JP7076851B1 - Electric assist trolley - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electrically assisted carriage in which a drive wheel is not driven when a pushing force or a tensile force is applied to only one of the handles. SOLUTION: An electric assist trolley 10 according to the present invention has drive wheels 24L, 24R arranged on the left and right sides of a base, drive mechanisms 26L, 26R for rotationally driving each drive wheel, and arrangement behind the base. The left handle 20L and the right handle 20R are provided, and the left push pressure detecting means 23L, which is deployed on the left handle and detects the push pressure acting on the left handle, and the left handle 20L, which is deployed on the right handle, is the right. An electric assist trolley including a right push pressure detecting means 23R for detecting a push pressure acting on a handle and a control means 30, wherein the control means is the left push pressure detecting means or the right push pressure detecting means. If the absolute value of the pressing force detected on the one hand exceeds a predetermined threshold value, but the absolute value of the pressing force detected on the other side is equal to or less than the predetermined threshold value, the left drive mechanism and the right drive mechanism are not rotationally driven. .. [Selection diagram] FIG. 10

Description

The present invention relates to an electrically assisted trolley that assists a pressing force by a user's handle operation with an electric driving force, and more specifically, relates to an electrically assisted trolley that can prevent unintended movement by one-handed operation. be.

An electric assist trolley is known in which independent drive motors are connected to the left and right drive wheels of the trolley, and an electric drive force is added to the pushing force and the tensile force when the user operates the handle. For example, in Patent Document 1, sensors for detecting external forces are provided on the left and right handles, respectively, and the left and right drive motors are driven according to the pushing force or tensile force input to the sensors to assist the rotation of the drive wheels. I am doing it.

In the electric assist trolley 10, as shown in FIG. 7 (a), the left and right handles 20L and 20R may be subjected to equal pushing forces FL and FR when going straight forward, and FIG. 8 (a) when going straight backward. As shown in, uniform tensile forces BL and BR may be applied. On the other hand, when turning right while moving forward, as shown in FIG. 7B, the pushing force FL on the left handle 20L is made larger than the pushing force FR of the right handle 20R, so that the left drive motor The output of 26L is larger than the output of the right-hand drive motor 26R, and the electrically assisted carriage 10 turns right and moves forward. Turning left and moving forward is the opposite (see FIG. 7 (c)). In order to turn left while moving backward, as shown in FIG. 8B, the tensile force BL on the left handle 20L is made larger than the tensile force BR on the right handle 20R. Turning right and moving backward is the opposite (see FIG. 8 (c)).

Registered Utility Model No. 3220906 Gazette

If the power-assisted trolley is nearby and disturbing, you may grab one of the handles and push it. Also, if you want to pull the power-assisted trolley toward the user, you may grab one of the handles and pull it. In a normal bogie without an assist function, when a pushing force FL is applied only to the left handle 20L, the bogie moves in a trajectory as shown in FIG. 10 (a). Further, when the tensile force BL is applied only to the left handle 20L, the carriage moves by drawing a locus T as shown in FIG. 10 (b). In this way, the dolly moves in a direction corresponding to its pushing direction or pulling direction.

However, in the case of an electrically assisted trolley, when operated in the same way as a normal trolley, the driving force is applied to only one of the driving wheels by the pushing force or the tensile force applied to one of the handles, and the electrically assisted trolley turns and the user Will move in an unintended direction. For example, regarding a front-wheel drive electrically assisted carriage, FIG. 11A shows a state in which a pushing force FL is applied only to the left handle 20L, and FIG. 11B shows a state in which a tensile force BL is applied only to the left handle 20L. There is. In these cases, regardless of the directions FL and BL (white arrows in the figure) to which the force is applied, the left handle 20L acts as a pushing force or a tensile force in the direction of the black arrow. As a result of receiving a pushing force or a tensile force only on the left handle 20L, the electrically assisted carriage 10 is driven only by the left drive wheel 24L and turns in the direction of the arrow T. Since such an operation is different from that of a normal trolley, the user may be pulled or pushed by the electrically assisted trolley, and a person or an object may collide with the electrically assisted trolley.

An object of the present invention is to provide an electrically assisted carriage in which the drive wheels are not driven when a pushing force or a tensile force is applied to only one of the handles.

