JP2013123940A - Device, method and program of controlling movable body, and movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To release a lock mechanism only by grasping a handle while preventing release of lock by a child.SOLUTION: A control device installed to a movable body, which moves using operation by an operator as power, monitors a plurality of sensors for detecting whether or not the operator touches the operation portion of the movable body, and stores the size of a hand of the operator based on the detection situation of the plurality of sensors when the operator touches the operation portion for operating the same. The control device monitors the detection situation of the plurality of sensors, and when checking touch by a hand of the same size with or a larger size than the stored size of the hand of the operator, releases or partially releases the lock mechanism which brings the movable body in an immovable state, to bring the movable body in a movable state.

Description

  The present invention relates to movement control of a moving body such as a vehicle.

  Generally, in a vehicle such as a baby stroller, a lock mechanism such as a brake or a wheel stopper is used as a wheel fixing device. These lock mechanisms operate in response to an operation such as a user grasping a lever provided on the handle. Therefore, the user had to always hold the lever when fixing the wheel.

However, it is conceivable that the user suddenly releases the hand due to a sudden event, and in such a case, these lock mechanisms cannot cope.
There was also an accident where a stroller fell from the train platform to the track just after a short look.

  In order to prevent such a situation, an apparatus that prevents the vehicle from moving when the handle is not grasped by hand is also conceivable. For example, as a device that does not move when the handle is not grasped with a hand, a brake that releases the brake when the handle used at an airport or the like is pushed down is already used.

  However, when using it, force must always be applied, and it is not practical to mount it in a stroller that requires ease of movement.

  On the other hand, there are products that connect the stroller and the guardian, such as a strap that connects the handle and the wrist, but these prevent the stroller from going far, and cannot fix the wheel of the stroller.

  Moreover, since the strap is connected to the hand, there is a problem that the action of the parent's hand is restricted.

  In order to solve these problems, techniques described in Patent Document 1 and Patent Document 2 have been proposed.

  In Patent Document 1, an electric baby stroller is proposed, which is characterized in that the baby stroller moves while holding the lever and stops when the lever is released.

  In addition, a system for controlling a brake based on whether or not an assistant touches a handle as in Patent Document 2 has been proposed.

JP 2011-68336 A JP 2010-75534 A JP 2001-130389 A

“Ministry of Economy, Trade and Industry, Human Character Infrastructure Development Project (size-JPN 2004-2006)” [online] November 10, 2011 Search Internet <http://www.meti.go.jp/press/20071001007/004_bessi. pdf> “Research Center for Human Life Engineering, Child Dimension Database 2008” [online] November 10, 2011 Search Internet <http://www.hql.jp/research/before/pdf/children_data2008.pdf>

  By using the techniques described in Patent Document 1 and Patent Document 2 described above, the object of making the vehicle immovable can be achieved when the lever or the handle is not grasped. However, these technologies have the following problems.

  First, problems of the technique described in Patent Document 1 will be described.

  First, since anyone can operate, there is a problem that even a child can easily operate.

  In this case, since the position of the handle is high with respect to the height of the child, the operation of the child is very dangerous, such as the possibility of falling over without being able to confirm the front, and excessive speed.

  Secondly, the electric stroller directly rotates the axle so that it is not suitable for fine operation.

  In the technique disclosed in Patent Document 1, when a lever is gripped, the drive motor rotates and the stroller is moved using the rotation of the drive motor as power. Further, when the lever is released, the drive motor is stopped, and the stroller cannot be easily moved by the resistance of the stopped drive motor.

  However, in such a configuration, if the drive motor stops due to insufficient power, the stroller cannot always move easily.

  In this case, by separating the wheel and the drive motor, it is possible to travel freely regardless of the state of the drive motor, and the stroller can be moved by human power.

  However, in the free running state, there is a third problem that the stroller cannot be stopped using the resistance of the stopped drive motor.

  Next, problems of the technique described in Patent Document 2 will be described.

  1stly, since a brake will be released if a sensor reacts like patent documents 1, it is usable even if an operator (assistant) is a child.

  Since the position of the handle is high with respect to the height of the child, the child's operation is very dangerous, such as the possibility of falling over without being able to confirm the front, and the possibility of overspeeding.

  Secondly, there is a possibility that the brake may be released due to malfunction when an object is put on the handle.

  In general, umbrellas and shopping bags may be hung on the handle, and it is impossible to distinguish them from assistants (assistant) who push the wheelchair. The danger of endangering cannot be excluded.

  Therefore, the present invention provides a mobile body control device, a mobile body control method, a mobile body control program, and a mobile body control device that can release the lock mechanism only by grasping the handle and prevent the unlocking by a child. The object is to provide a moving body.

