JP5673467B2 - Collision prevention system and electric vehicle - Google Patents

Description

  The present invention relates to a collision prevention system for preventing a collision between a dynamic obstacle moving in a passage and an electric vehicle, and an electric vehicle using the system.

  In hospitals, nursing homes, factories, etc., there are corners where people come and go such as cross-shaped intersections, T-shaped intersections, or L-shaped corners. At these corners, people may collide at the beginning of an encounter. One of the reasons is that for a person moving along a certain passage, a passage that intersects the passage becomes a blind spot. Therefore, a collision prevention device for preventing a collision at a corner has been proposed (see, for example, Patent Document 1).

  FIG. 12 is a schematic view of a passage for explaining the conventional collision preventing apparatus 1. FIG. 13 is a perspective view of a conventional collision prevention apparatus 1. As shown in FIG. 13, the conventional collision prevention apparatus 1 includes sensors 2a and 2b that detect obstacles, and notification means 3a that notifies that an obstacle is approaching based on the detection results of the sensors 2a and 2b. 3b. As shown in FIG. 12, the collision preventing apparatus 1 is installed at an L-shaped corner 7 of the passages 5 and 6. When the pedestrian 9 enters the detection area 8a of the sensor 2a, the collision prevention apparatus 1 operates the notification means 3b. The notification means 3b is composed of an indicator lamp and a speaker, and notifies the pedestrian 10 moving along the passage 5 with light and sound that the pedestrian 9 is approaching the corner 7. Similarly, when the pedestrian 10 enters the detection area 8b of the sensor 2b, the sensor 2b detects the pedestrian 10 and operates the notification means 3a. Then, the pedestrian 9 moving along the passage 6 is notified that the pedestrian 10 is approaching the corner 7.

  By using such an anti-collision device 1, the pedestrians 9 and 10 know that there is an obstacle in the blind spot before entering the turn 7 and carefully turn the turn 7 by reducing the walking speed. Can enter. Such a collision prevention apparatus 1 can also reduce the collision at the corner 7 in an electric vehicle such as an electric wheelchair driven by a person (driver).

Japanese Patent Laid-Open No. 3-48400

  However, in the conventional collision prevention device, the driver of the electric vehicle may miss the notification information (light, sound) of the notification means 3a, 3b. If the notification information (light, sound) is received, the driver may cause the electric vehicle to enter the corner 7 without noticing the obstacle moving in the blind spot. In that case, the driver does not have time to avoid the electric vehicle from the obstacle at the corner 7, and the electric vehicle and the obstacle may collide.

  In order to solve such a conventional problem, the collision prevention system and the electric vehicle according to the present invention transmit restriction information that restricts travel control to an electric vehicle located in front of the intersection, so that The purpose is to reduce the possibility of collision between an electric vehicle and an obstacle.

  In order to solve the above-described problems, a collision prevention system according to the present invention includes a traffic light, an obstacle detection unit that detects an obstacle in a path other than the display direction of the traffic signal, and an obstacle detection result by the obstacle detection unit. And a management unit that emits parallel light and diffused light in the visible light region from the traffic light and superimposes restriction information on the parallel light.

  The collision prevention system and the electric vehicle of the present invention transmit restriction information that restricts travel control to the electric vehicle located in front of the intersection even if the driver of the electric vehicle misses the notification information. The possibility that the electric vehicle and the obstacle collide at the intersection can be reduced.

Schematic which shows the collision prevention system concerning Embodiment 1 of this invention. The figure which shows the relationship between the traffic light concerning this Embodiment 1, and an electric wheelchair. The perspective view of the traffic light concerning this Embodiment 1. A flowchart showing a control method of the management unit according to the first embodiment. The flowchart which shows the control method of the electric wheelchair concerning this Embodiment 1. The perspective view of the traffic signal of the collision prevention system concerning Embodiment 2 of this invention. It is a figure explaining the light-receiving part of the electric wheelchair of the collision prevention system concerning Embodiment 3 of this invention, (a) The figure which shows the relationship between a traffic light and an electric wheelchair whose driving speed is low, (b) Signaling machine and driving speed Shows the relationship of high-speed electric wheelchair Schematic which shows the collision prevention system concerning Embodiment 4 of this invention. Schematic which shows the obstruction detection area | region of the collision prevention system concerning Embodiment 5 of this invention. Schematic which shows the illumination light of the collision prevention system concerning this Embodiment 5. FIG. Schematic which shows the obstruction detection area | region of the collision prevention system concerning this Embodiment 5. FIG. Schematic of the passage for explaining the conventional collision prevention device A perspective view of a conventional anti-collision device

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same component and description may be abbreviate | omitted. In addition, for easy understanding, the drawings schematically show each component mainly.

