JPH10314235A - Traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance the riding comfort and safety of a traveling vehicle by avoiding troubles when the vehicle goes onto an escalator. SOLUTION: A motor-driven wheelchair can go onto and out of an escalator and includes a vehicle body 1, front and rear wheels 2, 3, a drive motor 6, and a front brake 33. The front and rear wheels 2, 3 are mounted on the front and rear of the vehicle body 1. The drive motor 6 drives the rear wheels 3. The front brake 33 brakes the rotation of the front wheels 2. When the front wheels 2 of the wheelchair go onto an escalator, a control part 41 causes the front brake 33 to brake the front wheels 2, and causes the drive motor 6 to stop the drive of the rear wheels 3 being driven.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle,
The present invention relates to a traveling vehicle that can enter and exit an escalator.

[0002]

2. Description of the Related Art For example, when an electric wheelchair enters an escalator, an ascending escalator may cause a problem that a front wheel or a vehicle body collides with a front step and an impact is applied to the wheelchair. In addition, there is a possibility that a descending escalator may fall forward with excessive force.

FIG. 15 shows a state in which a conventional electric wheelchair 90 has risen and entered an escalator 91. Here, the front wheel of the wheelchair 90 collides with the corner of the step 91a of the escalator 91, and the wheelchair 90 is impacted. FIG.
FIG. 6 shows a state in which the conventional electric wheelchair 90 has entered the down escalator 92. Here, the front wheel of the wheelchair 90 does not stop at the position of the step 92a of the escalator 92 but falls forward with excessive force. Thereby, the wheelchair 90
Is shocked.

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to suppress inconvenience in approaching an escalator and to improve ride comfort and safety.

[0005]

A traveling vehicle according to a first aspect of the present invention is a traveling vehicle capable of entering and exiting an escalator, comprising a vehicle body, front and rear wheels, driving means, and a front brake. Have. The front wheels are mounted on the front of the vehicle body, and the rear wheels are mounted on the rear of the vehicle body. The driving means drives at least one of a front wheel and a rear wheel. The front brake brakes the rotation of the front wheels. In this traveling vehicle, when the front wheels enter the escalator, the front wheels are braked by the front brake, and the driving of the front wheels or the rear wheels or the front and rear wheels driven by the driving means is stopped.

When the traveling vehicle enters the escalator, first, the front wheels are mounted on the step upper surface of the escalator. Here, since the rotation of the front wheels is suppressed by applying the front brake and the driving is stopped, the force acting on the traveling vehicle is only the force acting from the escalator through the friction between the front wheels and the step upper surface of the escalator. That is,
After the front wheels are mounted on the escalator, the running vehicle is drawn into the escalator by the movement of the escalator.

As described above, after the front wheel is mounted on the escalator, the traveling vehicle moves only in accordance with the movement of the escalator and does not travel on the escalator. And the phenomenon of falling forward with excessive momentum on the descending escalator can be suppressed. Thereby, the safety and riding comfort of the traveling vehicle are improved.

A sensor or the like for automatically detecting entry of the front wheel into the escalator is provided, and by automatically controlling the front brake and the driving means, the front wheel brakes and the front wheel when the front wheel enters the escalator are provided. It is desirable to suspend the driving of. A traveling vehicle according to a second aspect is the traveling vehicle according to the first aspect, further comprising control means. This control means has a front wheel approach recognition device. The front wheel entry recognition device recognizes entry of the front wheel into the escalator by detecting a change in the rotation speed of at least one of the front wheel and the rear wheel.

Before the front wheels enter the escalator, the relative speeds of the grounding surfaces where the front wheels and the rear wheels are in contact with the vehicle body are equal. When the front wheel enters the escalator, the contact surface where the front wheel contacts the ground becomes the step surface of the moving escalator, so that the contact surface of the front wheel and the contact surface of the rear wheel are relatively separated. Thus, when the front wheel enters the escalator, the rotation speed of at least one of the front wheel and the rear wheel changes.

Here, by detecting a change in the rotation speed of at least one of the front wheel and the rear wheel, the approach of the front wheel to the escalator is recognized, the front brake is applied by the control means, and the front wheel is braked. The driving of the front wheel or the rear wheel or the driving of the front wheel and the rear wheel is stopped. A traveling vehicle according to a third aspect is the traveling vehicle according to the second aspect, further including a rear brake. This rear brake is for braking the rotation of the rear wheels. Then, the control means brakes the rear wheel by the rear brake when the rear wheel enters the escalator.