  According to a first aspect of the present invention, there is provided a control device that is attached to a moving body that moves by using an operation by an operator as a power, and detects whether or not the operator is in contact with an operation unit of the moving body. A plurality of sensors for monitoring and storing the size of the operator's hand based on the detection status of the plurality of sensors when the operator contacts the operation unit to perform an operation And the detection status of the plurality of sensors, and when the contact with the hand of the same size as the stored operator's hand or a larger hand can be confirmed, the moving body cannot be moved. There is provided a control device comprising: a control unit that releases or semi-releases the lock mechanism that is in a state to make the movable body movable.

  According to a second aspect of the present invention, there is provided a moving body that moves by using an operation by an operator as a motive power, the locking mechanism that makes the moving body in an unmovable state, and the operator operates the operating unit of the moving body. And a control device connected to the lock mechanism and the plurality of sensors, and the control device is provided according to the first aspect of the present invention. A moving body is provided that is a control device.

  According to a third aspect of the present invention, there is provided a control method performed by a control device for a moving body that moves by using an operation by an operator as a power, and whether or not the operator is in contact with an operation unit of the moving body. A plurality of sensors for detecting the operator are monitored, and the size of the operator's hand is stored based on the detection status of the plurality of sensors when the operator contacts the operation unit to perform an operation. And the detection state of the plurality of sensors is monitored, and the moving body is moved when contact with a hand having the same size as the stored operator's hand or a larger hand is confirmed. A control method is provided, comprising: a control step of releasing or semi-releasing the lock mechanism in a disabled state and setting the movable body in a movable state.

  According to a fourth aspect of the present invention, there is provided a control program for causing a computer to function as a control device that is attached to a moving body that moves using power from an operation by an operator. Monitoring a plurality of sensors for detecting whether or not they are in contact with the operation unit, based on the detection status of the plurality of sensors when the operator contacts the operation unit to perform the operation, Storage means for storing the size of the operator's hand and the detection status of the plurality of sensors are monitored, and contact with a hand of the same size as the stored operator's hand or a larger hand is confirmed. And a control unit that releases or half-releases the lock mechanism that makes the movable body immovable when it is made, and makes the movable body movable. Control program is provided, wherein.

  According to the present invention, the lock mechanism can be released only by grasping the handle, and it is possible to prevent the child from releasing the lock.

It is a figure showing the basic composition of the embodiment of the present invention. It is a figure showing the basic composition at the time of mounting the embodiment of the present invention in the stroller. It is a figure showing the 1st example of arrangement at the time of mounting an embodiment of the present invention in a handle. It is a figure showing the cross section at the time of mounting embodiment of invention to a handle | steering-wheel. It is a flowchart showing the fundamental operation | movement at the time of registration in embodiment of this invention. It is a flowchart showing the basic operation at the time of use in embodiment of this invention. It is a figure showing the basic composition of the 1st modification of an embodiment of the present invention. It is a figure showing the 2nd example of arrangement | positioning at the time of mounting embodiment of this invention in a handle | steering-wheel. It is a figure showing the 3rd example of arrangement at the time of mounting an embodiment of the present invention in a handle. It is a figure showing the fundamental structure of the 3rd modification of embodiment of this invention.

  Next, embodiments of the present invention will be described in detail with reference to the drawings.

  First, referring to FIG. 1, a control device 200 according to the present embodiment includes a control unit 201, a battery 202, and a storage unit 203. Furthermore, the control device 200 is connected to the lock mechanism 300 and a plurality of sensors. In this description, as a plurality of sensors, a sensor 101, a sensor 102, a sensor 10N, a sensor 111, a sensor 112, a sensor 11M, a sensor 121, a sensor 122, a sensor 12N, a sensor 131, a sensor 132, and a sensor 13M are illustrated. In the following description, all these sensors are individually referred to as “each sensor”. In this description, twelve sensors are illustrated for convenience, but this is not intended to limit the number of sensors in the present embodiment. The number of sensors in the present embodiment can be any number.

  Each of these sensors is used to determine whether a person is holding the handle. Each of these sensors is a sensor electrode of a touch switch conforming to a capacitance method that detects a change in capacitance, and functions as a detection unit for detecting a user's contact.

  In this respect, there are many methods for realizing sensors for detecting contact in this way, and each sensor can be realized by any method as long as it does not depart from the gist of the present invention. In this description, as described above, it is assumed to be realized by a sensor of a touch switch compliant with the capacitance method.

  This is because, when a capacitive touch switch is employed, clothes that do not have a capacitance do not react, and malfunctions can be suppressed.

  The sensor electrode of the capacitive touch switch can be made of a material such as a conductive tape that can be arranged thinly on a curved surface and that can easily measure a change in capacitance.

  Various methods for realizing the capacitive touch switch have been proposed. In this embodiment, a method that requires one electrode for one switch, such as a relaxation oscillation method, is not limited. Can be adopted. In addition, since specific techniques for realizing each of these sensors are well known to those skilled in the art, description thereof is omitted in this specification.

  The control unit 201 monitors the change in capacitance of each sensor, and determines that a person is touching the sensor when a change in capacitance greater than or equal to the threshold is detected. In this description, a state where it can be determined that a person is touching the sensor is referred to as “ON”, and a state where it is not possible to determine that a person is touching the sensor is referred to as “OFF”.

