JP6934408B2 - Serving car - Google Patents

Description

The present invention relates to a catering vehicle.

Conventionally, as a serving vehicle, for example, the one described in Patent Document 1 is known. The serving vehicle of Patent Document 1 is provided with a distance detecting means for detecting the distance to an obstacle on the front surface portion and the rear surface portion, and when the distance to the obstacle is within the first control distance during traveling. It also controls to stop the catering vehicle when the distance to the obstacle is within the second control distance.

Japanese Unexamined Patent Publication No. 2002-282057

In the above configuration, when the serving vehicle approaches an obstacle, the serving vehicle is decelerated or stopped, but when the serving vehicle decelerates or stops significantly, it is difficult to change the direction to avoid the obstacle. There is a problem of becoming.

The present invention has been completed based on the above circumstances, and when the serving vehicle approaches an obstacle, the serving vehicle can avoid a collision with the obstacle without significantly decelerating the serving vehicle. The purpose is to provide.

In order to solve the above problems, it is a serving vehicle that transports meals to be served, and is a pair of drive wheels that are arranged on the left and right sides of the vehicle body and can rotate in the front-rear direction. By individually controlling the rotation speed of the pair of drive wheels that can turn, the distance detection unit that detects the distance between the pair of drive wheels and the object on the side of the vehicle body, and the pair of drive wheels, the vehicle is on the side of the vehicle body. The collision avoidance control means includes a control unit having a collision avoidance control means for controlling to avoid a collision with an object, and the collision avoidance control means is based on the distance information data received from the distance detection unit when the vehicle body turns. When it is detected that the object on the side of the vehicle body is approaching, the collision avoidance process for decelerating the rotation speed of the drive wheel having the higher rotation speed among the pair of drive wheels is executed.

When the distance detection unit detects an approach to an object (obstacle) on the side of the vehicle body of the serving vehicle when the serving vehicle is turning, the control unit receives the driving wheel of the faster rotating speed of the pair of driving wheels ( Since the rotation speed of the outer drive wheels during turning is reduced, the traveling of the serving vehicle in the turning direction is braked, and collision with obstacles of the serving vehicle can be avoided. In this way, since the rotation speed is reduced only by the drive wheel having the higher rotation speed, it is possible to avoid a collision with the obstacle of the serving vehicle without significantly decelerating the serving vehicle.

Further, in the collision avoidance process, the rotation speed of the decelerated drive wheels among the pair of drive wheels can be set to be faster than the rotation speed of the drive wheels that have not been decelerated.

By setting the rotation speed of the decelerated drive wheel (the drive wheel with the faster rotation speed) to the rotation speed faster than the rotation speed of the drive wheel without deceleration (the drive wheel with the slower rotation speed), an obstacle It is possible to travel in the turning direction while avoiding collision with an object, and in particular, when the catering vehicle passes through a narrow passage, it is possible to make fine adjustments in the traveling direction.

Further, in the collision avoidance process, the rotation speed of the decelerated drive wheels among the pair of drive wheels can be the same as the rotation speed of the drive wheels that have not been decelerated.

By making the rotation speed of the decelerated drive wheel (the drive wheel with the faster rotation speed) the same as the rotation speed of the drive wheel without deceleration (the drive wheel with the slower rotation speed), It is possible to prevent the catering vehicle from turning and to avoid the catering vehicle from colliding with an obstacle.

Further, the control unit includes a collision detection unit that detects a collision with an object, the control unit includes an impact reduction control means that controls to reduce the impact when the object collides, and the impact reduction control means has the collision. When a collision with an object during turning of the vehicle body is detected from the collision information data received from the detection unit, the rotation speed of the drive wheel having the higher rotation speed among the pair of drive wheels is changed to the rotation speed. It is possible to execute an impact mitigation process for making the rotation speed the same as the rotation speed of the drive wheel having the slower speed.

When a catering vehicle collides with an obstacle while turning, the rotation speed of the drive wheel with the faster rotation speed is set to the same rotation speed as the rotation speed of the drive wheel with the slower rotation speed, so that the catering vehicle can turn. It can be stopped and the impact at the time of a collision of the serving car can be reduced.

According to the present invention, obstacles can be avoided without significantly decelerating the serving vehicle.