(Embodiment 1)
FIG. 1 is a schematic diagram illustrating a collision prevention system according to a first embodiment of the present invention. FIG. 2 is a diagram illustrating the relationship between the traffic light 13 and the electric wheelchair 12 according to the first embodiment. In the collision prevention system according to the first embodiment, when the traffic light 13 is yellow, the driver 16 of the electric wheelchair 12 as an example of the electric vehicle overlooks the lighting of the yellow lamp of the traffic light 13 and keeps the traveling speed as it is. Even if it moves, the management part 15 which is an example of a control part will forcibly reduce the traveling speed of the electric wheelchair 12 to a safe traveling speed before entering the intersection 17. By doing in this way, the collision with an electric wheelchair and an obstruction can be prevented in the intersection 17. FIG. Note that the T-shaped intersection 17 shown in FIG. 1 is an example of the intersection of the present invention. If the destination to be bent is a blind spot, a cross-shaped intersection, an L-shaped corner, a corner, and the like are also included in the intersection. . Here, the passage serving as the blind spot of the traffic light 13 is a passage other than the display direction of the traffic light 13 and cannot be visually confirmed from the passage in the display direction of the traffic light 13.

  As illustrated in FIGS. 1 and 2, the collision prevention system 1 according to the first embodiment includes a traffic light 13, an obstacle detection unit 14, and a management unit 15 that is an example of a control unit.

  The traffic light 13 is provided on the ceiling of the intersection 17 and includes a green lamp and a yellow lamp as an example of a light source. In the traffic light 13 according to the first embodiment, at least one of the light sources is a light source that emits parallel light, and also emits diffused light obtained by diffusing a part of the parallel light by the light guide unit. The other light source may emit parallel light and diffused light as in the case of the one light source, or may emit only simple diffused light. In the first embodiment, a yellow lamp configured with an LED is used as one light source, and a green lamp configured with an LED is used as the other light source.

  The obstacle detection unit 14 detects obstacles in the passages 32 and 33 that are blind spots with respect to the passage 31 in the display direction of the traffic light 13. Here, the display direction of the traffic light 13 is a direction in which light is emitted from the light source (green lamp, yellow lamp) of the traffic light 13, that is, a direction in which the light source (green lamp, yellow lamp) of the traffic light 13 is visible. is there. In the present embodiment, the obstacle detection unit 14 sets the passages 32 and 33 at the intersection 17 in the first embodiment because an obstacle (dynamic obstacle) such as a person moving toward a corner is a particular problem. At least an obstacle moving toward is detected. For example, a pedestrian 34, a wheelchair or an autonomous mobile robot is detected as a dynamic obstacle. In order to further improve safety, the obstacle detection unit 14 may detect a stopped obstacle or an obstacle moving away from the intersection 17 in addition to the moving obstacle. As the obstacle detection unit 14, for example, a pyroelectric sensor or a laser sensor is used.

  The management unit 15, which is an example of the control unit, causes the traffic light 13 to emit parallel light and diffused light including a visible light region based on the detection result of the obstacle (such as the pedestrian 34) by the obstacle detection unit 14. Turn on the yellow lamp to call attention. At the same time, the management unit 15 of the first embodiment superimposes restriction information for controlling the movement of the electric wheelchair 12 on the parallel light. Specifically, the management unit 15 of the first embodiment superimposes speed limit information for resetting and limiting the maximum traveling speed of the electric wheelchair 12 within a predetermined range on the parallel light. If the obstacle detection unit 14 does not detect a dynamic obstacle, the management unit 15 turns off the yellow lamp for calling attention and turns on the green lamp for notifying safety.

  The electric wheelchair 12 includes a chair portion 21 on which a driver 16 is placed, wheels 22, an electric motor 27 that is an example of a drive source, a storage battery 28 that is an example of a power source, a joystick 23 that is an example of an operation unit, and a joystick. 23, a movement control unit 24 that controls movement of the electric wheelchair 12, a light receiving unit 25 that receives parallel light on which speed limit information is superimposed, a safety control unit 26 that restricts movement control by the movement control unit 24, Have The electric wheelchair 12 moves according to the operation of the joystick 23 by the driver 16.

  The electric wheelchair 12 receives (receives) the speed limit information superimposed on the parallel light of the traffic light 13 by the light receiving unit 25, and then moves by the safety control unit 26 based on the speed limit information received by the light receiving unit 25. Control is restricted. In the first embodiment, speed limit information is used as an example of the limit information, and the maximum traveling speed of the electric wheelchair 12 is reset to the speed limit of the speed limit information and limited. Specifically, the maximum traveling speed of the electric wheelchair 12 having a maximum traveling speed of 6 km / h is reset and limited to 2 km / h.