  This threshold value is a value that is arbitrarily set and changed according to various conditions such as the mounted sensor, changes in the surrounding environment, the thickness of the handle disposed on the electrode, and the size of the electrode.

  If the threshold value is too small, it may be determined that the state of no contact is ON. Also, if the threshold is too large, it may not be recognized as touching when the amount of change is small due to the thickness of the handle or the like. In order to prevent such a malfunction, this threshold value is determined by tuning according to various conditions such as the material and thickness of the handle.

  Next, a specific mounting method of this embodiment will be described with reference to FIG.

  Referring to FIG. 2, a stroller 1 that is an implementation example of the present embodiment is shown. Here, the stroller 1 includes a handle 10, a vehicle body 11, and wheels 12.

  The sensors and the control device 200 described above are mounted on the handle 10. Each sensor and the control device 200 can be mounted on the handle 10, but a part or all of the control device 200 may be mounted on a portion other than the handle 10. For example, the battery 202 may be disposed under the vehicle body 11 (under the seating surface) or the like.

  In addition, although the example which implement | achieves this embodiment with a stroller is shown in this description, this embodiment may be implement | achieved by another vehicle. Specifically, it may be realized by a wheelchair or a cart. In other words, the present embodiment can be realized by an arbitrary moving body as long as it is a moving body that uses a part of or all of the power that a human moves. For example, a cart for moving elderly people or a cart for carrying luggage may be used.

  Next, the outline of the operation of the embodiment of the present invention will be described.

  As described above, the present embodiment includes the handle 10 and the wheels 12 that control the vehicle body 11. And in the baby stroller 1 for carrying an infant, a sensor for detecting a person is incorporated in the handle 10, and the wheel freely moves while an adult is holding the handle, and the wheel is automatically fixed when the hand is released. Is.

  Specifically, in the stroller 1, it is determined whether or not a person is holding the handle 10 on the handle 10 portion of the stroller 1 instead of the function of manually controlling the wheel 12 such as a general hand brake or a wheel stopper. A plurality of capacitive touch sensors are arranged.

  In addition, in order to measure the size of the user's hand, capacitive touch sensors are arranged in a grid, and whether the measured size of the user's hand matches the stored size of the hand. Determine. The stroller wheel is unlocked without applying any special action or force by controlling the mechanism for mechanically fixing the wheel such as a brake based on the determined result using a sensor signal.

  When a person does not hold the handle 10, or when it is considered that the child is operating smaller than the stored hand size, a sensor signal is mechanically sent to the mechanism such as a wheel such as a brake, Fix the wheels.

  The above is the outline of the embodiment of the present invention.

  Next, a specific arrangement example when the sensors and the control device 200 are arranged on the handle will be described with reference to FIGS. 3 and 4.

  In the arrangement example shown in FIG. 3, the control device 200 is arranged at the center of the handle 10. Further, the sensor 101, the sensor 102, and the sensor 10 </ b> N are arranged so as to go around the handle 10 while being spaced apart in the vertical direction of the handle 10 on the left side of the control device 200. In the figure, the sensors 103 to 10N-1 arranged at equal intervals between the sensor 102 and the sensor 10N are not shown.

  Similarly, on the left side of the control device 200, the sensor 111, the sensor 112, and the sensor 11M are arranged so as to go around the handle 10 while being spaced apart in the horizontal direction of the handle 10. In the figure, the sensors 113 to 11M-1 arranged at equal intervals between the sensor 112 and the sensor 11M are not shown.

  On the right side of the control device 200, the sensor 121, the sensor 122, and the sensor 12N are arranged at equal intervals so as to go around the handle 10 while being spaced apart in the vertical direction of the handle 10. In the figure, the sensors 123 to 12N-1 arranged at equal intervals between the sensor 122 and the sensor 12N are not shown.

  Similarly, on the right side of the control device 200, the sensor 131, the sensor 132, and the sensor 13M are arranged at equal intervals so as to go around the handle 10 while being spaced apart in the horizontal direction of the handle 10. In the drawing, the illustration of the sensors 133 to 13M-1 arranged at equal intervals between the sensor 132 and the sensor 13M is omitted.

  FIG. 4 shows an example in which the grip of the handle 10 is viewed from a cross section.

  The sensor 101, the sensor 102, and the sensor 10N are disposed so as to intersect the sensor 111, the sensor 112, and the sensor 11M substantially perpendicularly. In the figure, the sensors 103 to 10N-1 arranged at equal intervals between the sensor 102 and the sensor 10N are not shown.

  Similarly, the sensor 121, the sensor 122, and the sensor 12N (not shown) are disposed so as to intersect the sensor 131, the sensor 132, and the sensor 13M substantially perpendicularly.

  The number N of sensor electrodes is a variable determined by the length of the handle 10, the sensor installation interval and the sensor electrode thickness, and the sensor electrode arrangement number M is the handle 10 thickness, the sensor electrode installation interval and the sensor electrode. It is a variable determined by the thickness.