Perspective view of the serving car A block diagram showing an electrical configuration of a catering vehicle according to the first embodiment. Schematic diagram showing the movement of the serving car when the distance detection sensor detects an obstacle when turning left of the serving car. Schematic diagram showing the movement of the serving car when the distance detection sensor detects the wall on the right side when the serving car turns to the right. Schematic diagram showing the movement of the serving vehicle when the collision detection sensor collides with an obstacle when the serving vehicle turns to the left. Flow diagram of processing in the side collision avoidance control unit Process flow diagram in the impact mitigation control unit A block diagram showing an electrical configuration of a catering vehicle according to the second embodiment. Schematic diagram showing the movement of the serving car when the distance detection sensor detects an obstacle when turning left of the serving car. Schematic diagram showing the movement of the serving car when the distance detection sensor detects the wall on the left side when turning left of the serving car.

<Embodiment 1>
The serving car 10 of the present embodiment will be described with reference to FIGS. 1 to 7. In the following description, the X direction in FIG. 1 is to the left, the Z direction is upward, and the Y direction is forward.

The serving car 10 is used for the purpose of accommodating and serving meals, and as shown in FIG. 1, a rectangular chassis 12, a storage main body 14 provided on the upper surface of the chassis 12, and a storage. It is provided with a machine room 24 provided on the ceiling of the main body 14. Further, as shown in FIG. 3, a pair of left and right free wheels 40 whose orientations can be freely changed are provided in the front of the vehicle body, and the rear of the vehicle body can rotate in the front-rear direction and rotate with each other. A pair of left and right drive wheels 56 are provided so that the serving wheel 10 can be turned by the difference.

As shown in FIG. 1, the storage main body 14 has a box shape with an opening on the left side, and is composed of two refrigerators 16 and two warm storages 18. The two refrigerators 16 are arranged side by side in the center, and the two refrigerators 18 are arranged on both sides so as to sandwich the two refrigerators 16. Doors 20 that can be opened and closed are provided in the openings of the two refrigerators 16 and the openings of the two refrigerators 18. Further, on the front surface of the storage main body 14, an operation handle 22 used when the carrier operates the serving wheel 10 is provided.

In the machine room 24, as shown in FIG. 1, a freezing device 26 for cooling the inside of the refrigerator 16, a heating device 34 for heating the inside of the heating storage 18, and a control unit for controlling various devices are provided. A control box 36 containing the 70 is provided. As shown in FIG. 1, the refrigerating equipment 26 uses a compressor 28 for compressing the refrigerant, a condenser 30 for condensing the refrigerant, and cooling for cooling the inside of the refrigerator 16 using the compressed and condensed refrigerant. It is provided with a cooler chamber 32 that houses the vessel.

As shown in FIG. 3, the chassis 12 is provided with six distance detection sensors (distance detection unit) 46 and two collision detection sensors (collision detection unit) 54.

The distance detection sensor 46 is a sensor that irradiates an object with ultrasonic waves or a laser and detects the distance to the object from the phase difference between the irradiation wave and the reflected wave from the object. One is provided, and four are provided at the rear of the chassis 12. The distance detection sensor 46A on the left side provided on the left side of the chassis 12 is arranged in the vicinity of the free wheel 40A on the left side. Similarly, the right distance detection sensor 46B provided on the right side of the chassis 12 is arranged in the vicinity of the right free wheel 40B.

The collision detection sensor 54 is a sensor that converts an impact into an electric signal, and is provided on both the left and right sides of the chassis 12 as shown in FIG. The collision detection sensor 54A on the left side and the collision detection sensor 54B on the right side are provided over a wide range on the side.

The control unit 70 is a so-called microcontroller, and as shown in FIG. 2, includes a CPU (Central Processing Unit) 72 that performs calculations, a RAM (Random Access Memory) 74 that inputs and outputs data, and various devices. It includes a ROM (Read Only Memory) 76 in which a control program to be controlled is stored, a rotation control unit 78, a collision avoidance control unit 84, and an impact mitigation control unit (impact mitigation control means) 90.

As shown in FIG. 2, the control unit 70 includes a drive wheel 56 (left drive wheel 56A, right drive wheel 56B), a distance detection sensor 46 (left distance detection sensor 46A, right distance detection sensor 46B, rearward). Distance detection sensor 46C) and collision detection sensor 54 (distance detection sensor 54A on the left side, distance detection sensor 54B on the right side) are electrically connected.

The rotation control unit 78 controls to individually rotate the rotation speeds of the left drive wheel 56A and the right drive wheel 56B at a predetermined rotation speed. When the rotation control unit 78 causes a difference in the rotation speeds of the left and right drive wheels 56, the serving wheel 10 turns.

As shown in FIG. 2, the collision avoidance control unit 84 includes a side collision avoidance control unit (collision avoidance control means) 86 and a rear collision avoidance control unit 88. The side collision avoidance control unit 86 controls to avoid a collision with an object on the side of the vehicle body of the serving vehicle 10, and the side collision avoidance control unit 86 executes a collision avoidance process described later. The collision avoidance process executes steps 100 to 104 shown in FIG.

