JPH0958478A - Push cart - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the push cart which can prevent goods on board from falling down or overflowing when the push car is moved. SOLUTION: A braking torque control device 4 detects acceleration based on the detected output of an acceleration detector 2, compares the acceleration (a) with the maximum value of acceleration set in advance, and when acceleration detected as the maximum acceleration, exceeds the set value, a set braking torque is thereby determined, and a braking torque device 3 is so controlled that the determined braking torque is thereby developed by the braking torque device 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a handcart such as a food cart and a cart.

[0002]

2. Description of the Related Art The movement of a conventional handcart is difficult to control, and for example, when a serving car, which is a type of handcart, is moved and served, there is a problem that the juice contained in a tray inside the car is spilled. In order to solve the problem of such a handcart, there has been proposed a device in which the shape of the handle is devised as shown in Japanese Utility Model Laid-Open No. 59-172071 to improve the operability and straightness.

[0003]

However, the improvement of the handcart disclosed in Japanese Utility Model Laid-Open No. 59-172071 is improvement in operability and straightness, and the influence of turning, vibration, etc. is taken into consideration. However, there was a case where the load was spilled or dropped when accelerating or decelerating, turning, riding on a step, etc.

The present invention has been made in view of the above points, and it is an object of the present invention to provide a handcart capable of preventing a load from spilling or dropping during movement. .

[0005]

In order to achieve the above object, according to the invention of claim 1, means for detecting the acceleration of the vehicle body, wheels provided on the vehicle body, and a braking torque device for applying a braking torque to the wheels. And a control device for controlling the braking torque applied to the wheels by the braking torque device based on the acceleration detected by the means so that the acceleration of the vehicle body becomes a predetermined level or less. It is possible to suppress the movement of the loaded load.

According to a second aspect of the present invention, a tray on which a load is placed, a case for arranging the trays, a drive device for changing the posture of the case, an acceleration detector for detecting the acceleration of the vehicle body, and the acceleration detector. The direction of resultant force of inertial force due to gravity and acceleration is calculated from the acceleration detected by
A control device for controlling the posture of the case so that the tray is perpendicular to the resultant force direction is provided, and in the case of sudden stop during movement, sudden stop, turning, etc. Since it is possible to suppress the movement of the load on the tray and the acceleration is not limited, it is possible to move the tray more quickly.

According to the third aspect of the present invention, a plurality of trays on which a load is placed, a drive device that changes the posture of each tray, an acceleration detector that detects the acceleration of the vehicle body, and the acceleration detector detects the accelerations. Obtaining the resultant direction of inertial force due to gravity and acceleration by acceleration and gravity, characterized by controlling the posture of the tray so that the tray is perpendicular to the resultant force direction, when stopped suddenly during movement, When turning, etc., the movement of the tray load inside the case can be suppressed, and since the acceleration is not limited, it is possible to move more quickly, and it also corresponds to the acceleration caused by rotation at a fixed position in detail. it can.

According to a fourth aspect of the present invention, a case in which trays on which loads are placed are arranged, a vibration detector for detecting vertical vibration of the vehicle body, and a vibration detection value detected by the vibration detector are used to detect the case. A control device for controlling the vertical position and a case drive device for moving the case up and down according to a command from the control device are provided, and when the wheels of the vehicle body pass over a step or move on an uneven floor. For example, the case can be moved to absorb the vibration of the vehicle body, and the vibration and movement of the load on the tray in the vehicle body can be suppressed.

According to a fifth aspect of the present invention, in the first to fourth aspects of the present invention, an operating handle provided on the vehicle body, an external force detector for detecting a force applied to the operating handle, and a wheel provided on the vehicle body are driven. And a control device that controls the drive source based on the force detection value from the external force detector, which requires less force when moving the vehicle body.

The invention of claim 6 is characterized in that, in the invention of claim 5, a switch is provided for selecting whether or not to carry out the control in the handcart according to claims 1 to 4,
When it is not necessary to control, the power required for control can be saved.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. (Embodiment 1) FIG. 1 is a conceptual block diagram of a control system of this embodiment used in the handcart shown in FIG. The wheelbarrow of this embodiment has a braking torque device 3 including an acceleration detector 2 for detecting the acceleration of the vehicle body 1, a motor for imparting rotational resistance to wheels 1a provided on the vehicle body 1, and a braking means such as a powder brake. And a braking torque control device 4 that controls the braking torque applied from the braking torque device 3 to the wheels 1a based on the acceleration detection value from the acceleration detector 2. The braking torque device 3 controls the braking torque based on the flowchart shown in FIG.
The operation of this embodiment will be described based on this flowchart.

