directions of both X axes coincide with each other. From this state, the command input device 50
3 and the steering input is performed. As an example of traveling, even if the attitude α of the command input device held by the teacher and the attitude β of the bogie are different from each other, such as the bogie 504 and the command input device 505, these are detected by both gyro sensors, and α− Since the omnidirectional mobile trolley is operated in the direction of β, the trolley always operates in the direction in which the command input device is directed to the operator, and simple steering input without confusion can be performed.

Hereinafter, a second embodiment of the present invention will be described with reference to FIGS.
A description will be given based on FIG. In FIG. 6, a contact force detecting device 603 is attached to an outer periphery of an omnidirectional moving vehicle 602 running on a road surface 601. Contact force detection device 603
Converts the pressure at the time of contact with an object into a resistance value.
For example, it can be realized by a device such as a pressure-sensitive conductive rubber.
Then, the resistance value is converted into a voltage value as a contact force detection device 60.
3 can be taken out. FIG. 7 is a view of the omnidirectional mobile trolley of FIG. 6 as viewed from above. In the figure, contact force detecting devices 702 to 709 are attached to the outer periphery of an omnidirectional moving carriage 701, and the force information detected by each contact force detecting device is combined to obtain the operating direction and operating speed of the entire vehicle body. Is to decide. FIG. 8 shows an outline of the control system. The contact force detecting device 801 is a device such as pressure-sensitive conductive rubber as described above, and the resistance value can be extracted from the contact force detecting device 801 as a voltage value. The voltage values V from the plurality of contact force detection devices 801 arranged on the outer periphery of the mobile trolley are input to the A / D converter 802 and converted into digital signals. This voltage signal V is applied to a voltage-force conversion device 803.
To calculate the force applied to each sensor. The information on the locations and forces of all the sensors is input to the combination calculation circuit 804, and the combined translation force applied to the vehicle body and the combined moment around the center of the vehicle body are calculated. The resultant force information is amplified by the force-speed conversion device 805, and the vehicle body command speed in the X, Y, and θ directions is calculated based on the behavior of the virtual mass system model having a certain mass / viscosity parameter. Based on the vehicle speed, the reverse kinematics calculation unit 80
At 6, the command speed of each drive motor 807 is calculated.
The command speed signal is converted into an analog voltage by the D / A converter 808 and input to the drive amplifier 809.
The drive amplifier 809 compares the speed information detected by the pulse generator 810 directly connected to the motor 807 and controls the motor 807 to follow the command speed. FIG. 9 shows the relationship between the contact force and the operation of the omnidirectional mobile trolley when this control system is used. In FIG. 9, reference numeral 901 denotes an omnidirectional mobile trolley, and 902 to 909 denote contact force detecting devices.
The contact force detection devices 902 to 909 generate signals while the contact force is present. If the contact force is large, a large signal is output, and the operation speed is also increased. Eliminate the force applied to the contact force detectors 902-909 (ie,
Release your hand) and the truck will stop. As described above, this bogie basically corresponds to the movement of the bogie that is moved by the resultant force when the bogie supported by the casters is pressed by hand at the position where the contact force detection devices 902 to 909 are attached. Then, when a force is evenly applied to two contact force detecting devices arranged in the same side among the contact force detecting devices 902 to 909,
The truck moves in the direction of action of the contact force. For example, when a force is evenly applied to the contact force detection devices 902 and 903, the carriage moves in the positive X direction (FIG. 9A). At this time, since the force information is amplified in the force-speed conversion device, the force applied to the vehicle body may be small. Further, the contact force detecting device 9
When a force is evenly applied to the carriages 04 and 905, the carriage moves in the positive Y direction (FIG. 9B). Similarly, the contact force detecting device 90
When a force is evenly applied to 6, 907, the carriage moves in the negative X direction (FIG. 9D). Contact force detection devices 908, 909
When the force is evenly applied to the carriage, the carriage moves in the Y negative direction (FIG. 9E). When a force is applied to two of the contact force detection devices 902 to 909 that are diagonally opposite each other, the bogie turns. For example, contact force detection devices 904, 908
When the force is applied to the vehicle, the bogie turns on the spot in the positive θ direction (FIG. 9C). Further, the contact force detecting devices 905 and 909
When the force is applied to the vehicle, the bogie turns on the spot in the negative θ direction (FIG. 9 (f)). The two forces applied need not be equal. When a force is evenly applied to two of the contact force detecting devices 902 to 909 having a line relationship opposite to each other, the carriage remains stopped. For example, when a force is evenly applied to the contact force detection devices 902, 903, 906, and 907, the carriage remains stopped (FIG. 9G). When a force is applied to only one of the contact force detecting devices 902 to 909, the bogie turns in the tangential direction of the contact force. For example, when only the contact force detection device 902 is pressed, the bogie turns in the negative θ direction. When unequal force is applied to two of the contact force detecting devices 902 to 909 arranged in the same side, the carriage moves in the direction of the force of the contact force and is applied to the contact force detecting device. Turning with uneven force difference. For example, uneven force (for example, 90) is applied to the contact force detecting devices 902 and 903.
When 2> 903) is added, the cart turns in the negative θ direction due to the difference between the forces of the contact force detection devices 902 and 903 while translating in the positive X direction. Of the contact force detection devices 902 to 909, two adjacent
When a force is evenly applied to the contact force detecting device on the side, the bogie advances in a diagonal direction of 45 degrees (θ = −45 degrees). For example, when a uniform force is applied to the contact force detection devices 902 and 909, the bogie advances in a diagonal direction of 45 degrees (θ = −45 degrees). In this case, if the force is uneven, further rotation occurs. In addition, by changing and combining the contact forces, more complicated operations are possible. Further, when the vehicle touches the external environment during the operation, since the contact force is received from the contact point, the operation force is canceled, and the vehicle body does not move in the direction of the external environment in contact.