The rear collision avoidance control unit 88 detects the approach to an object behind the vehicle body based on the distance information data received from the rear distance detection sensor 46C, and controls to stop or decelerate the rotation of the drive wheels 56.

The impact mitigation control unit 90 controls to reduce the impact of the collision when the serving vehicle 10 collides with an object on the side of the vehicle body, and the impact mitigation control unit 90 executes a collision mitigation process described later. NS. The collision mitigation process executes steps 110 to 114 shown in FIG. 7.

The operation of the side collision avoidance control unit 86 will be described with reference to FIGS. 3, 4, and 6. Here, as shown in FIG. 3, it is assumed that the serving wheel 10 is turning in the direction D1 (left direction) and that there is an obstacle 202 in the turning direction.

First, the distance information data representing the distance between the serving vehicle 10 and the obstacle 202 is acquired from the distance detection sensor 46A on the left side (step 100), and then the value of the acquired distance information data is from the threshold distance. Is also small (step 102).

If the value of the acquired distance information data is smaller than the threshold distance, it is determined that the serving wheel 10 is approaching the obstacle 202 by a certain amount or more, and the driving wheels 56 are on the outside of the turning direction (the one with the faster rotation speed). The rotation speed of the right drive wheel 56B is reduced (step 104). Here, the rotation speed of the right drive wheel 56B to be decelerated is set to be faster than the rotation speed of the left drive wheel 56A. As a result, the traveling direction of the serving wheel 10 becomes the direction D2 (diagonally left front direction) as shown in FIG. 3, and the collision with the obstacle 202 can be avoided. In this way, by decelerating the rotation speed of the right drive wheel 56B so as to be faster than the rotation speed of the left drive wheel 56A, it is possible to prevent the serving wheel 10 from being unable to turn. Further, the serving vehicle 10 is prevented from colliding with the obstacle 202 without significantly decelerating the serving vehicle 10. Further, by reducing the rotation speed of the drive wheel 56B on the right side, the carrier of the catering vehicle 10 notices an abnormality, and the obstacle 202 is easily found.

Next, as shown in FIG. 4, when the serving wheel 10 avoids the obstacle 202 placed in the passage surrounded by the left wall 203 and the right wall 204, the right distance detection is performed on the right wall 204. The operation of the side collision avoidance control unit 86 when the sensor 46B reacts will be described.

As shown in FIG. 4, in order to avoid the obstacle 202 on the left front side of the serving vehicle 10, when the serving vehicle 10 is turned in the direction D3 (diagonally right front direction), the serving vehicle acquired from the distance detection sensor 46B on the right side is obtained. The value of the distance information data representing the distance between the 10 and the right wall 204 becomes smaller than the threshold distance, and it is determined that the serving wheel 10 is approaching the right wall 204 by a certain amount or more (step 100, step 102). ).

Next, the rotation speed of the left drive wheel 56A, which is the drive wheel 56 outside the turning direction, is reduced (step 104). Here, the rotation speed of the left drive wheel 56A is set to be faster than the rotation speed of the right drive wheel 56B. By doing so, the traveling direction of the serving vehicle 10 changes to the direction D4 in which the turning speed to the right side is slower than the direction D3, and the collision with the wall 204 on the right side of the serving vehicle 10 can be easily avoided. Further, since it is possible to turn to the right, the serving wheel 10 can turn the obstacle 202 to the right and avoid it.

The operation of the impact reduction control unit 90 will be described with reference to FIGS. 5 and 7. Here, as shown in FIG. 5, it is assumed that the serving wheel 10 collides with an obstacle 202 in the turning direction when turning in the direction D5 (left direction).

As shown in FIG. 7, the impact mitigation control unit 90 constantly acquires collision information data from the collision detection sensor 54 and monitors the presence or absence of a collision of the serving vehicle 10 (step 110). When the serving vehicle 10 collides with an obstacle 202 on the left side of the vehicle body while turning in the direction D5, the impact mitigation control unit 90 detects that there is a collision from the collision information data acquired from the collision detection sensor 54A on the left side. (Step 112).

When a collision is detected, the rotation speed of the right drive wheel 56B, which is the drive wheel 56 outside the turning direction, is reduced (step 114). Here, the rotation speed of the right drive wheel 56B is set to be the same as the rotation speed of the left drive wheel 56A. As a result, the traveling direction of the serving vehicle 10 changes to the direction D6 (forward direction) as shown in FIG. 5, and the impact that the serving vehicle 10 receives due to the collision is reduced.