  In the collision prevention system having the traffic light 13 according to the first embodiment, when the obstacle detection unit 14 detects an obstacle approaching the intersection 17 from the passages 32 and 33 that become blind spots, the green lamp of the traffic light 13 is turned off and the yellow color is turned off. Turn on the lamp. When the yellow lamp of the traffic light 13 is turned on, the driver 16 of the electric wheelchair 12 who sees the yellow lamp notices that there is a possibility of encountering an obstacle at the intersection 17 and colliding with the head. In general, the driver 16 who has seen the yellow lamp enters the electric wheelchair 12 to the intersection 17 by reducing the traveling speed, for example, by reducing the traveling speed to 2 km / h or less so as not to collide with an obstacle. Let

  Here, the case where the driver | operator 16 has overlooked the yellow lamp used as the alerting | reporting information of the traffic light 13 is considered. In this case, since the driver 16 is not aware of the yellow lamp of the traffic light 13, the driver 16 may enter the intersection 17 without decreasing the traveling speed. In this case, the electric wheelchair 12 and the obstacle may collide.

  Therefore, in the collision prevention system of the present invention, the speed limit information is superimposed on the parallel light from the yellow lamp for visual observation of the driver 16 as the notification information from the traffic light 13. The electric wheelchair 12 limits the maximum traveling speed of the electric wheelchair 12 by receiving the speed limit information superimposed on the parallel light. The electric wheelchair 12 enters the intersection 17 at a low speed as a result in a state where the traveling speed is limited to a predetermined traveling speed or less (for example, 2 km / h or less). In this way, even if the driver 16 first notices the pedestrian 34 after entering the intersection 17 because the traveling speed of the electric wheelchair 12 that has entered the intersection 17 becomes equal to or lower than the predetermined traveling speed, It seems that the operation can sufficiently avoid a collision with the pedestrian 34.

  Here, parallel light and diffused light are emitted from the traffic light 13 from, for example, a yellow lamp. On the other hand, the speed limit information for limiting the maximum traveling speed of the electric wheelchair 12 in the first embodiment is superimposed only on the parallel light. Therefore, the identification area (the area irradiated with either diffused light or parallel light and within the dotted line in FIG. 1) where the driver 16 can identify the notification information, and the electric wheelchair 12 receive the speed limit information. This is different from the reception area (in the area where only parallel light is irradiated and within the broken line in FIG. 1). In the first embodiment, as shown in FIG. 1, the identification area where the driver 16 can identify the notification information is the identification area 36, and the reception area where the electric wheelchair 12 can receive the speed limit information is The reception area 37 is configured. Here, since the reception area 37 is formed of parallel light, it is limited to the vicinity of the intersection 17, but the identification area 36 is formed of parallel light and diffused light and thus extends to a position farther from the intersection 17. In the collision prevention system according to the first embodiment, the driver 16 and general passersby are notified as early as possible to encourage preparation for collision avoidance, and the electric wheelchair 12 is notified later. This is because even if the traveling speed of the electric wheelchair 12 is limited early, the electric wheelchair 12 decelerates unnecessarily quickly. Therefore, by limiting the speed only to the area necessary for collision avoidance, This is to improve convenience.

  In the collision prevention system of the first embodiment, by setting the identification area 36 and the reception area 37 in this way, even when the driver 16 misses the yellow lamp or misoperates the electric wheelchair 12, The maximum traveling speed of the electric wheelchair 12 is forcibly limited by communication information on the speed limit by light. That is, the collision prevention system performs movement control in order to forcibly limit the traveling speed of the electric wheelchair 12 as fail-safe only when the operation of the driver 16 is not properly performed. .

  In the collision prevention system according to the first embodiment, optical communication using parallel light is used as a method of sending speed limit information to the electric wheelchair 12. The reception area 37 is limited and unnecessary deceleration is applied to the electric wheelchair 12. This is to eliminate forcing. On the other hand, when wireless communication is used as a method of sending speed limit information, the reception area 37 is not limited by the radio that is diffusely irradiated, and the electric wheelchair 12 decelerates unnecessarily in an unexpected place. there is a possibility. As a result, the speed limit information is prevented from being transmitted to the passages 32 and 33 intersecting with the passage 31, and the speed limit information is transmitted only to the passage 31, and the malfunction of the electric wheelchair 12 moving through the passages 32 and 33. Can be prevented.

  Further, even when a plurality of intersections are continuous by the collision prevention system according to the first embodiment, the reception area 37 is limited to positions near each intersection, and the electric wheelchair 12 receives limited communication from one intersection beyond. Can prevent malfunctions such as sudden deceleration.

The maximum traveling speed of a normal electric wheelchair used in Japan is 6 km / h, and the limited maximum traveling speed targeted in the first embodiment is 2 km / h. Assuming that the deceleration without giving a value of 0.3 m / s ² is 4.2 m from the intersection, the speed can be reduced from 6 km / h to 2 km / h. Therefore, the maximum distance from the intersection of the reception area 37 in the first embodiment is 4.2 m. On the contrary, in general, it is often safer that the electric wheelchair passes through without unnecessary deceleration near the intersection, so the minimum distance from the intersection of the reception area 37 is set to about 1 m. That is, in the first embodiment, it is desirable that the reception area 37 is an area having a distance of 1 m or more and 4.2 m or less from the intersection.