After starting the operation (1), the braking torque control device 4 detects the acceleration a based on the detection output from the acceleration detector 2 (2), and the acceleration a and the preset maximum value A _{max of the} acceleration. (3), and when the detected acceleration a exceeds the maximum value A _max , the size M (mass of the wheelbarrow)
A braking torque that produces a braking force of × (a−A _max ) is determined (4), and the braking torque device 3 is controlled so that the determined braking torque is produced by the braking torque device 3 (5). For example, if there is one wheel on which braking force torque acts and its radius is r, the braking torque is M × (a
-A _max ) / r.

If the acceleration a does not exceed the maximum value A _max , it is judged whether the acceleration a is less than -A _max (6). If less, the magnitude M × (-a-
A braking torque that generates a braking force of (A _max ) is determined (7), and the determined braking torque is applied to the braking torque device 3
The braking torque device 3 is controlled so as to be generated in (5). By controlling the braking torque in this manner, the acceleration a of the vehicle body 1 can be suppressed to -A _max or more and A _max or less.

Therefore, according to this embodiment, the movement of the load placed on the handcart can be suppressed, and the acceleration detector 2 for detecting the acceleration in the front-rear and left-right directions is provided to detect the acceleration in each direction. However, by suppressing the acceleration in each direction based on the detected acceleration, it is possible to suppress the rollover due to the acceleration and the floating of the front portion. Especially when the wheelbarrow is a food cart, it is possible to prevent the juice from spilling.

(Embodiment 2) The handcart of this embodiment has a load 12 on a vehicle body 1 having wheels 1a as shown in FIG.
A case 13 for accommodating and arranging trays 14 on which the vehicle 1 is placed is provided on the vehicle body 1 as shown in FIG.
An acceleration detector 2 that detects an acceleration in the left-right direction, a case attitude drive device 5 that changes the attitude of the case 13, and an attitude of the case 13 is a predetermined attitude based on the acceleration and the gravitational acceleration detected by the acceleration detector 2. And a case posture control device 6 for controlling the case posture drive device 5 so that

Next, the operation of this embodiment will be described. As shown in FIG. 6, the case attitude control device 6 receives the detection output from the acceleration detector 2 after the operation start (1), and
The acceleration Aa in the front-rear direction and the acceleration As in the left-right direction are detected (2). And the detected longitudinal acceleration A
The absolute value of a is compared with a preset threshold value Aa ₀ (3). If the absolute value of the acceleration Aa exceeds the threshold value Aa ₀ , the acceleration Aa and the gravitational acceleration g are compared. t
The inclination θ of the case 13 is calculated from an ⁻¹ (−Aa / g) (4). When the absolute value of the acceleration Aa does not exceed the threshold value Aa ₀ , the inclination θ is regarded as 0 (5). Similarly, the absolute value of the detected lateral acceleration As is compared with a preset threshold value As ₀ (6), and the absolute value of the acceleration As exceeds the threshold value As ₀ . In this case, the inclination φ of the case 13 in the left-right direction is calculated from the equation tan ⁻¹ (−As / g) using the acceleration As and the gravitational acceleration g (7). When the absolute value of the acceleration Aa does not exceed the threshold value As ₀ , the inclination φ = 0 is considered (8).

From the inclinations θ and φ of the left and right and front and rear cases 13 thus obtained, the resultant direction of the inertial force is obtained, and the case attitude drive device 5 is controlled based on this resultant direction (9). Tray 14 for the posture of case 13
Control so that is perpendicular to the direction of resultant force (1
0). The accelerations Aa and As are thresholds Aa ₀ and As _{0, respectively.}
If it is smaller, the inclinations θ and φ are regarded as 0 as described above, and the posture of the case 13 in the corresponding direction is not controlled. FIG. 7 shows accelerations Aa and A that determine the attitude of the case 13.
s, gravitational acceleration g, inertial force direction, resultant force direction and case 1
3 shows the relationship between the inclinations θ and φ of 3.