FIG. 10 is a diagram showing a modification of the second embodiment of the present invention. In FIG. 10, the omnidirectional mobile trolley 1
A cover 1002 is movably covered in the horizontal direction around 001. In the gap between the carriage 1001 and the cover 1002, there are springs 1003 to 1003 which expand and contract in proportion to the applied force.
1010 is attached. Also, springs 1003-1
The length measuring devices 1011 to 1018 for measuring the length of 010 are also attached, and the operation force applied to each part is calculated based on the output of the length measuring devices 1011 to 1018. As the length measuring devices 1011 to 1018, any device may be used as long as it converts the length into another physical quantity. The outputs of the length measuring devices 1011 to 1018 may then be processed in the same manner as performed in FIG. It is preferable that a device such as a potentiometer be used as the measuring device.

[0012]

As described above, according to the first embodiment of the present invention, there is provided a remote control device for an omnidirectional mobile trolley, which can be operated separately from a transport trolley by wire or wirelessly. Command input means capable of inputting a velocity of one degree of freedom of translation and one degree of freedom about a vertical axis, and a relative attitude measuring means about the vertical axis between the bogie and the command input means, based on the relative attitude. When the translation speed in the horizontal plane is input from the command input means, the omnidirectional mobile trolley performs a translational movement in the attitude direction of the command input means. As a result, simple steering input without confusion can be performed. Further, since there is no need for a device such as a joystick for simultaneously inputting two degrees of freedom of translation, the device can be reduced in size, convenient for carrying, and can be operated with one hand. Further, according to the second embodiment of the present invention, a plurality of devices for detecting external contact force are arranged on the outer periphery of the mobile trolley, the force information directly applied to the mobile trolley by the instructor is synthesized, and further amplified. Based on the behavior of the virtual mass system model having the mass / viscosity parameters described above, the vehicle body command speed in the XYθ directions is calculated and the motor is controlled. Therefore, the operator can directly instruct the moving vehicle without using a joystick lever or the like. It is possible to apply force, and it is possible to perform a very natural and uncomfortable steering input as if you were actually pushing and moving the bogie. In addition, when the vehicle comes into contact with the external environment during steering, the contact force is also included in the steering input and processed, so the mobile bogie does not proceed in the direction of contact and does not apply excessive force to the external environment. There are effects such as safety.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of the present invention.

