JP2015147559A - carry bag and carry bag transport device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make control of a moving direction of a carry bag easy.SOLUTION: A carry bag includes: an operation part 4 which receives operation that instructs a moving direction of the carry bag; at least one front wheel 7 capable of freely changing its orientation; a first wheel 8L and a second wheel 8R, each of which is fixed to one orientation; a first electric motor 9L which rotates the first wheel 8L; a second electric motor 9R which rotates the second wheel 8R; and a CPU 61 which controls rotation numbers of the first electric motor 9L and the second electric motor 9R on the basis of the moving direction indicated by the operation received by the operation part 4.

Description

  The present invention relates to a carry bag for carrying a load and a carry bag carrying device for carrying and carrying the carry bag.

  2. Description of the Related Art Conventionally, an electric carry bag is known in which wheels can be rotated by a motor in order to reduce fatigue of a person carrying a load. For example, Patent Document 1 discloses a transport device that detects an operator's operating force and controls a motor that rotates a wheel based on the detected operating force.

JP 09-249144 A

  By rotating the wheels with a motor, the burden on the operator can be reduced when the carry bag is moved linearly. However, it may be difficult to turn to a desired angle if the wheel is rotated by driving a motor when turning a narrow corner. For example, if you want to turn to the left at a right angle, when you operate the carry bag manually, the left wheel moves around the rotation center so that the right wheel draws an arc, but the left and right wheels are moved by the motor. If they are rotating at the same speed, the direction of the carry bag cannot be changed smoothly as in manual operation.

  Therefore, the present invention has been made in view of these points, and an object thereof is to provide a carry bag that can easily control the moving direction.

  According to a first aspect of the present invention, there is provided a carry bag having a storage portion for storing a load, operation receiving means for receiving an operation for instructing a moving direction of the carry bag, and at least one whose direction can be freely changed. Two universal wheels, first and second wheels having fixed directions, a first electric motor for rotating the first wheel, a second electric motor for rotating the second wheel, and the operation receiving means An electric carry bag comprising: control means for controlling the rotational speeds of the first electric motor and the second electric motor based on the moving direction indicated by the operation received.

  For example, when the moving direction indicates a straight traveling direction, the control means equalizes the rotational speed of the first electric motor and the rotational speed of the second electric motor, and the moving direction indicates the right direction. If the rotational speed of the first electric motor is larger than the rotational speed of the second electric motor and the moving direction indicates the left direction, the rotational speed of the first electric motor is The rotational speed is made smaller than that of the second electric motor.

  When the operation accepting means accepts the same operation continuously for a predetermined time or longer, the control means is configured to move the carry bag in the direction indicated by the operation even after the operation is finished. The rotation speed of the second electric motor may be controlled. The control means may increase the moving speed at a predetermined acceleration until the moving speed of the carry bag reaches a predetermined speed.

  The carry bag further includes position detection means for detecting the position of the operator of the carry bag, and the control means is configured to maintain the position of the operator detected by the position detection means within a predetermined range. You may control the rotation speed of a 1st electric motor and a said 2nd electric motor.

  In addition, the carry bag further includes an inclination detection unit that detects an inclination of the carry bag, and the control unit includes the first electric motor and the second electric motor based on the inclination detected by the inclination detection unit. The power supplied to the motor may be controlled.

  The carry bag may further include a first coupling unit that couples the first electric motor and the first wheel, and a second coupling unit that couples the second electric motor and the second wheel. And the first coupling means includes a shaft of the first electric motor and a shaft of the first wheel in a state where the shaft of the first electric motor is inserted into a recess formed in the shaft of the first wheel. The second coupling means passes through the shaft of the second electric motor and the second wheel in a state where the shaft of the second electric motor is inserted into a recess formed in the shaft of the second wheel. Penetrates the shaft.

  The carry bag is provided in contact with the outer periphery of the first wheel, and is provided in contact with the first stair lift assisting means having at least four convex portions and the outer periphery of the first wheel. You may further provide the 2nd stair-climbing assistance means which has the same number of convex parts as the stair-climbing assistance means.

  In the second aspect of the present invention, the connection means for connecting the carry bag having the accommodating portion for accommodating the luggage, the operation accepting means for accepting the operation for instructing the moving direction of the carry bag, and the direction can be freely changed. At least one universal wheel, first and second wheels having fixed directions, a first electric motor for rotating the first wheel, a second electric motor for rotating the second wheel, Provided is a carry bag transport device comprising: control means for controlling the rotation speeds of the first electric motor and the second electric motor based on the moving direction indicated by the operation accepted by the operation accepting means.

  According to the present invention, it is possible to easily control the moving direction.

It is a perspective view of the carry bag concerning a 1st embodiment. It is a bottom view of a carry bag. It is an enlarged view of an operation part. It is an electrical diagram of a carry bag. It is an operation | movement flowchart at the time of CPU controlling a carry bag. It is a figure for demonstrating the outline | summary of the operation | movement using a ring pressure sensor. It is a set value table corresponding to a ring pressure sensor. It is a figure for demonstrating the outline | summary of the operation | movement using a joystick. It is a setting value table corresponding to a joystick. It is a figure which shows the connection method of a rear wheel and a motor. It is an electrical system diagram of the carry bag which concerns on 2nd Embodiment. It is a figure which shows the relationship between a position detection part and a user's position. It is an electrical diagram of a carry bag according to a third embodiment. It is a figure which shows the structure of the attachment for stair raising / lowering which concerns on 4th Embodiment. It is a figure which shows the structure of the attachment for stair raising / lowering which concerns on 5th Embodiment. It is a figure which shows the structure of a carry bag conveying apparatus.