  The traffic light 13 is configured such that the size of the reception area 37 can be changed by the management unit 15 according to the traveling speed of the pedestrian 34 and the like. For example, when the traveling speed of the pedestrian 34 is high, the reception area 37 is enlarged and enlarged, and the electric wheelchair 12 is sufficiently decelerated before entering the intersection 17. Conversely, when the traveling speed of the pedestrian 34 is slow, the reception area 37 is narrowed and made smaller.

  Next, the configuration of the traffic light 13 will be described.

  FIG. 3 is a perspective view of the traffic light 13 according to the first embodiment. As shown in FIG. 3, the traffic light 13 covers the light emitting units 41 and 42 that emit parallel light, the modulation unit 43 that superimposes speed limit information on the parallel light by blinking the light emitting unit 42, and the light emitting unit 41. And a light guide 45 having a passage 46 that covers the light emitting part 42 and allows parallel light to pass through at least a part thereof.

  The light guides 44 and 45 are, for example, colored covers made of a polished glass material that transmits light, and convert the parallel light from the light emitting units 41 and 42 into diffused light. That is, all the light transmitted through the light guides 44 and 45 becomes diffused light, and the light transmitted through the light guides 44 and 45 does not include parallel light. In the first embodiment, the light guide 44 is a green cover (a filter that transmits only green light), and the light guide 45 is a yellow cover (a filter that transmits only yellow light). Moreover, the light emission parts 41 and 42 are illuminations which consist of several LED light source which light-emits white parallel light. Here, the reason why yellow is used for the light guide 45 is that it is a color suitable for notifying people of the approach of an obstacle, and other colors such as red are used in addition to yellow. May be. Similarly, the reason why green is used for the light guide 44 is that it is a color suitable for notifying a person of the safe state, and blue or the like may be used in addition to green.

  Subsequently, the operation of the traffic light 13 will be described.

  If the obstacle detection unit 14 does not detect the pedestrian 34, the management unit 15 turns on the light emitting unit 41 and turns off the light emitting unit 42. That is, if the obstacle detector 14 does not detect the pedestrian 34, the traffic light 13 turns on the green lamp as notification information. On the other hand, when the obstacle detection unit 14 detects the pedestrian 34, the management unit 15 turns on the light emitting unit 42 and turns off the light emitting unit 41. In other words, when the obstacle detection unit 14 detects the pedestrian 34, the management unit 15 turns on the yellow lamp of the traffic light 13 as notification information. When the obstacle detection unit 14 detects the pedestrian 34, the management unit 15 further determines the size of the passage 46 of the light guide unit 45 based on the traveling speed of the obstacle detected by the obstacle detection unit 14. Change. Specifically, when the traveling speed of the obstacle detected by the obstacle detecting section 14 is higher than the reference speed, the management section 15 widens the size of the passage 46 and the traveling speed is lower than the reference speed. In this case, the size of the passage port 46 is reduced. Here, the reference speed is set in advance.

  Here, the configuration of the light guide unit 45 will be described. The light guide part 45 includes an upper cover part 45a and a lower cover part 45b disposed below the upper cover part 45a. The traffic light 13 is provided with a cover driving unit 45c for moving at least one of the upper cover part 45a and the lower cover part 45b up and down. A gap constituting the passage port 46 is formed between the upper cover part 45a and the lower cover part 45b. By moving the upper cover part 45a and the lower cover part 45b by the cover driving part 45c, the vertical position and width of the gap (passage port 46) between the upper cover part 45a and the lower cover part 45b are changed.

  As described above, the collision prevention system according to the first embodiment changes the positions of the upper cover portion 45a and the lower cover portion 45b of the light guide portion 45 in accordance with the traveling speed of the obstacle detected by the obstacle detection portion 14. Thus, the passage port 46 is changed. In this way, by controlling the position and width of the passage port 46 by the management unit 15, the identification area 36 irradiated with parallel light and diffused light hardly changes, but the reception area 37 irradiated with only parallel light is adjusted. can do.

  Here, when the traveling speed of the pedestrian 34 detected by the obstacle detection unit 14 is high, the reception area 37 is widened by changing the position and size of the passing port 46, and the vehicle is electrically driven before entering the intersection 17. The wheelchair 12 is sufficiently decelerated. Conversely, when the traveling speed of the pedestrian 34 detected by the obstacle detection unit 14 is slow, the reception area 37 is narrowed by changing the position and size of the passage 46 and immediately before entering the intersection 17. The electric wheelchair 12 is allowed to travel according to the instructions of the joystick 23. Therefore, with the collision prevention system of the first embodiment, the driver 16 of the electric wheelchair 12 can operate as comfortably as possible.

  Further, by configuring the light guide unit 45 with the upper cover unit 45a and the lower cover unit 45b, the passage port 46 can be widened or narrowed, or the position thereof can be changed with a simple configuration.