  Here, the thickness of the sensor and the installation interval of the sensor electrodes are examined based on specific numerical values.

  According to Non-Patent Document 1, which is human body dimension data published by the Ministry of Economy, Trade and Industry, the average width of female hands is about 7 cm and that of males is about 8 cm. Furthermore, referring to Non-Patent Document 2, which is the width of a child published by the Research Center for Human Life Engineering, the average was about 6 cm in the lower grades of elementary school. For these reasons, in order to distinguish an adult woman and a child in the lower grades of an elementary school, it is necessary to determine a difference of 1 cm in the width direction by a capacitance sensor. For this purpose, in consideration of the difference in the position in the width direction where the hand is placed, it is desirable to arrange the electrodes so that three or more points can be sampled per 1 cm.

  In addition, the accuracy of hand size detection is improved as the thickness of each sensor electrode is thinner.

  Considering these points, it is preferable that the width of the electrode is 3 mm or less, and the distance between the electrodes is about 0.5 mm to 1 mm recommended in the slider arrangement using the capacitive touch switch.

  Next, the control unit 201, the battery 202, the storage unit 203, and the lock mechanism 300 will be described.

  The control unit 201 monitors the state of each sensor arranged on the handle 10 of the stroller 1. Then, the state of the handle 10 is determined from the monitoring result, and the lock state of the wheel 12 is determined. Then, the lock mechanism 300 is operated according to the determination.

  The battery 202 is a rechargeable secondary battery, which can supply power to the control unit 201 alone. The battery 202 may be built in the vehicle body 11 at all times, but is preferably removable from the viewpoint of user convenience. For example, it is preferable that the battery 202 is removed from the stroller 1 and charged from a household outlet or the like.

  This is a function already realized by a secondary battery that is generally sold and a battery that is used in a battery-assisted bicycle.

  The storage unit 203 is a place for storing the size of a hand as a reference, and is controlled by the control unit 201. For example, the storage unit 203 is realized by a storage medium such as a flash memory, an EEPROM, or an SRAM (Static Random Access Memory) backed up by a battery.

  The lock mechanism 300 is a mechanism for locking or releasing the wheel 12. The lock mechanism 300 may have any structure, and may be locked or released in any way. The lock mechanism 300 is, for example, a method of locking a wheel 12 by installing a stopper on one wheel 12 used in a marketed product, or controlling the wire to brake the wheel 12 by a disc brake or a drum brake. It is realized by the method. Moreover, you may use the method etc. which control the parallel wheel 12 simultaneously by one operation as described in patent document 3. FIG.

  In this embodiment, it is assumed that the lock mechanism 300 can bring the wheel 12 into a three-stage state. Specifically, the “release state” in which no locking is performed on the wheel 12, the “lock state” in which the wheel 12 cannot be moved, and a predetermined load applied to the wheel 12 to move the wheel 12, but the speed is There can be three states, a “half-locked state” that does not come out.

  Next, the operation of this embodiment will be described with reference to FIG.

  FIG. 5 is a diagram illustrating an operation at the time of initialization in the present embodiment, and is performed when a user is registered. This operation is started by an operation by the user. Specifically, the operation is started when an operation is accepted by an operation unit provided in one of the strollers 1. Note that the operation may be started not when the operation is received from the user but when the battery 202 is connected, for example. Further, each sensor may detect that the handle is gripped by a predetermined method, and the operation may be started with this detection as a trigger.

  First, the control unit 201 reads all the sensor signals of each sensor in a situation where the user is holding the handle 10 (step S401).

  And the control part 201 determines the magnitude | size of a user's hand from the result of ON and OFF of each sensor (step S402).

  Here, in order to measure the size of the user's hand, it is counted that there are a maximum number of consecutive sensor ON locations using the fact that the sensor where the hand is touching is ON. do it.

  Since the width and interval of the sensor electrodes are known to the control unit 201, the size of the hand can be calculated if the continuous number of ONs is known.

  The length of the hand is determined by counting the number of consecutive ONs among the sensor 101, the sensor 102 and the sensor 10N or the sensor 121, the sensor 122 and the sensor 12N, and the sensor 111, the sensor 112 and the sensor 11M or the sensor 131, The lateral width of the hand is determined by counting the number of consecutive ONs in the sensor 132 and the sensor 13M, and is set as the size of the hand.

  Next, the control unit 201 stores the determined hand length and width information in the storage unit 203 (step S403), and ends the operation at the time of initialization. Although it is possible to store only the size of one hand, in this explanation, the size of each of the right hand and the left hand is stored.

  Next, a control method when the stroller 1 is used will be described with reference to the flowchart of FIG.

  When the control of the stroller 1 is started, the control unit 201 reads the state of each sensor (step S501). Then, it is confirmed whether even one sensor is ON (step S502).

  If all the sensors are OFF (No in step S502), it is determined that no one is holding the handle 10 (step S509). And the control part 201 controls the locking mechanism 300, and locks the wheel 12 (step S515).