FIG. 2 is a diagram showing command input means in the apparatus of FIG. 1;

FIG. 3 is a diagram showing a control block in the apparatus of FIG. 1;

FIG. 4 shows the operation of the apparatus of FIG.

FIG. 5 is a diagram showing problem solving by the apparatus of FIG. 1;

FIG. 6 is a diagram showing a second embodiment of the present invention.

FIG. 7 is a plan view of the apparatus of FIG. 6;

FIG. 8 is a diagram showing a control block in the apparatus of FIG. 6;

9 shows the operation of the device of FIG.

FIG. 10 is a diagram showing a modification of the second embodiment of the present invention.

FIG. 11 is a diagram showing a conventional remote control device and steering input device.

FIG. 12 is a diagram showing command input means in a conventional remote control device and steering input device.

FIG. 13 is a diagram showing control blocks in a conventional remote control device and steering input device.

FIG. 14 is a diagram showing a problem in a conventional remote control device.

FIG. 15 is a diagram showing a problem in the case where the joystick and the carriage have different postures in the conventional remote control device.

FIG. 16 is a diagram showing the relationship between the operation of a joystick and the operation of an omnidirectional mobile trolley when a conventional control system is used.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 101 Road surface 102 Omnidirectional carriage 103 Gyro sensor 104 Cable 105 Command input device 106 Gyro sensor 107 Command input device storage slot 201 Command input device housing 202 Grip 203 Knob 204, 205 Axis 206, 208 Resistance 207, 209 Contact 210 , 306, 310 Gyro sensor 301 Command input device 302 Grip 303 Knob 304, 307, 311 A / D converter 305 Voltage-speed conversion device 308, 312 Integrator 309 Omnidirectional mobile trolley 313 Subtractor 315 Reverse kinematics calculation unit 316 Driving motor 317 D / A converter 318 Drive amplifier 319 Pulse generator 401 Omnidirectional carriage 402 Command input device 403 Command input device knob 501 Truck 502 Slot 503,5 5 command input device 504 carriage 601 road 602,701,901,1001 omnidirectional carriage 603 contacting force detecting apparatus 603 is mounted. 702-709, 801, 902-909 Contact force detector 802 A / D converter 803 Voltage-force converter 804 Synthesis operation circuit 805 Force-speed converter 806 Inverse kinematics calculation unit 807 Drive motor 808 D / A converter 809 Drive amplifier 810 Pulse generator 1002 Cover 1003-1010 Spring 1011-1018 Length measuring device

Claims (7)

[Claims] 1. A steering input device for a mobile trolley for causing the mobile trolley to travel on the basis of a teacher's intention, wherein the mobile trolley can be separated from the mobile trolley by wire or wireless and can be remotely operated. A command input means capable of inputting a speed of one degree of freedom around the vertical axis and a degree of freedom; and a relative attitude measuring means around the vertical axis between the movable trolley and the command input means, based on the relative attitude. A remote control device for a mobile trolley, wherein a direction of a translation speed command of said command input means is calculated. 2. The remote control device for a mobile trolley according to claim 1, wherein said relative attitude measuring means uses two gyro sensors mounted on the trolley and the command input means, respectively. 3. The command input means according to claim 1, wherein said command input means comprises:
3. The remote control device for a mobile trolley according to claim 1, further comprising a speed input grip having a degree of freedom and a turning angular speed input knob around a vertical axis, which can be easily operated with one hand. 4. A steering input device for a mobile trolley for causing the mobile trolley to travel on the basis of a teacher's intention, wherein a plurality of contact force detecting devices for detecting an external contact force are arranged on an outer periphery of the mobile trolley. A steering input device for a mobile trolley, wherein at the time of input, a teacher directly applies a force to the mobile trolley to operate the mobile trolley based on the position of the detection device and its information. 5. The steering input device for a movable trolley according to claim 4, wherein the movable trolley is an omnidirectional movable trolley. 6. The steering input device according to claim 4, wherein the contact force detecting device is a device capable of converting pressure into a resistance value. 7. The contact force detecting device according to claim 4, wherein the contact force detecting device is a device for measuring a distance between the bogie main body and a cover put around the bogie main body. A steering input device for a mobile trolley according to claim 1.