  Next, a control method of the management unit 15 of the collision prevention system and a control method of the electric wheelchair 12 will be described.

  FIG. 4 is a flowchart illustrating a control method of the management unit 15 according to the first embodiment.

  As shown in FIG. 4, the management unit 15 first confirms whether or not the moving object is detected by the obstacle detection unit 14 (step S01). Here, the obstacle detection unit 14 simultaneously detects the position and speed of the obstacle. When an obstacle is detected in step S01 (“yes” in S01), the size of the passing port 46 is set based on the traveling speed of the obstacle detected by the obstacle detecting unit 14, and the size of the passing port 46 is set. The positions of the upper and lower cover parts are set so as to be the same (step S02). Then, based on the set position of the upper and lower cover parts, a drive control signal for the upper and lower cover parts is transmitted to the cover driving part 45c (step S03). When the cover drive unit 45c receives the drive control signal, the upper cover unit 45a and the lower cover unit 45b are moved to change the size of the passage port 46 to a size corresponding to the traveling speed of the obstacle.

  Subsequently, the management unit 15 transmits speed limit information and a yellow lamp lighting signal to the traffic light 13 (step S04). The traffic light 13 receives the speed limit information and the yellow lamp lighting signal, and lights the light emitting unit 42 on the yellow lamp side (lights the yellow lamp). The modulation unit 43 superimposes the control information on the light from the light emitting unit 42.

  Thus, the collision prevention system of the first embodiment turns on the yellow lamp of the traffic light 13 when the obstacle detection unit 14 detects an obstacle. Then, the driver 16 is urged to pay attention when entering the intersection 17. At the same time, the speed limit information by visible light communication is transmitted from the traffic light 13, and even if the driver 16 misoperates or misses the traffic light 13, the maximum travel speed is forcibly limited immediately before entering the intersection 17. .

  Further, the size of the passage port 46 is changed by moving the upper and lower cover portions by the cover driving unit 45c according to the traveling speed of the obstacle detected by the obstacle detection unit 14, and is proportional to the size of the passage port 46. The reception area 37 is changed. When the traveling speed of the pedestrian 34 is high, the receiving area 37 is widened, and when the traveling speed of the pedestrian 34 is slow, the receiving area 37 is narrowed.

  When no moving obstacle is detected in step S01 ("no" in S01), the management unit 15 transmits a green lamp lighting signal to the traffic light 13 (step S05). The traffic light 13 receives the green lamp lighting signal and turns on the light emitting unit 41. (Lit the green lamp). The management unit 15 switches the display lamp of the traffic light 13 by repeating the steps S01 to S05 described above and giving an instruction to the traffic light 13.

  FIG. 5 is a flowchart illustrating a method for controlling the electric wheelchair 12 according to the first embodiment.

  As shown in FIG. 5, the electric wheelchair 12 receives the light emitted from the traffic light 13 by the light receiving unit 25 (step S11). Here, when light from the traffic light 13 is not received (“no” in S11), normal movement control is performed in step S14. When the light from the traffic light 13 is received (“yes” in S11), it is determined whether or not the speed limit information is included in the light received by the light receiving unit 25 (step S12). When the speed limit information is included in the received light (“yes” in S12), the safety control unit 26 controls the movement control unit 24 to set the maximum traveling speed to the speed limit (step S13). Specifically, when the electric wheelchair having a maximum traveling speed of 6 km / h receives the speed limit information, the maximum traveling speed is changed to 2 km / h.

  Thereafter, it is detected whether or not there is an operation for canceling the speed limit against the joystick 23 or the like (step S15). When there is no release operation (“no” in S15), the movement control unit 24 controls the movement of the electric wheelchair 12 according to the operation of the joystick 23 by the driver 16. And according to operation of the joystick 23, the electric wheelchair 12 moves (step S14). However, the maximum traveling speed of the electric wheelchair 12 is different from when the speed limit information is received and when it is not received. When the speed limit information is received, the maximum traveling speed is set to 2 km / h. When the speed limit information is received while traveling at 6 km / h, the safety control unit 26 decelerates the electric wheelchair 12 until 6 km / h becomes 2 km / h or less.

  Further, when the speed limit information is not received by the light receiving unit 25 (“no” in S12), the electric wheelchair 12 maintains the current maximum traveling speed (6 km / h).

  Here, after the movement control unit 24 is controlled in step S13 and the maximum traveling speed is set to the limiting speed, when there is an operation for releasing the limiting speed (“yes” in S15), the maximum traveling speed of the electric wheelchair 12 is set. Is returned to the initial 6 km / h (step S16). As an operation for releasing the speed limit, for example, there is an operation of temporarily instructing a speed 0 command. By doing in this way, after the driver | operator 16 understands a condition, it becomes possible to cancel | release a speed limit by the driver | operator's 16 will. Therefore, it is possible to prevent rapid acceleration caused by the automatic release of the speed limit.