The electrically assisted trolley according to the present invention is
Base and
A left drive wheel arranged on the left side of the base, a left drive mechanism for rotationally driving the left drive wheel, and a left drive mechanism.
A right drive wheel arranged on the right side of the base, a right drive mechanism for rotationally driving the right drive wheel, and a right drive mechanism.
A left-hand drive located on the rear left side of the base,
A right-hand drive located on the rear right side of the base,
A left-hand drive pressure detecting means that is deployed on the left-hand drive and detects a push force acting on the left-hand drive.
A right-hand drive pressure detecting means that is deployed on the right-hand drive and detects a push pressure acting on the right-hand drive.
A control means for controlling the left drive mechanism and the right drive mechanism based on the push pressure acting on the left push pressure detecting means and the right push pressure detecting means.
It is an electric assist trolley equipped with
In the control means, the absolute value of the pressing force detected by either the left pressing force detecting means or the right pressing force detecting means exceeds a predetermined threshold value, but the absolute value of the pressing force detected by the other is predetermined. If it is equal to or less than the threshold value, the left drive mechanism and the right drive mechanism are not rotationally driven.

In the control means, the absolute value of the pressing force detected by either the left pressing force detecting means or the right pressing force detecting means exceeds a predetermined threshold value, but the absolute value of the pressing force detected by the other is predetermined. When it is equal to or less than the threshold value, the pressing force acting on the left pressing force detecting means and the right pressing force detecting means is determined to be zero.

The control means repeatedly measures the pressing force acting on the left pressing force detecting means and the right pressing force detecting means, and the left driving mechanism and the right driving mechanism are determined once or a plurality of times. The output is controlled so as to correspond to the average of the pressing force or the moving average.

According to the electrically assisted carriage according to the present invention, the pressing force acting on one handle exceeds the threshold value, but when the pressing force acting on the other handle is equal to or less than the threshold value, the left and right drive mechanisms are not activated. Therefore, even if the user pushes or pulls one of the handles like a normal trolley, the drive mechanism does not operate, so that the unintended turning of the electrically assisted trolley can be prevented.

FIG. 1 is a left side view of an electrically power assisted trolley according to an embodiment of the present invention. FIG. 2 is a rear view of the electrically power assisted carriage. FIG. 3 is a plan view of a main part of the electrically power assisted carriage. FIG. 4 is an enlarged view of the handle of the circled portion IV of FIG. FIG. 5 is a control block diagram of the electrically power assisted trolley according to the embodiment of the present invention. FIG. 6 is a graph showing a dead zone of the output of each pressing force detecting means. FIG. 7 shows forward traveling (a) to (c) of the electrically power assisted carriage. FIG. 8 shows the reverse traveling (a) to (c) of the electrically power assisted trolley. FIG. 9 shows the turning traveling (a) and (b) of the electrically power assisted carriage. FIG. 10 shows the movement of the bogie (a) when a pushing force is applied to the left handle of a normal bogie, and the movement (b) of the bogie when a tensile force is applied. FIG. 11 shows the avoidable turning traveling (a) and (b) of the electrically assisted carriage of the present invention. FIG. 12 is a flowchart according to an embodiment of the present invention. FIG. 13 shows turning traveling in which the rear wheels can be avoided in the present invention with respect to the electrically assisted bogie of the drive wheels.

The electrically assisted carriage 10 according to the present invention will be described with reference to the drawings. In the following embodiment, an example in which the electric assist trolley 10 of the present invention is applied to a drum can handling machine that grips, transports, reverses, etc. the drum can D will be described. Omit.

As shown in FIGS. 1 to 3, the electrically assisted trolley 10 of the present invention has wheels 24L, 24R, 25L, and 25R arranged on the front left and right and the rear left and right of the base 11 as an embodiment. In the illustrated embodiment, the left and right front wheels are drive wheels 24L and 24R, which are connected to drive motors 26L and 26R, which are drive mechanisms, via roller chains 28L and 28R, respectively. The drive wheels may be rear wheels 25L and 25R.

The columns 12L and 12R are erected behind the base 11, the left handle 20L is arranged on the left column 12L, and the right handle 20R is arranged on the right column 12R. The handles 20L and 20R are operation units that the user grasps and operates by applying a pushing force and a tensile force (including these, referred to as "pushing pressure"). In the illustrated embodiment, the handles 20L and 20R are attached to the substantially U-shaped mounting frames 13L and 13R projecting rearward from the two left and right columns 12L and 12R erected on the base 11. ing.