<First Embodiment>
[Configuration of carry bag 100]
FIG. 1 is a perspective view of a carry bag 100 according to the first embodiment. FIG. 2 is a bottom view of the carry bag 100. The carry bag 100 includes a storage unit 1, a handle 2, a power switch 3, an operation unit 4, a battery 5, a control box 6, a plurality of front wheels 7 (7L, 7R), and a plurality of rear wheels 8 ( 8L, 8R), a plurality of motors 9 (9L, 9R), and a plurality of speed sensors 10 (10L, 10R).

  The accommodating portion 1 is a main body portion that accommodates luggage. The handle 2 is a portion that the user of the carry bag 100 has when the carry bag 100 is moved, and is configured by two rod-like members having a length extending from the bottom surface of the housing portion 1 to the vicinity of the height of the user's waist. Has been. The handle 2 is composed of a plurality of aluminum pipes each having a different thickness, and the height can be adjusted by expanding and contracting the length of the overlap of the plurality of pipes. The inside of the handle 2 is hollow, and a cable can be passed through the inside.

The power switch 3 is a switch for switching whether to supply power from the battery 5 to the control box 6 and is operated by the user. The place where the power switch 3 is provided may be a place other than the place shown in FIG.
The operation unit 4 functions as an operation receiving unit that receives an operation in the moving direction of the carry bag 100. The operation unit 4 is provided on the upper portion of the handle 2 and includes an input device for operating the carry bag 100.

  FIG. 3 is an enlarged view of the operation unit 4. FIG. 3A is an enlarged view (a plan view and a front view) when the operation unit 4 is provided with a ring pressure sensor 41. FIG. 3B is an enlarged view (a plan view and a front view) when the operation unit 4 is provided with a joystick 42. The operation unit 4 may be provided with both the ring pressure sensor 41 and the joystick 42. The operation unit 4 is also provided with a speed setting volume (not shown) for setting the moving speed of the carry bag 100. The user can control the moving speed and moving direction of the carry bag 100 by operating the ring pressure sensor 41, the joystick 42, and the speed setting volume.

  The battery 5 is a battery that supplies electric power for operating electric components included in the carry bag 100. Specifically, the battery 5 supplies power to the CPU 61, the motor driver 64, the motor 9, and the like housed in the control box 6. The battery 5 is composed of a lithium ion battery having a power supply voltage of 12V. The battery 5 may be composed of any other battery, such as a hydrogen nickel battery. The battery 5 is detachably fixed from the carry bag 100, and the user can charge the battery 5.

  The control box 6 accommodates electrical components that control the movement of the carry bag 100. Details of the electrical components housed in the control box 6 will be described later. The control box 6 is connected to the operation unit 4 by a cable. In order to prevent the cable from being seen from the outside, the cable is accommodated inside an extendable pipe constituting the handle 2 or an exclusive extendable pipe. The control box 6 may be connected to the operation unit 4 via a wireless communication line. For example, the ring pressure sensor 41 and joystick 42 of the operation unit 4 and the device in the control box 6 may transmit and receive data by Bluetooth (registered trademark).

  As shown in FIG. 2, the battery 5 and the control box 6 are fixed to the bottom surface of the housing portion 1. The thickness of the battery 5 and the control box 6 is smaller than the diameter of the front wheel 7L and the front wheel 7R. Thus, by fixing the battery 5 and the control box 6 having a thickness smaller than the diameters of the front wheels 7L and the front wheels 7R to the bottom surface of the housing portion 1, the capacity of the housing portion 1 can be ensured to the maximum.

  The front wheel 7L and the front wheel 7R are provided in the vicinity of two corners in the forward direction on the bottom surface of the housing portion 1. The front wheel 7L is provided on the left side with respect to the moving direction, and the front wheel 7R is provided on the right side with respect to the moving direction. The front wheel 7L and the front wheel 7R are a first free wheel and a second free wheel that rotate so that their directions can be freely changed.

  The rear wheel 8L and the rear wheel 8R are provided in the vicinity of the two corners in the reverse direction on the bottom surface of the housing portion 1. The rear wheel 8L is provided on the left side with respect to the moving direction, and the rear wheel 8R is provided on the right side with respect to the moving direction. The rear wheel 8L and the rear wheel 8R correspond to the first wheel and the second wheel, and are driven by the motor 9L and the motor 9R, respectively, with their directions fixed. The diameter of the rear wheel 8L and the rear wheel 8R is about 100 to 120 [mm], and the outer circumference is about 314 to 377 [mm].

  The motor 9L and the motor 9R rotate the rear wheel 8L and the rear wheel 8R, respectively, according to the control of the CPU 61 described later. The motor 9L and the motor 9R are, for example, direct current motors, and rotate at a rotational speed corresponding to the magnitude of the input voltage. The motor 9L and the motor 9R have a maximum rotation speed of 257 [rotations / minute] and a maximum torque of 196 [mNm]. Therefore, the carry bag 100 can be moved at a speed of 314 [mm] × 257 [rotation / min] × 60 [min] = speed of about 4.8 km by rotating the motor 9L and the motor 9R at the maximum rotation speed. it can.

  The speed sensor 10L and the speed sensor 10R detect the rotational speeds of the rear wheel 8L and the rear wheel 8R. The speed sensor 10L and the speed sensor 10R are, for example, a rotary encoder or a tachometer. The speed sensor 10L and the speed sensor 10R output a signal indicating a value corresponding to the detected rotation speed to the CPU 61.