  The electric wheelchair 12 according to the first embodiment performs travel control by repeating steps S11 to S14 including steps S15 and S16.

  As described above, the collision prevention system according to the first embodiment notifies the driver 16 of the presence of an obstacle in the blind spots 32 and 33 by the light emitted from the traffic light 13 and uses the optical communication to limit speed information. Is transmitted to the electric wheelchair 12. The electric wheelchair 12 that has received the speed limit information by the light receiving unit 25 resets the maximum traveling speed according to the speed limit. The collision prevention system of the first embodiment can prevent a collision between the electric wheelchair 12 and the pedestrian 34 at the intersection 17 even if the driver 16 misses the light of the traffic light 13 that serves as a notification means.

  In the above description, when the speed limit information is received, the electric wheelchair 12 resets the maximum traveling speed as the limiting speed, and cancels the maximum traveling speed limitation by the driver 16 speed 0 command. However, the speed limit may be canceled by other methods. For example, when the next command is not received after receiving the speed limit information, the speed limit may be released after a predetermined time has elapsed. By releasing the speed limit after a lapse of a certain time, there is a possibility that rapid acceleration may occur, but it is possible to operate without the trouble of releasing the speed limit.

  In the first embodiment, the speed limit information is used as an example of the limit information superimposed on the parallel light. However, if the movement control is performed so as not to collide with an obstacle at the intersection 17, the electric wheelchair 12 is used as the limit information. It is also possible to use pause information or the like that pauses before the intersection 17.

  Further, in the above description, restriction information for the electric wheelchair 12 is superimposed only on the yellow lamp, but safety information that there is no obstacle on the green lamp may be superimposed and notified to the electric wheelchair 12. In this case, it should be used for safety confirmation processing, such as processing for releasing the restriction on the maximum traveling speed only when this safety information is received, or processing for limiting the maximum traveling speed to 4 km / hour when there is no safety signal. Thus, the electric wheelchair 12 can be safely operated even when the yellow lamp fails and does not light up.

(Embodiment 2)
FIG. 6 is a perspective view of the traffic light 53 of the collision prevention system according to the second exemplary embodiment of the present invention. Hereinafter, differences of the second embodiment from the first embodiment will be described with reference to the drawings.

  As shown in FIG. 6, the light guide unit 55 of the traffic light 53 includes a liquid crystal shutter 55a and a liquid crystal control unit 55b that applies or removes an electric field to or from the liquid crystal shutter 55a. The liquid crystal shutter 55a is switched between a transmission region 56 that transmits parallel light as it is and a diffusion region 57 that diffuses parallel light by applying or removing an electric field. In addition, the liquid crystal control unit 55b can adjust the region where the voltage is applied to the liquid crystal shutter 55a, so that the region of the transmission region 56 that transmits the parallel light can be expanded and enlarged, or can be reduced and reduced. is there. As described above, by using the liquid crystal shutter 55a as the light guide unit 55, the size of the passage opening (transmission region 56) of the light guide unit 55 can be changed with a simple configuration, good followability, and high reaction speed. it can.

(Embodiment 3)
FIGS. 7A and 7B are diagrams for explaining a light receiving unit of the electric wheelchair of the collision prevention system according to the third embodiment of the present invention. FIG. 7A is a diagram showing the relationship between the traffic light 13 and the electric wheelchair 61 whose traveling speed is low, and FIG. 7B is a diagram showing the relationship between the traffic light 13 and the electric wheelchair 61 whose traveling speed is high. is there. Hereinafter, differences of the third embodiment from the first embodiment will be described with reference to the drawings.

  The electric wheelchair 61 according to the third embodiment is configured to be able to change the angle of the light receiving unit 25 that receives the parallel light on which the speed limit information is superimposed according to the traveling speed.

  As shown in FIG. 7A and FIG. 7B, the electric wheelchair 61 changes the direction of the light receiving surface of the light receiving unit 25 according to the traveling speed detecting unit 64 that detects its own traveling speed and the traveling speed. And a movable part 63. Then, as the traveling speed detected by the traveling speed detection unit 64 becomes low, the movable unit 63 rotates the light receiving unit 25 upward in the vertical direction, thereby changing the direction of the light receiving surface in the vertical upward direction. On the other hand, as the traveling speed detected by the traveling speed detection unit 64 increases, the movable unit 63 rotates the light receiving unit 25 forward to change the direction of the light receiving surface forward.

  The electric wheelchair 61 can receive the parallel light emitted from the traffic light 13 at a more distant place when the light receiving surface faces forward than the state where the light receiving surface faces vertically upward. Therefore, by providing the movable portion 63 as in the third embodiment, the electric wheelchair 61 can increase the distance for decelerating to the speed limit when traveling at a high speed.