[0018] According to this embodiment, as shown in FIG.
If you make a sudden stop as shown in Fig. 4 (b) while moving, or if you make a sudden stop.
Loading the tray 14 of the case 13 when stopping or turning
The movement of the object 12 can be suppressed. There are also wheelbarrows
In the case of a car, the spillage of soup can be suppressed.
Furthermore, since the acceleration is not limited as in the first embodiment,
Enables quick movement.

(Embodiment 3) A handcart according to the present embodiment has a load 12 on a vehicle body 1 having wheels 1a as shown in FIG.
An acceleration detector 2'for detecting a plurality of trays 14 on which the vehicle is mounted, and detecting the acceleration in the front-back and left-right directions of the center of gravity of the vehicle body 1 and the angular acceleration about the vertical axis as shown in FIG.
Through the tray posture drive device 7 for changing the posture of the tray 14, and through the tray posture drive device 7 so that the posture of the tray 14 becomes a predetermined posture based on the acceleration detected by the acceleration detector 2 ′ and the gravitational acceleration. And a tray attitude control device 8 for controlling.

Next, the operation of this embodiment will be described. As shown in FIG. 10, after the operation start (1), the tray attitude control device 8 detects the acceleration output Aa in the front-rear direction and the acceleration As in the left-right direction of the vehicle body 1 by the detection output from the acceleration detector 2 ′.
And the angular acceleration α around the vertical axis is detected (2). Here, as shown in FIG. 11, the tray 1 whose angular acceleration α is separated by da and ds from the center of gravity of the vehicle body 1 in the front-rear direction and the left-right direction, respectively.
The longitudinal acceleration applied to the center of 4 and the lateral acceleration are ds
α and daα.

The tray attitude control device 8 has preset the absolute value of the sum of the detected longitudinal acceleration Aa and the longitudinal acceleration dsα given to the center of the tray 14 by the angular acceleration α. The threshold value Aa ₀ is compared (3), and if the absolute value exceeds the threshold value Aa ₀ , the equation t is calculated by the accelerations Aa and dsα and the gravitational acceleration g.
The inclination θ of the tray 14 is calculated from an ⁻¹ [(−Aa−dsα) / g] (4). If the absolute value does not exceed the threshold value Aa ₀ , the inclination θ is regarded as 0 (5). Similarly, the detected lateral acceleration As and angular acceleration α are detected.
The absolute value of the value obtained by adding the longitudinal acceleration dsα given to the center of the tray 14 and the preset threshold value As.
(6) is compared with _0, and when the absolute value exceeds the threshold value As ₀ , the inclination φ of the tray 14 in the left-right direction is calculated from the accelerations As and daα and the gravitational acceleration g by the expression tan.
^-1 [(-As + daα) / g] (7). When the absolute value of the acceleration Aa does not exceed the threshold value As ₀ , the inclination φ = 0 is considered (8).

From the inclinations θ and φ of the left and right and front and rear trays 14 thus obtained, the resultant direction of the inertial force is obtained, and the tray posture drive device 7 is controlled based on this resultant direction (9). Control the posture of the tray 14 so that it is perpendicular to the resultant force direction (10). Each acceleration A
When a, As and dsα, daα are smaller than the threshold values Aa ₀ , As ₀ , the inclinations θ, φ are regarded as 0 as described above, and the attitude of the tray 14 in the corresponding direction is not controlled.
FIG. 12 shows accelerations Aa and As that determine the posture of the tray 14.
And the accelerations dsα and daα exerted on the center of the tray 14 by the angular acceleration α, the gravitational acceleration g, the inertial force direction, the resultant force direction, and the inclinations θ and φ of the tray 14.

[0023] According to the above-described present embodiment, as shown in FIG.
When suddenly stopped as shown in Fig. 8 (b) while moving
Tray 1 in the wheelbarrow at the time of sudden stop, turning, etc.
The movement of the load 12 of 4 can be suppressed. Again
If the cart is a car, you can prevent the juice from spilling.
it can. Further, the acceleration is not limited as in the first embodiment.
So, you can move more quickly. Furthermore, Embodiment 2
Compared with, for example, acceleration generated by rotation at a fixed position
We can handle it in detail.

(Embodiment 4) A wheelbarrow according to this embodiment has a load 1 as shown in FIG. 13 on a vehicle body 1 having wheels 1a.
The vehicle body 1 includes a case 13 for accommodating and arranging trays 14 for mounting 2 thereon. As shown in FIGS. 13 and 14, the vehicle body 1 includes a vibration detector 9 for detecting vertical vibration of the vehicle body 1 and a vibration detector 9 The control device 10 controls the vertical position of the case 13 based on the vibration detection value detected in 1., and the case position drive device 11 that moves the case 13 up and down according to a command from the control device 10.