  FIG. 4 is an electrical system diagram of the carry bag 100. Hereinafter, the details of the control means accommodated in the control box 6 will be described with reference to FIG.

  The control box 6 accommodates a CPU 61, a ROM 62, a RAM 63, a motor driver 64, and a power sensor 65. The CPU 61 is a CPU as a control unit, and generally controls the carry bag 100 by executing a program stored in the ROM 62. The CPU 61 has a plurality of input ports, and detects the state of a signal input from the power switch 3, the state of a signal input from the operation unit 4, and the state of a signal input from the power sensor 65.

  Further, the CPU 61 outputs a PWM signal for controlling the motor driver 64. Specifically, the CPU 61 determines the speed and direction in which the carry bag 100 is moved based on the moving speed and moving direction indicated by the user operation received by the operation unit 4, and based on the determined speed and direction, the motor 9L and The number of rotations of the motor 9R is controlled. More specifically, the CPU 61 adjusts the pulse width of the PWM signal output to the motor driver 64 so as to rotate the motor 9L and the motor 9R at a rotational speed corresponding to the determined speed and direction.

  The ROM 62 stores a program for operating the CPU 61. The ROM 62 is a flash memory that can acquire an update program via a USB interface (not shown) or a communication interface (not shown) of the CPU 61 and replace the stored program with the update program. Further, the ROM 62 stores a speed control table that defines the relationship between the operation state of the operation unit 4 and the rotation speeds of the motor 9L and the motor 9R. The CPU 61 controls the rotational speeds of the motor 9L and the motor 9R according to a user operation by referring to the speed control table. The RAM 63 is used as a work memory when the CPU 61 operates.

  The motor driver 64 outputs a PWM signal for driving the motor 9L and the motor 9R according to the control of the CPU 61. The motor driver 64 generates a PWM signal having a pulse width based on the set value input by the CPU 61. The motor driver 64 changes the voltage input to the motor 9L and the motor 9R by changing the pulse width of the PWM signal, and changes the rotational speed of the motor 9L and the motor 9R.

  The power sensor 65 monitors the voltage output from the battery 5. The power sensor 65 outputs an alarm signal to the CPU 61 when the voltage output from the battery 5 becomes smaller than a predetermined value. When receiving an alarm signal input from the power sensor 65, the CPU 61 outputs a warning indicating that the battery is running out using a light emitting diode or a liquid crystal display provided in the power switch 3. When receiving an alarm signal, the CPU 61 may control the rotational speeds of the rear wheel 8L and the rear wheel 8R to decrease.

[Detailed description of operation of carry bag 100]
FIG. 5 is an operation flowchart when the CPU 61 controls the carry bag 100. When the user operates the power switch 3 to turn on the power, the CPU 61 monitors the state of the operation unit 4 and performs a predetermined operation such as pressing predetermined positions of the ring pressure sensor 41 and the joystick 42. It is determined whether it has been interrupted (S1). The CPU 61 starts a normal operation when a predetermined operation is not performed (S2). When a predetermined operation is performed, the CPU 61 starts an option process described later (S12).

  Subsequently, the CPU 61 determines whether or not the joystick 42 is operated on the operation unit 4 (S3). By using the joystick 42, it becomes possible to perform operations with higher accuracy than the ring pressure sensor 41. Therefore, when the joystick 42 is operated, the CPU 61 starts a joystick operation process described later (S9). When the joystick 42 is not operated, the CPU 61 starts ring pressure sensor operation processing (S4).

  When starting the ring pressure sensor operation process, the CPU 61 monitors whether or not the ring pressure sensor 41 is being pressed (S5). If the CPU 61 does not detect that the ring pressure sensor 41 is pressed in S5, the process returns to S3 and monitors whether the joystick is operated. In S5, when the CPU 61 detects that the ring pressure sensor 41 is pressed, the CPU 61 determines the position where the sensor is pressed based on the output signal of the ring pressure sensor 41 input from the operation unit 4. (S6). Subsequently, the CPU 61 sets a set value for operating the rear wheel 8L and the rear wheel 8R to the motor driver 64 based on the determined position (S7). The CPU 61 ends the operation when the power switch 3 is turned off, and returns to S3 if the power switch 3 is not turned off (S8).

  When the CPU 61 determines that the joystick 42 is operated in S3, the CPU 61 starts joystick operation processing (S9), and the position of the joystick 42 is determined based on the output signal of the joystick 42 input from the operation unit 4. Is discriminated (S10). Subsequently, based on the determined position, the CPU 61 sets a setting value for operating the motor 9L and the motor 9R to the motor driver 64 (S11). Thereafter, the process proceeds to S8, where the CPU 61 ends the operation when the power switch 3 is turned off, and returns to S3 if the power switch 3 is not turned off (S8).

  The option process (S12) that is started when a predetermined operation is performed in S1 is a process for causing an operation that is not used when the user uses the carry bag 100. For example, the option process is performed under the conditions inputted through the ring pressure sensor 41 or the joystick 42 after the process is shifted to the option process or the process for allowing only the forward movement without depending on the operation of the ring pressure sensor 41 or the joystick 42. This process is to rotate the wheel 8L and the rear wheel 8R. The option process is used, for example, for confirming the presence / absence of a failure of a device constituting the carry bag 100.