  On the other hand, if it is confirmed in step S502 that one or more sensors are ON (Yes in step S502), the sensor 101, the sensor 102, the sensor 10N, the sensor 111, and the sensor arranged on the left side of the control device 200 are detected. The sensor which is ON among 112 and the sensor 11M is read. Then, the size of the left hand is calculated based on the read content (step S503).

  Next, the size of the left hand calculated in step S503 is compared with the size of the left hand recorded in the storage unit 203 (step S504).

  As a result of the comparison, when the size of the left hand calculated in step S503 matches the size of the left hand recorded in the storage unit 203, or the size of the left hand calculated in step S503 is recorded in the storage unit 203. When it is larger than the left hand (Yes in step S504), the process proceeds to step S505.

  In step S505, the sensor that is ON among the sensors 121, 122, 12N, 131, 132, and 13M arranged on the right side of the control device 200 is read. Then, the size of the right hand is calculated based on the read content (step S505).

  Next, the size of the right hand calculated in step S505 is compared with the size of the right hand recorded in the storage unit 203 (step S506).

  As a result of the comparison, when the size of the right hand calculated in step S505 matches the size of the right hand recorded in the storage unit 203, or the size of the right hand calculated in step S503 is recorded in the storage unit 203. If it is larger than the left hand (Yes in step S506), the process proceeds to step S507.

  In step S507, it is determined that the adult is holding the handle 10 with both hands (step S507).

  Therefore, the control unit 201 controls the lock mechanism 300 to release the lock of the wheel 12 (step S508).

  On the other hand, when the size of the left hand calculated in step S503 is smaller than the size of the left hand stored in the storage unit 203 in step S504 (No in step S504), the process proceeds to step S510.

  In step S510, the sensor that is ON among the sensors 121, 122, 12N, 131, 132, and 13M arranged on the right side of the control device 200 is read. Then, the size of the right hand is calculated based on the read content (step S510).

  Next, the size of the right hand calculated in step S510 is compared with the size of the right hand recorded in the storage unit 203 (step S511).

  As a result of comparison, when the size of the right hand calculated in step S510 matches the size of the right hand recorded in the storage unit 203, or the size of the right hand calculated in step S503 is recorded in the storage unit 203. If it is larger than the left hand (Yes in step S511), the process proceeds to step S513. On the other hand, when the size of the right hand calculated in step S510 is smaller than the size of the right hand recorded in the storage unit 203 (No in step S511), it is determined that it is not an adult who is grasping the handle 10 (step S511). S512). And the control part 201 controls the locking mechanism 300, and makes the wheel 12 into a locked state (step S515).

  On the other hand, when the size of the right hand calculated in step S510 matches the size of the right hand recorded in the storage unit 203 or the size of the right hand calculated in step S503 is greater than that of the left hand recorded in the storage unit 203. Is larger (Yes in step S511), and when the size of the right hand calculated in step S506 is smaller than the size of the right hand recorded in the storage unit 203 (No in step S506), the adult handles with one hand. 10 is judged (step S513). Then, the control unit 201 controls the lock mechanism 300 to place the wheel 12 in a semi-locked state so that the speed does not come out (step S514).

  In the present embodiment described above, when a child has a small hand or when a load is hanging on the handle portion, it is determined that the hand does not coincide with the size of the hand stored in the storage unit 203, so that malfunction is prevented. It becomes possible to do.

  Depending on the number of sensors that are ON, the size of the left hand or right hand may not be calculated. For example, in step S503, when none of the sensor 101, the sensor 102, the sensor 10N, the sensor 111, the sensor 112, and the sensor 11M is ON, or when the hand size cannot be calculated (only one sensor is Etc.). In this case, since it does not coincide with the size of the left hand recorded in the storage unit 203 or does not become larger than the size of the left hand recorded in the storage unit 203, it is determined No in step S504. Similarly, if the size of the right hand cannot be calculated in step S505 or step S510, No is determined in step S505 or step S510, respectively.

  Further, in the present embodiment, the size of the left hand is first calculated and the size of the right hand is calculated after comparison, but the processing may be performed in the reverse order. That is, the size of the right hand may be calculated first, and the size of the left hand may be calculated after comparison. Furthermore, when it is determined in step S513 that an adult is holding the handle 10 with one hand, the lock state may be set to a complete lock state instead of the half lock state.

  As a modified example of the above-described embodiment, an embodiment in which the arrangement of each sensor and the control device 200 is changed will be described.

  Referring to FIG. 7, the control device 200 of this modification is connected to a sensor 601, a sensor 602, a sensor 60N, a sensor 611, a sensor 612, and a sensor 61M.

  In the arrangement example shown in FIG. 3, the control device 200 is arranged at the center of the handle 10. However, referring to FIG. 8, the control device 200 is arranged on the right side of the handle 10.

  By arranging in this way, detection by the sensor can be performed even when the handle 10 is gripped near the center.