Next, the operation of this embodiment will be described. FIG.
After the operation starts (1), the vibration detector 9 is
Vertical vibration V of body 1_ib[M / sec²]]
(2) The controller 10 uses the detected vibration detection value to detect the case.
Set the drive amount D for moving the switch 13 up and down
(3). In this case, the drive amount D is equal to the storage amount of the tray 14.
How much can the case 13 move to absorb vibration?
Is obtained by calculating
← ∫∫V _ibCalculation of dtdt (second order integral of vibration detection value)
The position of the case is calculated instantly and by the drive amount calculated.
Gives a command to move the case 13 to the drive unit 11.
(4), the case position drive device 11 is controlled (5) to control the case.
The space 13 is moved upward or downward.

Thus, in this embodiment, as shown in FIG. 16, when the wheels 1a of the vehicle body 1 get over the step X or move on the uneven floor, as shown by arrows in FIG. The case 13 can be moved to absorb the vibration of the vehicle body 1, and the vibration and movement of the load 12 on the tray 14 in the vehicle body 1 can be suppressed. In each of the first to fourth embodiments described above, the movement of the vehicle body 1 is performed only by human power, but in the fifth to eighth embodiments described below, a drive device for driving the wheels 1a of the vehicle body 1 as shown in FIG. 16 and the operation handle 1b (FIG. 2, FIG. 4, FIG. 8, FIG.
3 and numbered in FIG. 16 respectively), a drive unit including an external force detector 15 for detecting a force applied thereto and a control device 17 for controlling the drive device 16 based on the force detection value of the external force detector 15 is added. It was done.

The basic operation of this drive unit will be described with reference to the block diagram of FIG. 17 and the flowchart of FIG. First, after the operation start (1), when the person 18 pushes the operation handle 1b to move the vehicle body 1, the external force detector 15 detects the pushing force, that is, the external force (2), and the detected force value is used as the control device 17. Output to. The control device 17 determines a Ga-fold driving force based on the detected force value (3), and commands the driving device 16 to work in the same direction (4).
The wheel 1a is driven by 6. With this driving force, the force for pushing the vehicle body 1 can be reduced as if the vehicle body 1 were lighter. FIG. 19 shows an example of the relationship between the driving force command and the force with which the person 18 pushes the operation handle 1b, and the inclination in the figure is Ga.

(Embodiment 5) This embodiment is configured as shown in FIG. 20 by combining the configuration of the drive unit shown in FIG. 17 and the configuration of Embodiment 1 shown in FIG. FIG.
Concerning the respective constituent elements, the same constituent elements as those shown in FIGS. 1 and 17 are designated by the same reference numerals, and the description thereof will be omitted.

Thus, in this embodiment, the control of the driving force and the control of the braking torque are performed according to the flowchart shown in FIG. That is, in the present embodiment, before the step (2) of detecting the acceleration a shown in the flowchart of FIG.
The process of step (8) of the driving force control routine shown by the flowchart of 8 is performed. The control of the braking torque is the same as the control of the braking torque of the first embodiment, and the control of the driving force is the same as the basic operation of the driving unit described above, and therefore the description thereof is omitted here.

FIG. 2 except the step (8) of the driving force control.
Each step of the flowchart of FIG. 1 is given the same number as the step of performing the same process in the flowchart of FIG. (Embodiment 6) This embodiment is a combination of the configuration of the drive unit shown in FIG. 17 and the configuration of Embodiment 2 shown in FIG.
It is constructed as shown in FIG. Regarding each component in FIG. 22, the same components as those shown in FIGS. 5 and 17 are designated by the same reference numerals, and the description thereof will be omitted.

Thus, in this embodiment, the driving force control and the attitude control of the case 13 are performed according to the flowchart shown in FIG. That is, in the present embodiment, the step (11) of the driving force control routine shown in the flowchart of FIG. 18 is performed before the step (2) of vehicle body acceleration detection shown in the flowchart of FIG. Case 13
The posture control of No. 2 is the same as the posture control of the case 13 of the second embodiment, and the control of the driving force is the same as the basic operation of the driving unit described above, and therefore the description thereof is omitted here.