Next, a method for operating the carry bag 100 according to an operation using the ring pressure sensor 41 and the joystick 42 will be described.
FIG. 6 is a diagram for explaining the outline of the operation using the ring pressure sensor 41. As shown in FIG. 6, the ring pressure sensor 41 includes a plurality of areas A, B, C, D, E, and F divided in the circumferential direction. The ring pressure sensor 41 is fixed to the operation unit 4 so that the direction of 0 ° in FIG.

  FIG. 7 is a set value table corresponding to the ring pressure sensor 41 stored in the ROM 62. The setting values for operating the motor 9L and the motor 9R are shown in association with the area where the ring pressure sensor 41 is pressed. When the CPU 61 determines the area where the user has pressed the ring pressure sensor 41, the CPU 61 controls the motor 9L and the motor 9R by writing the setting value specified based on the setting value table shown in FIG. “Max” in the setting value table is a setting value when the carry bag 100 is moved straight forward at the speed set in the speed adjustment volume provided in the power switch 3.

  When the user presses the area A, the CPU 61 determines that the carry bag 100 needs to be advanced in the right direction, and outputs a set value for making the rotational speed of the rear wheel 8L larger than the rotational speed of the rear wheel 8R. To do. Based on the position in the area A, the CPU 61 determines the rotational speed of the rear wheel 8L and the set value of the rear wheel 8R between 0 and the maximum value (Max). The CPU 61 performs control so that the closer the pressed position is to the region B, the greater the rotational speed of the rear wheel 8L with respect to the rotational speed of the rear wheel 8R. By doing in this way, CPU61 can enlarge the angle which turns to the right.

When the user presses the area B, the CPU 61 determines that the carry bag 100 needs to be rotated to the right on the spot, and outputs a setting value for stopping the rotation of the rear wheel 8R.
When the user presses the area C, the CPU 61 determines that the carry bag 100 needs to be moved backward in the right direction, and outputs a setting value for reversely rotating the rear wheel 8L and the rear wheel 8R. Further, the CPU 61 outputs a set value for making the reverse rotation speed of the rear wheel 8L larger than the reverse rotation speed of the rear wheel 8R. Based on the position in the region C, the CPU 61 determines the reverse rotation speed of the rear wheel 8L and the reverse rotation speed of the rear wheel 8R. That is, the CPU 61 performs control so that the reverse rotation speed of the rear wheel 8L with respect to the reverse rotation speed of the rear wheel 8R increases as the pressed position is closer to the region B.

  When the user presses the region D, the CPU 61 determines that the carry bag 100 needs to be moved backward in the left direction, and a setting value for making the reverse rotation speed of the rear wheel 8R larger than the reverse rotation speed of the rear wheel 8L. Is output. The CPU 61 performs control so that the reverse rotation speed of the rear wheel 8R with respect to the reverse rotation speed of the rear wheel 8L increases as the pressed position is closer to the region E.

When the user presses the region E, the CPU 61 determines that the carry bag 100 needs to be rotated counterclockwise on the spot, and outputs a setting value for stopping the rotation of the rear wheel 8L.
When the user presses the region F, the CPU 61 determines that the carry bag 100 needs to be moved forward in the left direction, and outputs a set value for making the rotational speed of the rear wheel 8R larger than the rotational speed of the rear wheel 8L. To do. The CPU 61 performs control so that the closer the pressed position is to the region E, the greater the rotational speed of the rear wheel 8R with respect to the rotational speed of the rear wheel 8L.

  When the user presses the vicinity of the boundary between the region A and the region F, that is, the 0 ° direction, the CPU 61 determines that the carry bag 100 needs to be moved straight forward, and the rotational speed of the rear wheel 8L and the rotational speed of the rear wheel 8R. Outputs the setting value for equalizing. Similarly, when the user presses the vicinity of the boundary between the region C and the region D, that is, the 180 ° direction, the CPU 61 determines that the carry bag 100 needs to be moved straight backward, and the reverse rotation speed of the rear wheel 8L and the rear wheel A set value for equalizing the reverse rotational speed of 8R is output.

  FIG. 8 is a diagram for explaining the outline of the operation using the joystick 42. The horizontal axis in FIG. 8 corresponds to the left-right direction of the carry bag 100, and the vertical axis corresponds to the front-rear direction of the carry bag 100. As shown in FIG. 8, the joystick 42 is divided into more regions a, b, c, d, e, f, g, h, i, j, and k than the ring pressure sensor 41. Each region is further subdivided, and the position of the joystick 42 is specified by coordinates of ± 511 in the left-right direction and ± 511 in the front-rear direction.

  FIG. 9 is a set value table corresponding to the joystick 42 stored in the ROM 62. A range of setting values for operating the motor 9L and the motor 9R is shown in association with the region including the position of the joystick 42. When the CPU 61 specifies an area including the position of the joystick 42, the CPU 61 determines the operation mode by referring to the setting value table shown in FIG. 9, and sets the setting value based on the coordinates corresponding to the position of the joystick 42 to the motor driver 64. The motor 9L and the motor 9R are controlled. The set value may be included in the set value table or may be included in a program executed by the CPU 61.

  When the position of the joystick 42 enters the region a by the user's operation, the CPU 61 determines that the carry bag 100 needs to be moved forward, and outputs setting values for rotating the motor 9L and the motor 9R. The CPU 61 determines the set value for the rear wheel 8L and the set value for the rear wheel 8R to values equal to or less than the maximum value Max based on the position coordinates of the joystick 42 in the region a. In this way, the user can easily finely adjust the direction in which the carry bag 100 moves by changing the position of the joystick 42.