The handles 20L and 20R are provided with a pressing force detecting means for detecting the pressing force acting on the handles 20L and 20R. In the present embodiment, the pressing force detecting means can be load cells 22L and 22R. A left load cell 22L is provided on the left handle 20L, and a right load cell 22R is provided on the right handle 20R. As the load cells 22L and 22R, tension / compression type ones can be adopted, and strain gauge type, magnetostrictive type, capacitance type, and gyro type can be exemplified. The pressing force detecting means is not limited to the load cell as long as it is a sensor capable of converting a force into an electric signal, and may be, for example, a sensor using a spring, a piezo type sensor, a displacement sensor, or the like. ..

As a specific embodiment, the handles 20L and 20R include grip portions 21L and 21R and load cells 22L and 22R to be gripped by the user, as shown in an enlarged manner in FIG. The pedestal plate 14 is mounted on the mounting frames 13L and 13R, and the load cells 22L and 22R are mounted on the pedestal plate 14. The grip portions 21L and 21R are provided on the support plate 15, and the load cells 22L and 22R are sandwiched between the support plate 15 and the pedestal plate 14. However, when the user applies a pressing force to the handles 20L and 20R, the load cells 22L and 22R are compressed in the case of a pressing force, and the load cells 22L and 22R are pulled in the case of a tensile force, and the output thereof is the converter 23L, which will be described later. It is transmitted to 23R.

FIG. 5 is a diagram showing a control block of the electrically power assisted carriage 10 of the present invention. As shown in the figure, the control of the electrically power assisted carriage 10 is executed by the control means 30. For example, the control means 30 is arranged in the control box 31 shown in FIG. The control means 30 includes a memory and stores in advance a program necessary for controlling the electrically power assisted carriage 10 of the present invention. Although not shown, these power sources are supplied from a battery or the like mounted on the base 11.

More specifically, the left drive motor 26L for driving the left drive wheel 24L described above is connected to the control means 30 via the left motor driver 27L. Further, the right drive motor 26R for driving the right drive wheel 24R is connected via the right motor driver 27R. The motor drivers 27L and 27R can be arranged in the control box 31 (see FIG. 2).

Further, the load cells 22L and 22R described above are also connected to the control means 30 via the converters 23L and 23R, as shown in FIG. The converters 23L and 23R apply a power supply of 5V to the load cells 22L and 22R, and output 2.5V when the load cell is unloaded as shown in FIG. A dead band is set when the pushing force and tensile force applied to the handles 20L and 20R are in the range of P1 to −P1, and the minimum drive voltage is output when P1 to −P1 is reached. The pushing force or tensile force is proportional to the driving voltage, and when the pushing force is maximum + FS, the driving voltage 4.9V is output, and when the tensile force is maximum -FS, the driving voltage 0.1V is output. This drive voltage is determined by the motor drivers 27L and 27R in the rotation direction of the drive motor, and at the same time, is proportionally output to the drive motors 26L and 26R.

The pressing force acting on the handles 20L and 20R can be simply proportional to the voltage supplied to the drive motors 26L and 26R. However, when the pressing force is very small, the voltages of the drive motors 26L and 26R are also small, so that the electrically assisted carriage 10 does not run and only rattles. Further, a minute voltage signal deviating from the reference voltage due to disturbance or the like may be input to the control means 30, and the electrically assisted carriage 10 may self-propell. Therefore, as shown in FIG. 6, it is preferable to provide a dead zone in the transducers 23L and 23R with respect to the pushing force or the tensile force from the load cells 22L and 22R, and the pushing force or the tensile force (P1 to P1 to) exceeding the dead zone. + FS, −P1 to −FS) can be applied to the motor drivers 27L and 27R only when the voltage is applied.

If the voltage applied from the motor drivers 27L and 27R to the drive motors 26L and 26R is a voltage value directly proportional to the pressing force, the rotation of the driving motors 26L and 26R will rattle due to minute fluctuations in the pressing force. .. Therefore, it is desirable that the voltage actually applied to the drive motors 26L and 26R is the average of the pressing force detected once or a plurality of times by the control means 30, a moving average, or the like.

The electrically assisted trolley 10 having the above configuration travels as shown in FIGS. 7 to 9 when the user U grabs the left and right handles 20L and 20R and applies a pressing force.