According to this embodiment, the following actions and effects are exhibited.
The serving vehicle 10 of the present embodiment is a serving vehicle 10 that carries the meal to be served, and is a pair of drive wheels 56 that are arranged on the left and right sides of the vehicle body and can rotate in the front-rear direction, and the rotation of each drive wheel 56. The rotation speeds of the pair of drive wheels 56 that enable the vehicle body to turn by the difference, the distance detection sensor (distance detection unit) 46 that detects the distance to the object on the side of the vehicle body, and the pair of drive wheels 56 are individually controlled. This includes a control unit 70 having a side collision avoidance control unit (collision avoidance control means) 86 that controls to avoid a collision with an object on the side of the vehicle body, and a side collision avoidance control unit (collision). The avoidance control means) 86 is paired when it detects that the vehicle is approaching an object on the side of the vehicle body when the vehicle body is turning, based on the distance information data received from the distance detection sensor (distance detection unit) 46. Of the drive wheels 56 of the above, the collision avoidance process for decelerating the rotation speed of the drive wheel 56 having the faster rotation speed is executed.

According to the present embodiment, when the distance detection sensor (distance detection unit) 46 detects an approach to an object (obstacle) on the vehicle body side of the serving vehicle 10 when the serving vehicle 10 is turning, the control unit 70 determines. Of the pair of drive wheels 56, the drive wheel 56 having the higher rotation speed (the outer drive wheel 56 at the time of turning) is decelerated, so that the traveling of the serving wheel 10 in the turning direction is braked and the serving wheel 10 is served. It is possible to avoid a collision with an obstacle of the vehicle 10. In this way, since the rotation speed of only the drive wheel 56 having the higher rotation speed is reduced, it is possible to avoid the collision of the serving vehicle 10 with the obstacle without significantly decelerating the serving vehicle 10.

Further, in the collision avoidance process, the rotation speed of the decelerated drive wheels 56 among the pair of drive wheels 56 can be set to be faster than the rotation speed of the drive wheels 56 that have not been decelerated.

The rotation speed of the decelerated drive wheel 56 (the drive wheel 56 having the faster rotation speed) is set to be faster than the rotation speed of the drive wheel 56 (the drive wheel 56 having the slower rotation speed) that has not been decelerated. This makes it possible to travel in the turning direction while avoiding collision with obstacles, and in particular, when the serving vehicle 10 passes through a narrow passage, fine adjustment of the traveling direction is possible.

Further, a collision detection sensor (collision detection unit) 54 for detecting a collision with an object is provided, and the control unit 70 is an impact reduction control unit (impact reduction control means) that controls to reduce the impact when the object collides. 90 is provided, and the impact mitigation control unit (impact mitigation control means) 90 is paired when it detects a collision with an object when the vehicle body is turning from the collision information data received from the collision detection sensor (collision detection unit) 54. Of the drive wheels 56 of the above, the impact mitigation process for making the rotation speed of the drive wheel 56 having the faster rotation speed the same as the rotation speed of the drive wheel 56 having the slower rotation speed may be executed. can.

When the serving vehicle 10 collides with an obstacle while turning, the rotation speed of the drive wheel 56 having the higher rotation speed is set to the same rotation speed as the rotation speed of the drive wheel having the slower rotation speed. It is possible to prevent turning and reduce the impact of a catering vehicle in a collision.

<Embodiment 2>
The serving car 10A of the present embodiment will be described with reference to FIGS. 8 to 10. As shown in FIGS. 8 and 9, the serving car 10A is not provided with the collision detection sensor 54 on the side of the vehicle body, unlike the serving car 10 of the first embodiment. Further, unlike the first embodiment, the control unit 70A is not provided with the impact reduction control unit 90.

Further, in the side collision avoidance control unit 86 of the first embodiment, in step 104 of FIG. 6, the rotation speed of the drive wheels 56 outside the turning direction is set to a rotation speed faster than the rotation speed of the drive wheels 56 inside the turning direction. Although it was decided to decelerate, in the side collision avoidance control unit 86A of the present embodiment, in step 104, the rotation speed of the drive wheels 56 outside the turning direction is the same as the rotation speed of the drive wheels 56 inside the turning direction. To let. Since the other points have the same configuration as that of the first embodiment, the description thereof will be omitted.

The operation of the side collision avoidance control unit 86A will be described. Here, as shown in FIG. 9, it is assumed that the serving wheel 10A is turning in the direction D7 (leftward) and there is an obstacle 202 in the turning direction.

From the distance detection sensor 46A on the left side, distance information data representing the distance between the serving vehicle 10 and the obstacle 202 is acquired (step 100), and it is determined whether the value of the acquired distance information data is smaller than the threshold distance. (Step 102).