When the position of the joystick 42 enters the region b, the CPU 61 determines that the carry bag 100 needs to be stopped, and sets the set values of the motor 9L and the motor 9R to zero.
When the position of the joystick 42 enters the region c, the CPU 61 determines that the carry bag 100 needs to be moved backward, and outputs a setting value for reversely rotating the motor 9L and the motor 9R. As in the case where the joystick 42 is in the region a, the CPU 61 determines a setting value for the rear wheel 8L and a setting value for the rear wheel 8R based on the position coordinates of the joystick 42 in the region c.

When the position of the joystick 42 enters the region d from the region a, the CPU 61 determines that it is necessary to stop the carry bag 100 from moving forward and rotate to the left at the maximum speed, and sets the setting value of the rear wheel 8L. While setting to 0, the set value of the rear wheel 8R is maximized.
When the position of the joystick 42 enters the region e from the region a, the CPU 61 determines that it is necessary to stop the carry bag 100 from moving forward and rotate it to the right at the maximum speed, and sets the setting value of the rear wheel 8R. While setting to 0, the set value of the rear wheel 8L is maximized.

When the position of the joystick 42 enters the region f from the region c, the CPU 61 determines that it is necessary to stop the reverse travel of the carry bag 100 and rotate it to the left at the maximum speed on the spot, and sets the setting value of the rear wheel 8L. While setting to 0, the set value of the rear wheel 8R is maximized.
When the position of the joystick 42 enters the area g from the area c, the CPU 61 determines that it is necessary to stop the reverse travel of the carry bag 100 and rotate it to the right at the maximum speed, and sets the setting value of the rear wheel 8R. While setting to 0, the set value of the rear wheel 8L is maximized.
Even when the position of the joystick 42 enters the region f and the region g from the region b, the CPU 61 outputs the same set value.

  When the position of the joystick 42 enters the area h or the area j, the CPU 61 determines that it is necessary to rotate left at a speed corresponding to the position coordinates in each area, and sets the setting value of the rear wheel 8L to 0. The setting value of the rear wheel 8R is set to a value equal to or smaller than the maximum value determined based on the position coordinates. That is, the CPU 61 increases the set value of the rear wheel 8R as the position coordinate value approaches -511.

  When the position of the joystick 42 enters the area i or the area k, the CPU 61 determines that it is necessary to rotate right at a speed corresponding to the position coordinates in each area, and sets the setting value of the rear wheel 8R to 0. The setting value of the rear wheel 8L is set to a value equal to or less than the maximum value determined based on the position coordinates. That is, the CPU 61 increases the set value of the rear wheel 8L as the position coordinate value approaches 511.

  Here, when the ring pressure sensor 41 or the joystick 42 continuously receives the same operation for a predetermined time or longer, the CPU 61 rear wheel to move the carry bag 100 in the direction indicated by the operation even after the operation is completed. The rotational speed of 8L and the rotational speed of the rear wheel 8R are controlled. That is, even if the user releases the carry bag 100, the carry bag 100 can be moved in the same direction at the same speed as before.

  The operation position can be locked at a predetermined position by attaching a member with irregularities to the curved surface portion of the lower part of the operation part of the joystick 42 and bringing it into contact with the lock part of the upper cover of the operation part of the joystick 42. You may let them. By doing in this way, after setting to a predetermined speed, even if it releases a hand, the constant speed driving | running | working which moves at the set speed is attained. Further, the constant speed travel may be canceled by pressing a predetermined button provided on the operation unit 4 so that the constant speed travel can be stopped in an emergency.

  For example, if the user releases the hand from the ring pressure sensor 41 after pressing the vicinity of the boundary line between the region A and the region F of the ring pressure sensor 41 for 5 seconds and then releasing the hand from the ring pressure sensor 41, The rotation speed of the wheel 8R is maintained at the same rotation speed as that during which the user has continuously pressed the ring pressure sensor 41. By doing in this way, when the carry bag 100 should just advance in the same direction, since a user can release a hand, a user's burden becomes light. If the CPU 61 detects that the user has touched the ring pressure sensor 41 or the joystick 42 during automatic operation with the user releasing his / her hand from the carry bag 100, the CPU 61 stops automatic operation and follows the user's operation. Resume operation.

  Further, when starting the movement from the state where the carry bag 100 is stopped, the CPU 61 can gradually increase the moving speed until the speed set in the speed setting volume is reached. Specifically, when the forward or backward operation is performed on the ring pressure sensor 41 or the joystick 42, the CPU 61 increases the speed at a predetermined acceleration until reaching the speed based on the operation position of the ring pressure sensor 41 or the joystick 42. In order to raise, the set values for the motor 9L and the motor 9R are changed.

  In the above description, the CPU 61 has been described as setting the setting value shown in the setting value table of FIG. 7 or 9 in the motor driver 64. However, the CPU 61 corresponds to the speed detected by the speed sensor 10. The set value may be finely adjusted. By performing such feedback control, the rotational speed of the rear wheel 8L and the rotational speed of the rear wheel 8R can be controlled with high accuracy, so that the moving direction of the carry bag 100 is stabilized.