  In the arrangement example of FIG. 8, the control device 200 is arranged on the right side of the handle 10, but may be arranged on the left side of the handle 10.

  Furthermore, you may arrange | position the control apparatus 200 to the left and right of the handle | steering-wheel 10, respectively. In this case, the left and right control devices 200 detect the right hand and the left hand, respectively. Then, when both the control devices 200 are detecting, the lock mechanism 300 is set to the released state.

  Next, an arrangement example in the stroller 1 having a different handle shape will be described with reference to FIG.

  The stroller 1 has a shape in which the handle portion of the handle is divided on both sides, and an arrangement example in which the control device 200 controls the sensors arranged in each handle portion as shown in FIG. 9 can be considered.

  In FIG. 9, the control device 200 is arranged at the center of both the handles 10, but the arrangement location is not limited to the center and can be arranged at an arbitrary location. For example, the control device 200 may be disposed on each of the left and right handles 10.

  Furthermore, a control device 700 that is a modification of the control device 200 will be described.

  Referring to FIG. 10, the control device 700 includes a control unit 701, a battery 702, a storage unit 703, a power switch 704, and a notification device 705.

  The control unit 701, the battery 702, and the storage unit 703 operate in the same manner as the control unit 201, the battery 202, and the storage unit 203, respectively.

  The notification device 705 is a device for transmitting information to the user, and is realized by, for example, a display device such as an LED (Light Emitting Diode) or an audio output device such as a buzzer.

  The power switch 704 is a switch that controls the battery 702. The power switch 704 corresponds to “instruction receiving means” of the present invention.

  The notification device 705 monitors the state of charge of the battery 702 and transmits it to the user. In particular, the fact that the battery 702 has reached the charging time is transmitted.

  As shown in FIG. 2, the handle 10 of the stroller 1 is located behind the seating surface. However, it is also possible to adopt a structure in which the handle 10 is movable and the handle 10 can be moved to the front surface of the seating surface. That is, the handle 10 has a function of switching to the face-to-face type. In this case, the visual direction of the user with respect to the handle 10 is reversed.

  As easily seen either case therefore, the notification device 705 is preferably disposed in the vicinity of the handle middle portion.

  The power switch 704 prevents the battery 702 from being consumed by cutting off the power supply to the control unit 701 when the stroller 1 is not used.

  The control unit 701 that is cut off from the power supply enters a non-operating state. And when the control part 701 is a non-operation state, the lock mechanism 300 keeps the wheel 12 in a locked state.

  The power switch 704 is preferably in a position where the user can operate it, but may be automatically switched by opening and closing the stroller 1. That is, when the stroller 1 is folded, the power supply may be automatically cut off.

  In FIG. 10, the control device 700 is similar to FIG. 1 in that the sensor 101, the sensor 102, the sensor 10N, the sensor 111, the sensor 112, the sensor 11M, the sensor 121, the sensor 122, the sensor 12N, the sensor 131, the sensor 132, and the sensor 13M. Connected with. By modifying this, the control device 700 may be connected to the sensor 601, the sensor 602, the sensor 60N, the sensor 611, the sensor 612, and the sensor 61M as in FIG.

  As another application example, it is conceivable that the detection sensor uses a pressure sensor instead of a capacitance sensor. In the case of a pressure sensor, it can be sensed that a hand is grasped from a change in pressure.

  In this case, since the pressure changes depending on the gripping strength, the wheel control can be changed according to the threshold value, which can be divided into strong, medium and weak.

  For example, if it is strong, it can be considered that the operator is pulling the stroller, and it is considered that the operator is going down a hill, and the lock mechanism 300 controls the speed of the stroller so that the wheels are in a semi-locked state. And change.

  When each sensor is weak, it is considered that the handle is lightly gripped and does not require a rapid operation. Similarly, the lock mechanism 300 changes the wheel to a semi-locked state, and the stroller To control the speed.

  Although the case of a pressure sensor has been described as an application example, the detection sensor is not limited to this, and a thermistor, a human body sensor, or the like may be used.

  Although the present invention has been described with respect to a stroller, the present invention is not limited to this, and can be applied to a moving body that moves by being pushed by a person such as a wheelchair or a carriage.

  In the above description, the handle 10 is described as being linear, but the handle 10 may be curved.

  Furthermore, although the above-described embodiment is a preferred embodiment of the present invention, the scope of the present invention is not limited only to the above-described embodiment, and various modifications are made without departing from the gist of the present invention. Implementation in the form is possible.

  As described above, the embodiment of the present invention has many effects as described below.

  The first effect is that the stroller can be prevented from moving without permission even when the user suddenly releases the hand.

  The reason is that it has a function of automatically locking the wheel when the user does not hold the handle.

  The second effect is that it is not necessary to perform a special operation compared to a brake or a stopper, and can be fixed quickly.

  The reason is that the stroller is fixed simply by removing the hand from the handle.

  The third effect is that it is not necessary to apply an extra force compared to a brake or a stopper.