  By doing in this way, when the traveling speed is high, the electric wheelchair 61 of the third embodiment receives the speed limit information at a place away from the intersection 17 and is more reliably decelerated to the speed limit. It is possible to enter the intersection 17. Further, when the traveling speed is low, the speed limit information is received near the intersection and travels according to the instruction of the joystick 23 until just before entering the intersection 17, so the driver 16 operates the electric wheelchair 61 as much as possible without feeling uncomfortable. be able to.

(Embodiment 4)
FIG. 8 is a schematic diagram illustrating a collision prevention system according to a fourth embodiment of the present invention. Hereinafter, differences of the fourth embodiment from the first embodiment will be described with reference to the drawings.

  When the obstacle detection unit 14 detects an obstacle at the end in the width direction of the passages 32 and 33 by the obstacle detection unit 14, the management unit 65 of the collision prevention system according to the fourth embodiment causes the traffic light 13 to transmit the parallel light in the visible light region and While diffusing light is emitted, speed limit information for limiting the movement of the electric wheelchair 12 is superimposed on the parallel light.

  That is, in the fourth embodiment, the obstacle detection areas 68 and 69 that can be detected by the obstacle detection unit 14 are the first areas 68a and 69a that are the ends in the width direction of the passage 33 and that are on the passage 31 side. And the other second regions 68b and 69b. When the pedestrian 34 is detected in the first areas 68a and 69a, the management unit 65 causes the traffic light 13 to emit parallel light and diffused light and superimposes speed limit information on the parallel light. On the other hand, when the pedestrian 34 is detected in the second areas 68b and 69b separated from the passage 31, the management unit 65 causes the traffic light 13 to emit light, but does not superimpose speed limit information on the light.

  When the position of the pedestrian 34 detected in the obstacle detection areas 68 and 69 is close to the passage 31 as in the first areas 68a and 69a, the driver 16 misses the light of the yellow lamp of the traffic light 13, and the driver If 16 makes the electric wheelchair 12 approach the intersection 17, the possibility that the electric wheelchair 12 and the pedestrian 34 will collide is high. On the other hand, when the rank of the pedestrian 34 detected in the obstacle detection areas 68 and 69 is away from the passage 31 as in the second areas 68b and 69b, the driver 16 misses the light of the yellow lamp of the traffic light 13. Thus, even if the driver 16 causes the electric wheelchair 12 to enter the intersection 17, the possibility that the electric wheelchair 12 and the pedestrian 34 collide is slightly reduced. In the case of the second regions 68b and 69b, even if the driver 16 notices the pedestrian 34 after entering the intersection 17, there is a distance between the electric wheelchair 12 and the pedestrian 34. Thus, there is a possibility that the collision between the electric wheelchair 12 and the pedestrian 34 can be avoided.

  That is, only when a pedestrian 34 is detected at a position where there is a high possibility of a collision with the passage 31, the speed limit information is superimposed on the light to forcibly decelerate at the speed limit only when there is a high possibility of a collision. . The collision prevention system according to the fourth embodiment is excellent in the operational feeling of the electric wheelchair 12 because it is not forcibly decelerated at a position where the possibility of collision with the passage 31 is low.

(Embodiment 5)
FIG. 9 is a schematic diagram showing the obstacle detection areas 96 and 97 of the collision prevention system according to the fifth embodiment of the present invention. FIG. 10 is a schematic diagram illustrating illumination light of the collision prevention system according to the fifth embodiment. FIG. 11 is a schematic diagram illustrating obstacle detection areas 96 and 97 of the collision prevention system according to the fifth embodiment. Hereinafter, differences of the fifth embodiment from the first embodiment will be described with reference to the drawings.

  As shown in FIGS. 9 and 10, the collision prevention system of the fifth embodiment is used for collision prevention at an intersection 77 where four passages 71, 72, 73, 74 intersect. The collision prevention system of the fifth embodiment includes an electric wheelchair 12, traffic lights 81, 82, 83, and 84, obstacle detection units 85, 86, 87, and 88, and a management unit 89. The traffic lights 81, 82, 83, 84 are installed on the ceiling of the intersection 77 where the four passages 71, 72, 73, 74 intersect. The traffic light 81 has the direction of the passage 71 as its display direction, the traffic light 82 has the direction of the passage 72 as its display direction, the traffic light 83 has the direction of the passage 73 as its display direction, and the traffic light 84 has the direction of the passage 74 as its display direction. And Obstacle detectors 85, 86, 87, and 88 are installed in traffic lights 81, 82, 83, and 84, respectively.