[How to connect the rear wheel 8 and the motor 9]
FIG. 10 is a diagram illustrating a method of connecting the rear wheel 8 and the motor 9. As shown in FIG. 10A, the rear wheel 8 has a wheel portion 81 and a shaft portion 82. The motor 9 has a main body portion 91 and a shaft portion 92. The shaft portion 82 is formed with a recess into which the shaft portion 92 is inserted, and the shaft portion 82 has a cylindrical shape. Furthermore, a hole having a diameter smaller than the inner diameter of the recess is formed in the shaft portion 82 in a direction orthogonal to the recess, that is, in the radial direction. In the radial direction of the shaft portion 92, a hole having a diameter smaller than the diameter of the shaft portion 92 and substantially equal to the hole formed in the shaft portion 82 is formed.

  As shown in FIG. 10B, after the shaft portion 92 is inserted into the shaft portion 82, the coupling rod 83 having a diameter substantially equal to the inner diameter of the hole is inserted into the radial hole formed in the shaft portion 82. Is done. The connecting rod 83 passes through the shaft portion 92 and the shaft portion 82 in a state where the shaft portion 92 of the motor 9 is inserted into a recess formed in the shaft portion 82 of the rear wheel 8. A convex portion larger than the inner diameter of the hole is formed at one end of the coupling rod 83, and a thread groove for coupling to the nut is formed at the other end. By tightening the nut, the connecting rod 83 connects the shaft portion 82 and the shaft portion 92.

  Thus, by connecting the rear wheel 8 and the motor 9 using the connecting rod 83, the shaft portion 92 and the shaft portion 82 rotate at the same speed without the shaft portion 92 slipping in the recess of the shaft portion 82. . By connecting the rear wheel 8L and the motor 9L, and the rear wheel 8R and the motor 9L using the connecting rod 83 as the first connecting means and the second connecting means, the rear wheel 8L, the rear wheel 8R, and the motor 9L. And the fall of the precision of the moving direction by the mechanical dispersion | variation of the motor 9R can be prevented.

  As described above, in the carry bag 100 according to the first embodiment, the CPU 61 can control the rotation speed of the rear wheel 8L and the rotation speed of the rear wheel 8R according to the user's operation. The moving direction can be easily controlled.

<Second Embodiment>
FIG. 11 is an electrical system diagram of the carry bag 100 according to the second embodiment. The carry bag 100 according to the second embodiment is different from the carry bag 100 according to the first embodiment in that the position detection unit 11 is further provided, and is the same in other points. The carry bag 100 according to the second embodiment is different from the carry bag 100 according to the first embodiment in that the movement speed is automatically adjusted according to the walking speed of the user.

  The position detection unit 11 is a sensor as position detection means for detecting the position of the operator of the carry bag. The position detection unit 11 may be provided at an arbitrary position of the carry bag 100, and is provided in the operation unit 4, for example. The position detection unit 11 sequentially emits infrared rays in a plurality of emission directions within a predetermined angle range, and detects the position of an object within a predetermined distance based on the emission direction in which the reflected light is received. The CPU 61 controls the rotation speeds of the motor 9L and the motor 9R so as to maintain the position of the operator detected by the position detection unit 11 within a predetermined range.

  FIG. 12 is a diagram illustrating a relationship between the position detection unit 11 and the position of the user. In FIG. 12A, the position detection unit 11 detects the user at a position almost directly beside. In this case, the CPU 61 determines that the current moving speed of the carry bag 100 should be maintained, and does not change the setting values for the motor 9L and the motor 9R.

In FIG. 12B, the position detection unit 11 detects the user at a position behind the right side with respect to the moving direction. In this case, the CPU 61 determines that the current moving speed of the carry bag 100 is too fast, and changes the set value so as to decrease the rotational speeds of the motor 9L and the motor 9R.
In FIG.12 (c), the position detection part 11 detects a user in the position before a right side with respect to a moving direction. In this case, the CPU 61 determines that the current moving speed of the carry bag 100 is too slow, and changes the set value so as to increase the rotational speeds of the motor 9L and the motor 9R.

  The CPU 61 may change the set value based on the positional relationship between the carry bag 100 and the user. Specifically, the CPU 61 increases the amount of change of the set value as the position of the user detected by the position detection unit 11 is further away from the side of the position detection unit 11, and the carry bag 100 is Control to be positioned right next to the user immediately.

  Further, the position detection unit 11 detects the distance to the user, and the CPU 61 further determines the setting value of the rear wheel 8L and the positional relationship between the carry bag 100 and the user and the distance between the carry bag 100 and the user. The setting value of the rear wheel 8R may be changed individually to change the direction in which the carry bag 100 moves. For example, when the position detection unit 11 detects that the user walking on the right side of the carry bag 100 is away from the carry bag 100 by a predetermined distance (for example, 50 cm) or more, the CPU 61 determines that the rotation speed of the rear wheel 8L is The carry bag 100 may be brought closer to the user by moving the carry bag 100 in the right direction by changing the set value so as to be larger than the rotation speed of the wheel 8R.

  As described above, in the carry bag 100 according to the second embodiment, the CPU 61 changes the set values for the motor 9L and the motor 9R based on the position of the user detected by the position detection unit 11, thereby the carry bag 100. The moving speed and moving direction can be matched with the moving speed and moving direction of the user.

<Third Embodiment>
FIG. 13 is an electric system diagram of the carry bag 100 according to the third embodiment. The carry bag 100 according to the third embodiment differs from the carry bag 100 according to the first embodiment in that it further includes an inclination detection unit 12, and is the same in other respects. The carry bag 100 according to the third embodiment is different from the carry bag 100 according to the first embodiment in that the torque of the motor 9L and the motor 9R can be changed according to the inclination.