  The reason is that the lock mechanism is controlled by whether or not the user is holding the handle.

  The fourth effect is that user mistakes such as forgetting to use the stopper can be eliminated.

  The reason is that the stroller is fixed simply by removing the hand from the handle.

  The fifth effect is that, when fixing like a brake, it is not always necessary to hold the brake and the hand becomes free.

  The reason is that the wheel lock can be released only when the user is holding the handle.

  The sixth effect is that the hand can move freely and easily deal with the surrounding situation.

  The reason is that it is not necessary to always connect the hand and the stroller with a strap or the like when fixing.

  The seventh effect is that the baby stroller is fixed and safe even when touched by a child.

  The reason is that a plurality of sensors are installed to discriminate between adults and children.

  The eighth effect is that it can be determined whether or not it is grasped reliably, and malfunction can be prevented.

  The reason is that a plurality of sensors are installed at the top and bottom of the handle for determination.

  The ninth effect is that it can be locked in peace without taking your eyes off the infant.

  The reason is that since the sensor unit is installed on the handle unit, the user does not have to look down or squat down to lock the wheel.

  The tenth effect is that the actual user's hand size can be used as a reference, and even an adult with a hand smaller than the average can be used.

  This is because the threshold value set in advance by the manufacturer or the like is not used, but the size of the user's hand itself can be detected and used as the threshold value.

  The control device 200, the control device 700, the stroller 1 and other devices described above can be realized by hardware, software, or a combination thereof. The control method performed by the control device 200, the control device 700, the stroller 1 and other devices can also be realized by hardware, software, or a combination thereof. Here, “realized by software” means realized by a computer reading and executing a program.

  The program may be stored using various types of non-transitory computer readable media and supplied to the computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD- R, CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)). The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

  A part or all of the above-described embodiment can be described as in the following supplementary notes, but is not limited thereto.

(Additional remark 1) It is a control apparatus attached to the moving body which moves by operation by an operator as motive power,
The plurality of sensors for detecting whether or not the operator is in contact with the operation unit of the moving body and monitoring the plurality of sensors when the operator contacts the operation unit for operation Storage means for storing the size of the operator's hand based on the detection status of
The detection status of the plurality of sensors is monitored, and when the contact with the hand of the same size as the stored operator's hand or a contact with a larger hand can be confirmed, the moving body is in a state incapable of moving. Control means for releasing or semi-releasing the lock mechanism and making the movable body movable;
A control device comprising:

(Supplementary note 2) The control device according to supplementary note 1, wherein
The storage means stores the right hand size and the left hand size of the operator,
The control means includes a first confirmation for confirming contact with a hand having a size equal to or larger than the stored size of the right hand, and a hand having a size equal to or greater than the size of the stored left hand. The control device is characterized in that the lock mechanism is released when both of the second confirmations for confirming the contact by means of the above are confirmed.

(Supplementary note 3) The control device according to supplementary note 1 or 2, wherein
The storage means stores the right hand size and the left hand size of the operator,
The control means includes a first confirmation for confirming contact with a hand having a size equal to or larger than the stored size of the right hand, and a hand having a size equal to or greater than the size of the stored left hand. If only one of the second confirmation for confirming the contact by means of the above is confirmed, the lock mechanism is half-released and the movable body can be moved, but a predetermined load is applied by the lock mechanism. A control device characterized by being in a state.

(Appendix 4) The control device according to any one of appendices 1 to 3,
In the operation unit, a plurality of first sensors provided on a substantially straight line in the first direction are installed at intervals in a second direction which is a direction substantially perpendicular to the first direction. In addition,
In the operation unit, a plurality of second sensors provided substantially linearly in the second direction are installed at intervals in the first direction,
The width of the operator's hand is calculated based on the detection status of one of the plurality of first sensors and the plurality of second sensors, and the length of the operator's hand is calculated based on the other detection status. A control device for calculating the size of the operator's hand by calculating the height.

(Supplementary note 5) The control device according to any one of supplementary notes 1 to 4,
An instruction receiving means for receiving an instruction from the user;
When the instruction accepting unit accepts the instruction, the lock mechanism is not released even when contact with a hand having the same size as the stored operator's hand or a larger hand can be confirmed. A control device characterized by.

(Supplementary Note 6) A moving body that moves with an operation by an operator as power,
A lock mechanism for making the movable body immovable;
A plurality of sensors for detecting whether or not the operator is in contact with the operation unit of the movable body;
A control device connected to the locking mechanism and the plurality of sensors;
With
A moving body, wherein the control device is the control device according to any one of appendices 1 to 5.