Here, when the rear wheel enters the escalator, the rear brake is applied and the rotation of the rear wheel is braked, so that both the front wheel and the rear wheel of the traveling vehicle are braked on the escalator. The stability of the running vehicle increases. Regarding the detection and recognition of the entry of the rear wheel into the escalator, for example, the rotation speed of the rear wheel is monitored, and when the rotation speed of the rear wheel becomes zero (zero), the rear wheel enters the escalator. It can be recognized that it was done.

According to a fourth aspect of the present invention, in the traveling vehicle of the third aspect, before the front wheel escapes from the escalator, the control means releases the front brake to make the front wheel freely rotatable. . Further, after the front wheel has escaped from the escalator and before the rear wheel has escaped from the escalator, the driving by the driving means is restarted and the rear brake is released.

In this case, since the front brake is released before the front wheel escapes from the escalator, when the front wheel escapes from the escalator, the front wheel is transferred from the escalator to a normal floor relatively moving with the escalator. Becomes smooth. When the front wheel escapes, the traveling vehicle is moved by the force acting on the traveling vehicle from the escalator via friction between the rear wheel and the step upper surface of the escalator, and the front wheel is pushed out of the escalator.

Further, after the front wheels have escaped from the escalator and before the rear wheels have escaped from the escalator, the driving by the driving means is resumed and the rear brake is released.
As a result, the traveling vehicle starts to run on its own, the rear wheels escape from the escalator, and the escape of the traveling vehicle from the escalator is completed. According to a fifth aspect of the present invention, in the traveling vehicle of the fourth aspect, the control means further includes an inclination recognition device and a front wheel escape recognition device. The tilt recognition device detects a change in the tilt state of the vehicle body. The front wheel escape recognition device recognizes escape of the front wheel from the escalator by detecting a change in the rotation speed of the front wheel.

When the traveling vehicle on the escalator approaches the end (escape portion) of the escalator, the inclination of the traveling vehicle approaches horizontal. Here, by detecting a change in the leaning state of the vehicle body, it is recognized that the front wheels are about to escape from the escalator, and the front brake is released. When the front wheel is on the escalator, the front wheel and the rear wheel do not move with respect to the step surface of each escalator that is in contact with the ground, that is, the front wheel and the rear wheel are not rotating. When the front wheel escapes from the escalator, the front wheel starts rotating with respect to the floor.

Here, the escape of the front wheel from the escalator is recognized by detecting the change in the rotation speed of the front wheel. According to a sixth aspect of the present invention, in the traveling vehicle according to the fourth or fifth aspect, the control means includes a drive unit that performs driving after the front wheel escapes from the escalator and before the rear wheel escapes from the escalator. Release the rear brake immediately before the rear wheel escapes from the escalator.

Here, after the front wheel has escaped from the escalator and before the rear wheel has escaped from the escalator, the driving by the driving means is resumed and the rear brake is released. As a result, the traveling vehicle starts to run on its own, the rear wheels escape from the escalator, and the escape of the traveling vehicle from the escalator is completed. Here, when the absolute speed of the traveling vehicle in the horizontal direction is considered, it coincides with the horizontal speed of the escalator until the driving by the driving means is restarted. Next, when the driving is resumed, the speed becomes a speed obtained by adding the self-propelled speed by the driving to the speed of the escalator. Then, after the traveling vehicle escapes from the escalator, the speed becomes the self-propelled speed by driving.
That is, when the traveling vehicle escapes from the escalator,
After the drive is resumed and the speed temporarily increases, the escape from the escalator is completed and the speed decreases.

Here, since the driving by the driving means and the release of the rear brake are performed immediately before the rear wheel escapes from the escalator, a time zone in which the speed is temporarily increased can be eliminated or minimized. Immediately before the rear wheel escapes, for example, calculation is performed from parameters such as the moving speed of the escalator and the dimensions of the traveling vehicle,
It can be determined by calculating the time from when the front wheel escapes from the escalator until immediately before the rear wheel escapes from the escalator. In other words, the timer is activated starting from the time when the front wheel escapes from the escalator, and the driving by the driving means and the release of the rear brake can be performed after a predetermined time.