  The inclination detection unit 12 is a sensor that detects the inclination of the carry bag 100. The inclination detection unit 12 may be provided at an arbitrary position of the carry bag 100. The CPU 61 controls the power supplied to the motor 9L and the motor 9R based on the magnitude of the inclination detected by the inclination detection unit 12. Specifically, when the inclination detection unit 12 detects an uphill, the CPU 61 changes the setting value to increase the rotational torque by increasing the current supplied to the motor 9L and the motor 9R.

  Conversely, when the inclination detection unit 12 detects a downhill, the CPU 61 changes the set value so that the motor 9L and the motor 9R are rotated in the reverse direction. The CPU 61 adjusts the current supplied to the motor 9L and the motor 9R based on the magnitude of the inclination, and combines the downward force due to gravity and the force that reversely rotates the motor 9L and the motor 9R, The carry bag 100 is controlled to move downhill at a speed set by the user.

  As described above, since the carry bag 100 according to the third embodiment includes the inclination detection unit 12, the motor 9L and the motor 9R can generate the optimum torque according to the inclination of the road, so that the vehicle is inclined on the road. Even if there is, the user can move the carry bag 100 at an appropriate speed.

<Fourth Embodiment>
FIG. 14 is a diagram showing the configuration of the stair lift attachment 13 as a lift assist means according to the fourth embodiment. FIG. 14A is a front view of the state in which the stair climbing attachment 13 is mounted on the rear wheel 8, and FIG. 14B is a cross-sectional view taken along the line AA of FIG. The user can easily lift and lower the carry bag 100 on the stairs by attaching the stair lift attachment 13 shown in FIG. 14 to the rear wheel 8L and the rear wheel 8R.

  The stair climbing attachment 13 is provided in contact with the outer periphery of the rear wheel 8 and has at least four convex portions. The stair climbing attachment 13 includes protrusions provided at intervals of 90 ° on the outer periphery of a cylindrical member having an inner diameter slightly larger than the diameter of the outer periphery of the rear wheel 8. The protrusion is made of, for example, hard rubber. The protrusion shown in FIG. 14 has a shape that becomes thinner as it goes away from the center of the rear wheel 8, but it may have a shape that becomes thicker as it gets away from the center of the rear wheel 8, and the distance from the center of the rear wheel 8. Regardless of the shape, it may be of a certain thickness.

  A plurality of holes are formed in the cylindrical member of the stair climbing attachment 13 and the outer periphery of the rear wheel 8. By inserting a screw into a hole formed in the stair climbing attachment 13 and the rear wheel 8 and tightening it with a nut, the carry bag 100 can be lifted up and down without the rear wheel 8 spinning idle.

  In order to generate a strong torque, the rear wheel 8 and the stair climbing attachment 13 may be rotatably connected via a planetary gear mechanism (planetary gear). Specifically, a sun gear is provided on the rear wheel 8 and an internal gear and a planetary gear is provided between the sun gear and the internal gear inside the stair climbing attachment 13 so that the rotational speed of the rear wheel 8 and the staircase are increased. A large torque can be obtained by changing the number of rotations of the lifting attachment 13 to a different number of rotations.

  As described above, since the stair lift attachment 13 can be attached in contact with the outer periphery of the rear wheel 8L and the rear wheel 8R, the carry bag 100 is caught on the step portion of the stair step, so that the projection of the stair lift attachment 13 is caught. Also on the stairs, the carry bag 100 can be easily moved.

<Fifth Embodiment>
FIG. 15 is a diagram showing a configuration of a stair lift attachment 14 as a lift assist means according to the fifth embodiment. FIG. 15A is a front view showing a state in which the stair climbing attachment 14a and the stair climbing attachment 14b are mounted on the rear wheel 8, and FIG. 15B is a cross-sectional view taken along line AA in FIG. FIG. The stair-climbing attachment 14 is composed of a wheel mounting plate 141 and two tip portions 142. The length of the wheel mounting plate 141 is larger than the diameter of the rear wheel 8, and the wheel mounting plate 141 can be attached to the rear wheel 8 by moving the wheel mounting plate 141 in the radial direction of the rear wheel 8. The wheel mounting plate 141 is a metal plate in which both end portions provided with the front end portion 142 are bent so as to be engaged with the rear wheel 8 while being attached to the rear wheel 8.

  The tip portion 142 is made of a member having a friction coefficient larger than that of metal, such as rubber. The distal end portion 142 is coupled to the wheel mounting plate 141 with a screw. Since the front end portion 142 protrudes with respect to the outer periphery of the rear wheel 8, the carry bag 100 can be prevented from sliding down the staircase when the front end portion 142 is caught by a step when the staircase is raised and lowered.

  The stair-lifting attachment 14 has a hole formed in the vicinity of the center for insertion into the shaft 143 to which the rear wheel 8 is attached. By passing the shaft 143 through the hole and tightening the nut 144, the rear wheel 8 is detachably coupled. In FIG. 15, two stair climbing attachments 14 a and stair climbing attachments 14 b are attached to the wheel 8 in directions orthogonal to each other. The user may attach more attachments 14 for raising and lowering the stairs to the wheels 8.