(Supplementary Note 7) A control method performed by a control device for a moving body that moves using an operation by an operator as power,
The plurality of sensors for detecting whether or not the operator is in contact with the operation unit of the moving body and monitoring the plurality of sensors when the operator contacts the operation unit for operation A storage step of storing the size of the operator's hand based on the detection status of
The detection status of the plurality of sensors is monitored, and when the contact with the hand of the same size as the stored operator's hand or a contact with a larger hand can be confirmed, the moving body is in a state incapable of moving. A control step for releasing the lock mechanism and making the movable body movable;
A control method characterized by comprising:

(Additional remark 8) It is a control program for functioning a computer as a control apparatus attached to the moving body which moves by operation by an operator as motive power,
The computer monitors a plurality of sensors for detecting whether or not the operator is in contact with the operation unit of the moving body, and the operator is in contact with the operation unit to perform the operation. Storage means for storing the size of the operator's hand based on the detection status of a plurality of sensors;
The detection status of the plurality of sensors is monitored, and when the contact with the hand of the same size as the stored operator's hand or a contact with a larger hand can be confirmed, the moving body is in a state incapable of moving. Control means for releasing the lock mechanism and making the movable body movable;
A control program that functions as a control device comprising:

1 Stroller 10 Handle 11 Car body 12 Wheel 101, 102, 10N, 111, 112, 11M, 121, 122, 12N, 131, 132, 13M, 601, 602, 60N, 611, 612, 61M Sensor 200, 700 Control device 201 , 701 Control unit 202, 702 Battery 203, 703 Storage unit 300 Lock mechanism 704 Power switch 705 Notification device

Claims (8)

A control device that is attached to a moving body that moves using power from an operation by an operator,
The plurality of sensors for detecting whether or not the operator is in contact with the operation unit of the moving body and monitoring the plurality of sensors when the operator contacts the operation unit for operation Storage means for storing the size of the operator's hand based on the detection status of
The detection status of the plurality of sensors is monitored, and when the contact with the hand of the same size as the stored operator's hand or a contact with a larger hand can be confirmed, the moving body is in a state incapable of moving. Control means for releasing or semi-releasing the lock mechanism and making the movable body movable;
A control device comprising: The control device according to claim 1,
The storage means stores the right hand size and the left hand size of the operator,
The control means includes a first confirmation for confirming contact with a hand having a size equal to or larger than the stored size of the right hand, and a hand having a size equal to or greater than the size of the stored left hand. The control device is characterized in that the lock mechanism is released when both of the second confirmations for confirming the contact by means of the above are confirmed. The control device according to claim 1 or 2,
The storage means stores the right hand size and the left hand size of the operator,
The control means includes a first confirmation for confirming contact with a hand having a size equal to or larger than the stored size of the right hand, and a hand having a size equal to or greater than the size of the stored left hand. If only one of the second confirmation for confirming the contact by means of the above is confirmed, the lock mechanism is half-released and the movable body can be moved, but a predetermined load is applied by the lock mechanism. A control device characterized by being in a state. The control device according to any one of claims 1 to 3,
In the operation unit, a plurality of first sensors provided on a substantially straight line in the first direction are installed at intervals in a second direction which is a direction substantially perpendicular to the first direction. In addition,
In the operation unit, a plurality of second sensors provided substantially linearly in the second direction are installed at intervals in the first direction,
The width of the operator's hand is calculated based on the detection status of one of the plurality of first sensors and the plurality of second sensors, and the length of the operator's hand is calculated based on the other detection status. A control device for calculating the size of the operator's hand by calculating the height. The control device according to any one of claims 1 to 4,
An instruction receiving means for receiving an instruction from the user;
When the instruction accepting unit accepts the instruction, the lock mechanism is not released even when contact with a hand having the same size as the stored operator's hand or a larger hand can be confirmed. A control device characterized by. A moving body that moves with the operation of the operator as power,
A lock mechanism for making the movable body immovable;
A plurality of sensors for detecting whether or not the operator is in contact with the operation unit of the movable body;
A control device connected to the locking mechanism and the plurality of sensors;
With
A moving body, wherein the control device is the control device according to any one of claims 1 to 5. A control method performed by a control device for a moving body that moves using power from an operation by an operator,
The plurality of sensors for detecting whether or not the operator is in contact with the operation unit of the moving body and monitoring the plurality of sensors when the operator contacts the operation unit for operation A storage step of storing the size of the operator's hand based on the detection status of
The detection status of the plurality of sensors is monitored, and when the contact with the hand of the same size as the stored operator's hand or a contact with a larger hand can be confirmed, the moving body is in a state incapable of moving. A control step for releasing the lock mechanism and making the movable body movable;
A control method characterized by comprising: A control program for causing a computer to function as a control device that is attached to a moving body that moves using power from an operation by an operator,
The computer monitors a plurality of sensors for detecting whether or not the operator is in contact with the operation unit of the moving body, and the operator is in contact with the operation unit to perform the operation. Storage means for storing the size of the operator's hand based on the detection status of a plurality of sensors;
The detection status of the plurality of sensors is monitored, and when the contact with the hand of the same size as the stored operator's hand or a contact with a larger hand can be confirmed, the moving body is in a state incapable of moving. Control means for releasing the lock mechanism and making the movable body movable;
A control program that functions as a control device comprising:

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