  When the obstacle detection units 86 and 87 detect the obstacle, the management unit 89 causes the traffic lights 81 and 84 to emit parallel light and diffused light in the visible light region, and to reset the maximum traveling speed of the electric wheelchair 12. The speed limit information to be set is superimposed on the parallel light. Similarly, when an obstacle is detected by the obstacle detection units 85 and 88, the management unit 89 causes the traffic lights 82 and 83 to emit parallel light and diffused light in the visible light region, and to increase the maximum traveling speed of the electric wheelchair 12. The speed limit information to be reset is superimposed on the parallel light. Specifically, when the pedestrian 34 who becomes an obstacle enters the obstacle detection areas 96 and 97, the management unit 89 causes the traffic lights 81 and 84 to emit parallel light and diffused light, and also transmits speed limit information to the parallel light. Superimpose. Then, the yellow lamps of the traffic lights 81 and 84 are turned on. Therefore, even if the driver 16 of the passage 71 misses the light of the traffic light 81 that is a notification means, the collision between the electric wheelchair 12 and the pedestrian 34 at the intersection 17 can be prevented.

  If there is an obstacle in the passage 74 entering the field of view for the driver 16, the speed limit information is not transmitted from the traffic light 81. This is because the driver notices an obstacle in the passage 74 before the electric wheelchair 12 enters the intersection 77. In this case, it is considered that the distance between the obstacle and the electric wheelchair 12 is sufficiently wide, and the driver 16 can avoid the electric wheelchair 12 from the obstacle without reducing the traveling speed.

  Specifically, as shown in FIG. 11, even when the pedestrian 34 moving in the front passage 74 is detected by the obstacle detection unit 88 when the electric wheelchair 12 is moving in the passage 71, the management unit 89 does not emit parallel light on which speed limit information is superimposed from the traffic light 81. Therefore, the traffic light 81 remains lit with the green lamp. For the driver 16, the pedestrian 34 moving in the passage 74 enters the field of view, and thus the driver 16 can operate so that the pedestrian 34 and the electric wheelchair 12 do not collide before entering the intersection 77.

  The present invention relates to a collision prevention system for a hospital, a nursing facility, a factory, and the like, in which an electric vehicle such as an electric wheelchair that moves by a driver's operation is used, where there is a passage that becomes a blind spot at a corner of a plurality of passages. It is useful as an electric vehicle using

5, 6, 31, 32, 33, 71, 72, 73, 74 Passage 9, 10, 34 Pedestrian 12, 61 Electric wheelchair 13, 53, 81, 82, 83, 84 Traffic light 14, 85, 86, 87, 88 Obstacle detection unit 15, 65, 89 management unit 16 driver 17, 77 intersection 21 chair unit 23 joystick 24 movement control unit 25 light receiving unit 26 safety control unit 27 electric motor 28 storage battery 36 identification area 37 reception area 41, 42 light emission Unit 43 modulation unit 44, 45, 55 light guide unit 45a upper cover unit 45b lower cover unit 45c cover driving unit 46 passage port 55a liquid crystal shutter 55b liquid crystal control unit 56 transmission region 57 diffusion region 63 movable unit 64 travel speed detection unit 68, 69, 96, 97 Obstacle detection area 68a, 69a First area 68b, 69b Second area

Claims (8)

A traffic light,
An obstacle detection unit for detecting an obstacle in a passage other than the display direction of the traffic light;
A management unit that emits parallel light and diffused light in a visible light region from the traffic light based on the detection result of the obstacle by the obstacle detection unit, and superimposes restriction information on the parallel light;
Anti-collision system. The traffic light is
A light emitting section for emitting the parallel light;
A modulation unit that superimposes the restriction information on the parallel light by blinking the light emitting unit;
A light guide part provided with a passage port through which the parallel light passes at least partially,
The light guide unit diffuses parallel light that has passed through a region other than the passage port to form diffused light,
The collision prevention system according to claim 1. The obstacle detection unit detects a traveling speed of the obstacle,
The management unit increases the passage when the obstacle traveling speed is higher than a reference speed, and reduces the passage opening when the obstacle traveling speed is lower than the reference speed.
The collision prevention system according to claim 2. The light guide part includes an upper cover part that diffuses parallel light to diffuse light, a lower cover part that is disposed below the upper cover part and diffuses parallel light to diffuse light, and the upper cover part Or a cover driving unit that moves up and down at least one of the lower cover units,
The passage opening is constituted by a gap between the upper cover portion and the lower cover portion.
The collision prevention system according to claim 2 or 3. The light guide unit includes a liquid crystal shutter that switches between a transmission region that transmits parallel light by applying or removing an electric field and a diffusion region that diffuses parallel light; a liquid crystal control unit that applies or removes an electric field to the liquid crystal shutter; Comprising
The collision prevention system according to claim 2 or 3. The obstacle detection unit sets a region in the width direction of the passage other than the display direction of the traffic light, distinguishing the passage side in the display direction of the traffic light and the other,
The collision prevention system according to any one of claims 1 to 5. A path other than the display direction of the traffic light, which is a path for detecting an obstacle at the obstacle detection unit, is a path that becomes a blind spot from a path in the display direction of the traffic light.
The collision prevention system according to any one of claims 1 to 6. The speed limit information is speed limit information for controlling speed.
The collision prevention system according to any one of claims 1 to 7.

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