7 is a forward traveling of the electrically power assisted carriage 10, FIG. 8 is a reverse traveling, and FIG. 9 is a turning traveling. The pushing force exerted by the user U on the left handle 20L is FL, the tensile force is BL, the pushing force acting on the right handle 20R is FR, and the tensile force is BR, which are indicated by arrows in the figure. The length of the arrow simply indicates the magnitude of the force applied. Further, the rotations of the left drive wheels 24L and the right drive wheels 24R by the drive motors 26L and 26R in the forward direction are Lf and Rf, and the rotations in the reverse direction are Lb and Rb, which are indicated by arrows in the figure. The length of the arrow simply indicates the magnitude of the rotational torque. Further, the traveling direction of the electrically power assisted carriage 10 is indicated by arrows F (forward side), B (reverse side), and T (turning).

Referring to FIG. 7, in FIG. 8A, the user U applies pushing forces FL and FR of substantially the same magnitude to the left and right handles 20L and 20R. As a result, electric signals of substantially the same magnitude are input from the load cells 22L and 22R via the converters 23L and 23R, and the motor drivers 27L and 27R apply a voltage proportional to the electric signals to the left and right drive motors 26L and 26R. do. Then, the drive wheels 24L and 24R are rotated forward (Lf, Rf), and the electric assist carriage 10 moves forward F. If there is a difference in the pushing force FL and FR acting on the left and right handles 20L and 20R, the electrically assisted trolley 10 makes a right turn forward F and a left turn forward F as shown in FIGS. ..

The same applies to the reverse movement. In FIG. 8A, as a result of the user U applying the tensile forces BL and BR of substantially the same magnitude to the left and right handles 20L and 20R, the drive wheels 24L and 24R are rotated backward. (Lb, Rb), the electric assist trolley 10 moves backward B. If there is a difference in the tensile forces BL and BR acting on the left and right handles 20L and 20R, as shown in FIGS. do.

On the other hand, when the directions of the pressing forces applied to the left and right handles 20L and 20R are opposite, the electrically assisted carriage 10 turns T. Specifically, as shown in FIG. 9A, when a pushing force FL is applied to the left handle 20L and a tensile force BR is applied to the right handle 20R, the left drive wheel 24L rotates forward and the right drive wheel 24R moves backward. Since the rotation Rb is performed, the electric assist trolley 10 makes a right turn T. On the contrary, when a tensile force BL is applied to the left handle 20L and a pushing force FR is applied to the right handle, the left drive wheel 24L rotates in the reverse direction Lb and the right drive wheel 24R rotates in the forward direction Rf. do.

As described above, not when the user U correctly grasps and operates the left and right handles 20L and 20R, but when, for example, the electric assist trolley 10 is in an obstructive position and the user pulls or pushes it, the user U may push or pull one of the handles 20L and 20R like a normal dolly, but in a normal dolly without an assist function, the pushing force applied to the pusher is shown in FIG. 10 (a). As shown in FIG. 10B, the bogie moves on the locus T corresponding to each other, whereas in the electrically assisted bogie 10, the pushing pressure is applied only to one of the handles 20L or 20R. When added, only one of the drive wheels 24L or 24R may rotate, and the electrically assisted carriage 10 may turn in a direction not intended by the user U. FIG. 11A shows a state in which a pushing force FL is applied only to the left handle 20L, and FIG. 11B shows a state in which a tensile force BL is applied only to the left handle 20L. In these cases, only the left drive wheel 24L is driven and the electric assist trolley 10 turns in the direction of the arrow T, so that the user U is pulled or pushed by the electric assist trolley 10 and is exposed to people or objects. There is a possibility that the electrically power assisted trolley may collide.

The present invention avoids an unintended turning of the electrically power assisted carriage 10 as shown in FIG.

In order to achieve the above, the control means 30 acts on one of the handles 20L and 20R, and the absolute value of the pressing force detected by the load cells 22L and 22R exceeds a predetermined threshold value, but the pressing force detected on the other side. When the absolute value of is equal to or less than a predetermined threshold value, the drive motors 26L and 26R are prevented from being rotationally driven. Specifically, the absolute value of the electric signal output from one of the load cells 22L, 22R via the converters 23L, 23R (in the case of FIG. 6, the absolute value of the difference from the reference voltage) exceeds a predetermined threshold value. When the absolute value of the electric signal output from the other is a predetermined threshold value, the drive motors 26L and 26R are not driven to rotate. That is, in these cases, the voltage is not applied to the drive motors 26L and 26R via the motor drivers 27L and 27R.