The steps of the flowchart of FIG. 23 other than the step (11) of the driving force control are given the same numbers as the steps of performing the same processing in the flowchart of FIG. (Embodiment 7) This embodiment is a combination of the configuration of the drive unit shown in FIG. 17 and the configuration of Embodiment 3 shown in FIG.
It is configured as shown in FIG. 24, the same components as those shown in FIGS. 9 and 17 are designated by the same reference numerals, and the description thereof will be omitted.

Thus, in this embodiment, the driving force control and the attitude control of the tray 14 are performed according to the flowchart shown in FIG. That is, in this embodiment, the step (11) of the driving force control routine shown in the flowchart of FIG. 18 is performed before the step (2) of vehicle body acceleration detection shown in the flowchart of FIG. Tray 14
The posture control of (1) is the same as the posture control of the tray 14 of the third embodiment, and the control of the driving force is the same as the basic operation of the driving unit described above, and thus the description thereof is omitted here.

The steps in the flowchart of FIG. 25 other than the step (11) of the driving force control are given the same numbers as the steps for performing the same processing in the flowchart of FIG. (Embodiment 8) This embodiment is configured as shown in FIG. 26 by combining the configuration of the drive unit shown in FIG. 17 and the configuration of Embodiment 4 shown in FIG. 26, the same components as those shown in FIGS. 14 and 17 are designated by the same reference numerals, and the description thereof will be omitted.

Thus, in the present embodiment, the control of the driving force and the position control of the case 13 are performed according to the flowchart shown in FIG. That is, in the present embodiment, the step (6) of the driving force control routine shown in the flowchart of FIG. 18 is performed before the step (2) of vehicle body acceleration detection shown in the flowchart of FIG. The position control of the case 13 is the same as the position control of the case of the fourth embodiment, and the control of the driving force is the same as the basic operation of the drive unit described above, and therefore the description thereof is omitted here.

FIG. 2 except the step (6) of the driving force control.
Each step of the flowchart of FIG. 7 is given the same number as the step of performing the same process in the flowchart of FIG. As described above, in each of the fifth to eighth embodiments, by applying the driving force control, the force for moving the handcart can be reduced. If too much driving force is applied, the assisting force of the driving device 16 that exceeds the driving force by several times is added, which may cause rapid acceleration / deceleration. However, an embodiment in which the configurations of the first to third embodiments are used together In the case of 5 to 7, the load on the tray 14 can be safely transported even with sudden acceleration.

By the way, in the fifth to eighth embodiments, when there is no load on the handcart, or the load is fixed even if there is a load, or when the load is not significantly affected by vibration, the drive is performed. It is considered that controls other than force control are unnecessary. Therefore, the switch SW for selecting whether or not to perform control other than the driving force control is the above-described fifth to eighth embodiments.
Added to the above are Embodiments 9 to 12 described below.

(Ninth Embodiment) FIG. 28 shows the present embodiment, and a switch SW for selecting whether or not to perform control other than the driving force control is added to the configuration of the fifth embodiment. That is, in this embodiment, for example, the braking torque control device 4 determines the state of the switch SW after performing the drive force control (8) processing as shown in the flowchart of FIG.
If W is on, the process for controlling the braking torque after (2) is performed, and if the switch SW is off, the process for controlling the braking torque after (2) is canceled. Therefore, in this case, only the driving force control is performed.

The flowchart of FIG. 29 shows the switch SW.
21 is the same as the flowchart of FIG. 21 except that the step (9) for determining the state is added. (Embodiment 10) FIG. 30 shows the present embodiment, and a switch SW for selecting whether or not to perform control other than the driving force control is added to the configuration of the sixth embodiment.

That is, in this embodiment, as shown in the flow chart of FIG. 31, after the drive force control (11) is processed, the state of the switch SW is determined, for example, by the case attitude control device 6 (12), and the switch SW is turned on. If so, the process for controlling the braking torque after (2) is performed, and the switch SW
If is off, the processing for posture control of case 13 after (2) is canceled. Therefore, in this case, only the driving force control is performed.

The flow chart of FIG. 31 is a switch SW.
23 is the same as the flowchart in FIG. 23 except that a step (12) for determining the state of is added. (Embodiment 11) FIG. 32 shows this embodiment, and a switch SW for selecting whether or not to perform control other than driving force control is added to the configuration of the seventh embodiment.