If the value of the acquired distance information data is smaller than the threshold value, the rotation speed of the right drive wheel 56B, which is the drive wheel 56 outside the turning direction, is reduced to the same rotation speed as the left drive wheel 56A (the rotation speed of the left drive wheel 56A). Step 104). As a result, the traveling direction of the serving vehicle 10A becomes the direction D8 (forward direction) shown in FIG. 9, and a collision with the obstacle 202 can be avoided.

Next, as shown in FIG. 10, when the serving wheel 10A passes through the passage surrounded by the left wall 203 and the right wall 204, the left distance detection sensor 46A reacts with the left wall 203. The operation of the side collision avoidance control unit 86 will be described.

When the serving car 10 turns in the direction D3 (diagonally left front direction), the value of the distance information data indicating the distance between the serving car 10A and the left wall 203 acquired from the distance detection sensor 46 on the left side is the threshold distance. If it is determined to be smaller than (step 100, step 102), the rotation speed of the right drive wheel 56B, which is the drive wheel 56 outside the turning direction, is reduced to the same rotation speed as the left drive wheel 56A. (Step 104). As a result, the traveling direction of the serving vehicle 10A becomes the direction D10 (forward direction), and the collision with the wall 203 on the left side of the serving vehicle 10A is avoided. Even in this state, the serving car 10A can move in the front-rear direction, so that it does not get stuck.

According to this embodiment, the following actions and effects are exhibited.
In the collision avoidance process of the present embodiment, the rotation speed of the decelerated drive wheels 56 among the pair of drive wheels 56 can be the same as the rotation speed of the non-decelerated drive wheels 56.

According to the present embodiment, the rotation speed of the decelerated drive wheel 56 (the drive wheel 56 having the faster rotation speed) is changed to the drive wheel 56 not decelerating (the drive wheel 56 having the slower rotation speed). ), It is possible to prevent the serving vehicle 10 from turning and to avoid the serving vehicle 10 from colliding with an obstacle.

<Other embodiments>
The present invention is not limited to the embodiments described in the above description and drawings, and for example, the following embodiments are also included in the technical scope of the present invention.
(1) In the above embodiment, one distance detection sensor 46 is arranged on each of the left and right side portions of the chassis 12, but a plurality of distance detection sensors may be arranged on each of the left and right side portions.
(2) In the above embodiment, the distance detection sensor 46 and the collision detection sensor 54 are arranged on the chassis 12, but they may be provided in other parts such as the storage body.

10, 10A ... Serving car 46 ... Distance detection sensor (distance detection unit)
54 ... Collision detection sensor (collision detection unit)
56 ... Drive wheels 70, 70A ... Control unit 78 ... Rotation control unit (rotation control means)
86, 86A ... Side collision avoidance control unit (collision avoidance control means)
90 ... Impact mitigation control unit (impact mitigation control means)

Claims (4)

It is a serving car that carries meals to be served.
A pair of drive wheels that are arranged on the left and right sides of the vehicle body and can rotate in the front-rear direction, and a pair of drive wheels that can turn the vehicle body by the rotation difference of each drive wheel.
A distance detector that detects the distance to an object on the side of the vehicle body,
A control unit having a collision avoidance control means for controlling to avoid a collision with an object on the side of the vehicle body by individually controlling the rotation speeds of the pair of drive wheels is provided.
The collision avoidance control means
Based on the distance information data received from the distance detection unit, when it is detected that the vehicle is approaching an object on the side of the vehicle when the vehicle is turning, the rotation speed of the pair of drive wheels is increased. A serving vehicle that executes a collision avoidance process that reduces the rotational speed of the faster drive wheel. The serving vehicle according to claim 1, wherein in the collision avoidance process, the rotation speed of the decelerated drive wheels among the pair of drive wheels is set to be faster than the rotation speed of the drive wheels that have not been decelerated. .. The serving vehicle according to claim 1, wherein in the collision avoidance process, the rotation speed of the decelerated drive wheels of the pair of drive wheels is the same as the rotation speed of the drive wheels that have not been decelerated. Equipped with a collision detection unit that detects a collision with an object
The control unit includes impact reduction control means that controls to reduce the impact when it collides with an object.
The impact mitigation control means
When a collision with an object when the vehicle body is turning is detected from the collision information data received from the collision detection unit, the rotation speed of the drive wheel having the higher rotation speed among the pair of drive wheels is determined. The serving vehicle according to claim 2, wherein an impact mitigation process is performed to make the rotation speed the same as the rotation speed of the drive wheel having the slower rotation speed.

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