For example, the control means 30 determines that the electrical signals input from the left and right load cells 22L and 22R via the converters 23L and 23R are both zero, and it is considered that the pressing force does not act on the handles 20L and 20R. You just have to do it.

As a result, even if the user U accidentally pushes or pulls only one of the handles 20L or 20R, the drive motors 26L and 26R are not driven. Can be stopped.

FIG. 12 is an example of a flowchart for executing a process of not operating the drive motors 26L and 26R even if a pressing force is applied only to the one handle 20L or 20R. In the following, determination is made based on whether the pressing force acting on the left and right handles 20L and 20R exceeds a predetermined threshold value or is equal to or lower than the threshold value, but in reality, the control means 30 determines by an electric signal proportional to the pressing force. To do. As shown in FIG. 11, while the electric assist carriage 10 is running, steps S2 to S14 are repeatedly executed.

First, in the initial state, as shown in step S1, the pressing force from the load cells 22L and 22R of the left and right handles 20L and 20R is set to an initial value to zero.

Then, it waits until a predetermined cycle time elapses (step S2), and measures the left and right pressing force (step S3). The pressing force is output from the load cells 22L and 22R of the handles 20L and 20R. Actually, the control means 30 determines the left and right pressing force from the electric signal output from the load cells 22L and 22R and proportional to the pressing force input via the converters 23L and 23R.

Then, first, it is determined whether or not the operation of the user U is only the right-hand drive 20R (steps S4 to S7). Specifically, the previous right pressing pressure (absolute value) stored in the memory is equal to or less than the threshold value (YES in step S4), and the right pressing pressure (absolute value) measured this time exceeds the threshold value (step S5). YES: That is, there is a pressing force exceeding the threshold value in the right handle 20R), while the left pressing force (absolute value) measured this time is equal to or less than the threshold value (YES in step S6: That is, the threshold value (absolute value) in the left handle 20L). No pressing force exceeding). In this case, since the pressing force is input to the right handle 20R but not to the left handle 20L (below the threshold value), the control means 30 reduces the pressing force to the left and right handles 20L and 20R to zero. (Step S7). After that, the process proceeds to step S12.

If any of steps S4 to S6 is NO, the process proceeds to step S8. Steps S8 to S11 are steps for determining whether or not the operation of the user U is only the left-hand drive 20L. Specifically, the previous left pressing pressure (absolute value) stored in the memory is equal to or less than the threshold value (YES in step S8), and the left pressing pressure (absolute value) measured this time exceeds the threshold value (step S9). YES: That is, the left handle 20L has a pressing force exceeding the threshold value), while the right pressing force (absolute value) measured this time is equal to or less than the threshold value (YES in step S10: That is, the pressing force exceeding the threshold value is applied to the right handle 20R). None). In this case, since the pressing force is input to the left handle 20L but not to the right handle 20R (below the threshold value), the control means 30 reduces the pressing force to the left and right handles 20L and 20R to zero. (Step S11). After that, the process proceeds to step S12.

On the other hand, when any of steps S8 to S10 is NO, that is, when the current or previous pressing force (absolute value) of the left and right handles 20L and 20R exceeds the threshold value on both the left and right sides, in other words, the left and right of the previous measurement. If the pressing force (absolute value) of is exceeding the threshold value (NO in step S4, NO in S8), or if both the pressing pressures (absolute value) on the left and right this time exceed the threshold value (steps S6, S8). NO), the left and right pressing pressures are held at the values measured in step S3, and the process proceeds to step S12.

In step S12, the control means 30 stores the left and right pressing forces. Specifically, in the case of steps S7 and S11, the left and right pressing forces are stored as zero, that is, no pressing force is input to the left and right handles 20L and 20R. Further, in the case of the previous paragraph, the values measured in step S3 are stored in the left and right pressing forces.

Subsequently, the control means 30 calculates the motor drive voltage applied to the left and right drive motors 26L and 26R from the stored pressing force, for example, the previous pressing force and the current pressing force (step S13). This step can be the average of each of the left and right pressing forces, but for example, a plurality of pressing forces may be stored and used as the average or the moving average.