That is, in this embodiment, for example, the braking torque control device 4 determines the state of the switch SW after performing the driving force control (11) processing as shown in the flowchart of FIG. 33 (12), and the switch SW is turned on. If so, the process for the posture control of the tray 14 after (2) is performed, and if the switch SW is off, the process for the posture control of the tray 14 after (2) is canceled. Therefore, in this case, only the driving force control is performed.

The flow chart of FIG. 33 shows the switch SW.
21 is the same as the flowchart in FIG. 21 except that a step (12) for determining the state of is added. (Embodiment 12) FIG. 34 shows the present embodiment, and a switch SW for selecting whether or not control other than driving force control is performed is added to the configuration of the eighth embodiment.

That is, in this embodiment, for example, the braking torque control device 4 determines the state of the switch SW after the drive force control (6) is processed as shown in the flowchart of FIG. 35 (7), and the switch SW is turned on. If so, the processing for position control of case 13 after (2) is performed, and the switch SW
If is off, the processing for position control of case 13 after (2) is canceled. Therefore, in this case, only the driving force control is performed.

The flow chart of FIG. 35 is a switch SW.
27 is the same as the flow chart in FIG. 27 except that step (7) for determining the state is added. As described above, in the ninth to twelfth embodiments, when it is not necessary to perform control other than the driving force control, the power required for the control can be saved.

[0046]

The invention according to claim 1 is based on the means for detecting the acceleration of the vehicle body, the wheels provided on the vehicle body, the braking torque device for applying the braking torque to the wheels, and the acceleration detected by the means. Since the braking torque device is provided with a control device that controls the braking torque applied to the wheels so that the acceleration of the vehicle body is equal to or less than a predetermined level, it is possible to suppress the movement of the load placed on the handcart. This has the effect of preventing spills and drops of the load.

According to a second aspect of the present invention, a tray on which a load is placed, a case for arranging the trays, a drive device for changing the posture of the case, an acceleration detector for detecting the acceleration of the vehicle body, and the acceleration detector. The acceleration and gravitational acceleration are detected by the acceleration to detect the resultant direction of the inertial force due to the gravity and acceleration, and since the tray is provided with a control device that controls the posture of the case so that the tray is perpendicular to the resultant force, When stopping suddenly, or when turning, it is possible to suppress the movement of the load on the tray in the case, so it is possible to prevent the load from spilling or falling, and because it does not limit the acceleration, it moves faster. There is an effect that it becomes possible.

According to a third aspect of the present invention, a plurality of trays on which a load is placed, a drive device that changes the posture of each tray, an acceleration detector that detects the acceleration of the vehicle body, and the acceleration detector detects the accelerations. Obtaining the resultant force direction of the inertial force due to the acceleration due to the acceleration and the gravity, since the tray posture is controlled so that the tray is perpendicular to the resultant force direction, when stopped suddenly during movement, sudden stop, When turning, etc., it is possible to suppress the movement of the load on the tray in the case, so that it is possible to prevent the load from spilling or falling.
In addition, since the acceleration is not limited, there is an effect that it is possible to move more quickly, and moreover, it is possible to finely deal with acceleration and the like generated by rotation at a fixed position.

According to a fourth aspect of the present invention, a case for arranging trays on which loads are placed, a vibration detector for detecting vertical vibration of the vehicle body, and a vibration detection value detected by the vibration detector are used to detect the case. A control device for controlling the vertical position,
Since it has a case drive that moves the case up and down according to the command of the control device, when the wheels of the vehicle get over the step or move on the uneven floor, the case is moved to reduce the vibration of the vehicle. There is an effect that it is possible to absorb and suppress the vibration and movement of the load on the tray in the vehicle body, and thus to prevent the load from spilling or falling.

According to a fifth aspect of the present invention, in the first to fourth aspects of the present invention, an operating handle provided on the vehicle body, an external force detector for detecting a force applied to the operating handle, and a wheel provided on the vehicle body are driven. Since the driving source and the control device that controls the driving source based on the force detection value from the external force detector are provided, there is an effect that the force for moving the vehicle body can be small.

According to the invention of claim 6, in the invention of claim 5, a switch for selecting whether or not to perform the control in the handcart according to claims 1 to 4 is provided. Therefore, when it is not necessary to control, the control is performed. There is an effect that the electric power required for can be saved.

[Brief description of drawings]

FIG. 1 is a conceptual configuration diagram of a first embodiment.