As described above, according to the stair climbing attachment 14 according to the present embodiment, any number of stair climbing attachments 14 can be attached to the rear wheel 8, so that the user is most suitable for the shape of the staircase. By attaching a number of attachments 14 for raising and lowering the stairs to the rear wheel 8, the stairs can be raised and lowered safely.
<Sixth Embodiment>
FIG. 16 is a diagram illustrating a configuration of a carry bag transport apparatus 200 according to the sixth embodiment. In the above embodiment, the example in which the storage unit 1 is integrated with other parts has been described. However, in the fifth embodiment, the storage unit 1 can be detached from the mounting table 210 of the carry bag transport apparatus 200. It differs from the carry bag 100 according to another embodiment in that it can be fixed to the bag. In this case, the power switch 3 is provided in the operation unit 4.

  A plurality of screw holes are formed in the bottom surface of the housing portion 1, and a plurality of holes through which screws are passed are formed in the mounting table 210. The user can removably fix the storage unit 1 to the carry bag transport apparatus 200 by inserting and fixing a screw into the screw hole of the storage unit 1 through the hole formed in the mounting table 210. By doing in this way, it becomes possible to use the accommodating part 1 of a different size according to the quantity of the load to convey.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  For example, in the above embodiment, the example in which the rear wheel 8L and the rear wheel 8R are driven by the motor 9L and the motor 9R has been described, but the front wheel 7L and the front wheel 7R may be driven by the motor 9L and the motor 9R.

  Moreover, in said embodiment, although the structure provided with the some front wheel 7 (7L, 7R) was demonstrated, the one front wheel 7 may be provided. In the above embodiment, the configuration in which the orientation of the rear wheel 8L and the rear wheel 8R does not change has been described. However, for example, the orientation of the rear wheel 8L and the rear wheel 8R may be changed according to a user operation. .

  Further, in the first to sixth embodiments, the example in which the ring pressure sensor 41 and the joystick 42 are used as the operation unit 4 has been described. However, the operation unit 4 includes either the ring pressure sensor 41 or the joystick 42. Only one of them may be provided. The operation unit 4 may be configured by an information terminal such as a smartphone.

DESCRIPTION OF SYMBOLS 1 Accommodating part 2 Handle 3 Power switch 4 Operation part 5 Battery 6 Control box 7 Front wheel 8 Rear wheel 9 Motor 10 Speed sensor 11 Position detection part 12 Inclination detection part 13 Stair climbing attachment 14 Stair climbing attachment 64 Motor driver 65 Power sensor 81 Wheel portion 82 Shaft portion 83 Connecting rod 91 Main body portion 92 Shaft portion 100 Carry bag 200 Carry bag transport device 210 Table

Claims (9)

A carry bag having a storage portion for storing luggage,
Operation accepting means for accepting an operation for instructing a moving direction of the carry bag;
At least one universal wheel whose direction can be freely changed;
A first wheel and a second wheel provided at different positions from the universal wheel;
A first electric motor for rotating the first wheel;
A second electric motor for rotating the second wheel;
Control means for controlling the rotational speeds of the first electric motor and the second electric motor based on the moving direction indicated by the operation received by the operation receiving means;
Electric carry bag with When the moving direction indicates a straight traveling direction, the control means equalizes the rotational speed of the first electric motor and the rotational speed of the second electric motor;
When the moving direction indicates the right direction, the rotational speed of the first electric motor is made larger than the rotational speed of the second electric motor,
When the moving direction indicates the left direction, the rotational speed of the first electric motor is made smaller than the rotational speed of the second electric motor.
The electric carry bag according to claim 1. When the operation accepting means accepts the same operation continuously for a predetermined time or longer, the control means is configured to move the carry bag in the direction indicated by the operation even after the operation is finished. Controlling the rotational speed of the second electric motor;
The electric carry bag according to claim 1 or 2. The control means increases the moving speed at a predetermined acceleration until the moving speed of the carry bag reaches a predetermined speed.
The electric carry bag according to any one of claims 1 to 3. Further comprising position detecting means for detecting the position of the operator of the carry bag;
The control means controls the rotation speeds of the first electric motor and the second electric motor to maintain the position of the operator detected by the position detection means within a predetermined range.
The electric carry bag according to any one of claims 1 to 4. Further comprising an inclination detecting means for detecting the inclination of the carry bag;
The control means controls power supplied to the first electric motor and the second electric motor based on the inclination detected by the inclination detection means.
The electric carry bag according to any one of claims 1 to 5. First coupling means for coupling the first electric motor and the first wheel;
Second coupling means for coupling the second electric motor and the second wheel;
Further comprising
The first coupling means penetrates the shaft of the first electric motor and the shaft of the first wheel in a state where the shaft of the first electric motor is inserted into a recess formed in the shaft of the first wheel. And
The second coupling means penetrates the shaft of the second electric motor and the shaft of the second wheel in a state where the shaft of the second electric motor is inserted into a recess formed in the shaft of the second wheel. ing,
The electric carry bag according to any one of claims 1 to 6. First stair climbing assist means provided in contact with the outer periphery of the first wheel and having at least four convex portions;
A second stair lift assisting means provided in contact with the outer periphery of the first wheel and having the same number of convex portions as the first stair lift assisting means;
Further comprising
The electric carry bag according to any one of claims 1 to 7. A connecting means for connecting a carry bag having a receiving portion for storing a load;
Operation accepting means for accepting an operation for instructing a moving direction of the carry bag;
At least one universal wheel whose direction can be freely changed;
A first wheel and a second wheel with fixed orientation;
A first electric motor for rotating the first wheel;
A second electric motor for rotating the second wheel;
Control means for controlling the rotational speeds of the first electric motor and the second electric motor based on the moving direction indicated by the operation received by the operation receiving means;
Carry bag transport device comprising:

Images