Then, the control means 30 outputs the signals of the left and right motor drive voltages calculated in step S13 to the left and right motor drivers 27L and 27R (step S14). As a result, a voltage is applied from the motor drivers 27L and 27R to the drive motors 26L and 26R, and the drive motors 26L and 26R are driven.

When the left and right push pressures are determined to be zero in steps S7 and S11, that is, when the input of the push pressures to the left and right handles 20L and 20R measured last time and this time is equal to or less than the threshold value. The voltage applied to the motor drivers 27L and 27R becomes zero. Therefore, even if a pressing force is applied to only one of the handles 20L or 20R, the drive motors 26L and 26R do not drive and the drive wheels 24L and 24R do not rotate. Can be stopped.

The above description is for the purpose of explaining the present invention, and should not be construed as limiting or limiting the scope of the invention described in the claims. In addition, each part of the present invention is not limited to the above embodiment, and it goes without saying that various modifications can be made within the technical scope described in the claims.

For example, the configuration of the electrically power assisted carriage 10, the configurations of the handles 20L and 20R, and the configuration of the control block are examples, and do not limit the present invention. Further, the control block of FIG. 5 is a functional block for explaining the present invention, and the function can be formed from one or a plurality of blocks, and can be executed by a program or the like, of course. Is.

In the above embodiment, the present invention is applied to the front-wheel drive electrically assisted trolley 10, and as shown in FIG. 11, the turning movement of the trolley that can be avoided by the present invention has been described. Similarly, when a pushing force or a tensile force is applied to only one handle of the electric assist bogie 10 of the conventional rear wheel drive (driving wheels are indicated by reference numerals 24L and 24R), the traveling direction is different from that of the front wheel drive. Although it is different, it turns and moves along the locus T as shown in FIG. Note that FIG. 13 shows an example in which a tensile force BL is applied to the left handle 20L. By applying the present invention to such a rear-wheel drive electrically assisted trolley 10, it is possible to prevent the trolley from turning and moving as shown in FIG.

10 Electric assist trolley 20L, 20R Handle 22L, 22R Load cell (pressing pressure detecting means)
24L, 24R drive wheel 26L, 26R drive motor (drive mechanism)
30 Control means

Claims (3)

Base and
A left drive wheel arranged on the left side of the base, a left drive mechanism for rotationally driving the left drive wheel, and a left drive mechanism.
A right drive wheel arranged on the right side of the base, a right drive mechanism for rotationally driving the right drive wheel, and a right drive mechanism.
A left-hand drive located on the rear left side of the base,
A right-hand drive located on the rear right side of the base,
A left-hand drive pressure detecting means that is deployed on the left-hand drive and detects a push force acting on the left-hand drive.
A right-hand drive pressure detecting means that is deployed on the right-hand drive and detects a push pressure acting on the right-hand drive.
A control means for controlling the left drive mechanism and the right drive mechanism based on the push pressure acting on the left push pressure detecting means and the right push pressure detecting means.
It is an electric assist trolley equipped with
The control means is
From the initial state, the absolute value of the pressing force detected by either the left pressing force detecting means or the right pressing force detecting means exceeds a predetermined threshold value, but the absolute value of the pressing force detected by the other means a predetermined threshold value. In the following cases, the left drive mechanism and the right drive mechanism are not rotationally driven.
After the left drive mechanism and the right drive mechanism are rotationally driven, the absolute value of the push pressure detected by either the left push pressure detecting means or the right push pressure detecting means exceeds a predetermined threshold value, but on the other hand. Even when the absolute value of the detected pressing force is equal to or less than a predetermined threshold value, the drive mechanism is driven by the driving voltage corresponding to the pressing force.
An electrically assisted trolley that features this.
In the control means, the absolute value of the pressing force detected by either the left pressing force detecting means or the right pressing force detecting means exceeds a predetermined threshold value, but the absolute value of the pressing force detected by the other is predetermined. When it is equal to or less than the threshold value, the pressing force acting on the left pressing force detecting means and the right pressing force detecting means is determined to be zero.
The electrically assisted trolley according to claim 1. The control means repeatedly measures the pressing force acting on the left pressing force detecting means and the right pressing force detecting means, and the left driving mechanism and the right driving mechanism are measured one or more times. Controlled so that the output corresponds to the average of the pressing force or the moving average.
The electrically assisted trolley according to claim 1 or 2.

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