FIG. 2 is a schematic side view of the above wheelbarrow.

FIG. 3 is a flowchart for explaining the operation of the above.

FIG. 4 is an operation explanatory view of the handcart according to the second embodiment.

FIG. 5 is a conceptual configuration diagram of the above.

FIG. 6 is a flowchart for explaining the same operation as above.

FIG. 7 is an explanatory diagram of a method for determining the attitude of the case of the above.

FIG. 8 is an operation explanatory view of the handcart of the third embodiment.

FIG. 9 is a conceptual configuration diagram of the above.

FIG. 10 is a flowchart for explaining the above operation.

FIG. 11 is a diagram illustrating the relationship between the angular acceleration of the vehicle body and the acceleration at the center of the tray in the above.

FIG. 12 is an explanatory diagram of a method for determining the attitude of the case of the above.

FIG. 13 is a schematic explanatory diagram of a handcart according to a fourth embodiment.

FIG. 14 is a conceptual configuration diagram of the above.

FIG. 15 is a flowchart for explaining the same operation as above.

FIG. 16 is an explanatory diagram of the operation of the above handcart.

FIG. 17 is a conceptual configuration diagram corresponding to driving force control.

FIG. 18 is a flowchart for explaining the above operation.

FIG. 19 is a diagram for explaining the relationship between the driving force command value and the force pushed by a person in the above.

FIG. 20 is a conceptual configuration diagram of the fifth embodiment.

FIG. 21 is a flowchart for explaining the same operation as above.

FIG. 22 is a conceptual configuration diagram of the sixth embodiment.

FIG. 23 is a flowchart for explaining the same operation as above.

FIG. 24 is a conceptual configuration diagram of the seventh embodiment.

FIG. 25 is a flowchart for explaining the above operation.

FIG. 26 is a conceptual configuration diagram of the eighth embodiment.

FIG. 27 is a flowchart for explaining the above operation.

FIG. 28 is a conceptual configuration diagram of the ninth embodiment.

FIG. 29 is a flowchart for explaining the same operation as above.

FIG. 30 is a conceptual configuration diagram of the tenth embodiment.

FIG. 31 is a flowchart for explaining the same operation as above.

FIG. 32 is a conceptual configuration diagram of the eleventh embodiment.

FIG. 33 is a flowchart for explaining the same operation as above.

FIG. 34 is a conceptual configuration diagram of the eleventh embodiment.

FIG. 35 is a flowchart for explaining the same operation as above.

[Explanation of symbols]

 1 vehicle body 2 acceleration detector 3 braking torque device 4 braking torque control device

Claims (6)

[Claims] 1. A means for detecting an acceleration of a vehicle body, a wheel provided on the vehicle body, a braking torque device for applying a braking torque to the wheel, and a braking torque device for controlling the wheel based on the acceleration detected by the means. And a control device for controlling the braking torque applied to the vehicle so that the acceleration of the vehicle body becomes a predetermined level or less. 2. A tray for placing a load, a case for arranging the trays, and a drive device for changing the posture of the case.
An acceleration detector that detects the acceleration of the vehicle body, and an acceleration force detected by the acceleration detector and a gravitational acceleration determine the resultant direction of the inertial force due to the gravitational force and the acceleration, so that the tray is perpendicular to the resultant force direction. A wheelbarrow provided with a control device for controlling the posture. 3. A plurality of trays on which a load is placed, a drive device for changing the posture of each tray, an acceleration detector for detecting an acceleration of a vehicle body, and an acceleration and a gravity detected by the acceleration detector. A handcart, characterized in that a resultant direction of inertial force due to gravity and acceleration is obtained, and a posture of the tray is controlled so that the tray is perpendicular to the resultant direction. 4. A case for arranging trays on which loads are placed,
A vibration detector for detecting vertical vibrations of the vehicle body,
A handcart comprising: a control device that controls the vertical position of the case based on a vibration detection value detected by the vibration detector; and a case drive device that moves the case up and down according to a command from the control device. 5. An operating handle provided on a vehicle body, an external force detector for detecting a force applied to the operating handle, a drive source for driving wheels provided on the vehicle body, and a force detection value from the external force detector. 5. The handcart according to claim 1, further comprising a control device that controls the drive source based on the above. 6. A handcart according to claim 5, further comprising a switch for selecting whether or not to control the handcart according to any one of claims 1 to 4.