As described above, the driving by the driving means and the release of the rear brake are performed immediately before the rear wheel escapes from the escalator, so that the traveling vehicle escapes from the escalator smoothly, and the riding comfort of the traveling vehicle is improved.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An electric wheelchair as a traveling vehicle according to one embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view of the wheelchair of the present embodiment. In FIG. 1, wheelchairs are disposed on a vehicle body 1, left and right front wheels 2 mounted on a front lower surface of the vehicle body 1, left and right rear wheels 3 mounted on a rear lower surface of the vehicle body 1, and front left and right ends of the vehicle body 1. A front support portion 4 and a rear support portion 5 disposed at the left and right ends of the rear portion. The front wheel 2
Steering for steering control can be performed by a steering mechanism (not shown). The rear wheel 3 can be rotated forward and backward by a drive motor 6. A seat 7 and an operation panel 8 are provided on the upper surface of the vehicle body 1. The seat 7 and the operation panel 8 are supported by a seat support 7a so as to always maintain a horizontal posture with respect to the vehicle body 1. The operation panel 8 is provided with a main switch, an operation lever for controlling traveling speed, forward and backward movements, and a steering angle of the front wheels 2, a brake switch, other keys and buttons, and a display device. .

The front and rear support portions 4 and 5 support the vehicle body 1 by being grounded on the step surface of the escalator when riding on the escalator. The front support portion 4 supports the vehicle body 1 at a front portion, and has a first support surface 9 which can be grounded on a step surface when riding on an ascending escalator, and a step surface when riding on a descending escalator. Groundable second
And a support surface 10. The rear support portion 5 supports the vehicle body 1 at a rear portion, and has a first support surface 11 that can be grounded on a step surface when riding on an ascent escalator, and a ground contact on a step surface when riding on a descending escalator. A possible second support surface 12.

The dimensions of the front wheel 2, the rear wheel 3, and the front and rear support portions 4, 5 are determined according to the escalator rules. FIG.
, The distance between the front wheel 2 and the rear wheel 3 (wheel base) is WB, the distance from the center of the front wheel 2 to the boundary between the support surfaces 9 and 10 (or from the center of the rear wheel 3 to the support surfaces 11 and 12). A), the distance A from the outer periphery of the front wheel 2 to the support surface 9,
10 (from the outer periphery of the rear wheel 3 to the support surface 1)
The distance between the front support 4 and the second support surface 10 (or the first support surface 11 of the rear support 5) is α, and the angle of the front support 4 The angle between the first support surface 9 (or the second support surface 12 of the rear support portion 5) and the horizontal plane is β, and the front wheel 2 and the rear wheel 3 are diameter D.

Also, since the ascending escalator and the descending escalator differ only in the direction in which the step surface moves, the maximum inclination angle and the distance between the corners of each step surface are the same. Therefore, when the diameter D is 200 mm, as shown in FIG. 3, the maximum inclination angle of the escalator is γ, the distance between the corners of each step surface at the maximum inclination part is L,
The rise height of the step surface at the maximum inclination angle γ is S
H, assuming that the depth of the step surface is SD, it is preferable to set the range of L <WB <2L + 230 100 <A <SD-100 10 <B <SD γ-7 <α <γ + 13 γ-12 <β <γ. .

The upper limit αmax of the angle α is given by the following (1)
Equation, lower limit αmin is the following equation (2), lower limit βmin of angle β
Are each calculated by the following equation (3).

[0025]

(Equation 1)

According to specific escalator regulations (Article 129-11 of the Ordinance for Enforcement of the Building Standards Act), the maximum inclination angle γ is 30 degrees or less, and generally γ = 30 degrees and SH = 20.
0 mm and SD = 400 mm are standard. Here, by substituting the above standard values into the above equations (1), (2) and (3), α
max = 43 degrees, αmin = 23 degrees and βmin = 18 degrees, and the above inequality for angle setting is derived.

Therefore, most preferably, when the diameter D of the front wheel 2 and the rear wheel 3 is 200 mm, the wheel base W
B = 620mm, distance A = 104mm, distance B = 45m
m, the angle α = 39 degrees, and the angle β = 24 degrees. When each parameter is set in such a range, in the ascending escalator 51, as shown in FIG. 4A, the first support surface 9 of the front support portion 4 contacts the step surface S1 at the maximum inclined portion of the escalator 51. Then, the rear wheel 3 can be brought into contact with the step surface S3. Further, as shown in FIG. 4B, when the front wheel 2 comes into contact with the step surface S1, the rear support portion 5
Can be grounded to the step surface S3.

In the down escalator 52,
As shown in FIG. 5A, when the second support surface 10 of the front support portion 4 comes into contact with the step surface S3 at the maximum inclined portion of the escalator 52, the rear wheel 3 can be brought into contact with the step surface S1. Further, as shown in FIG. 5B, when the front wheel 2 comes into contact with the step surface S3, the second support surface 12 of the rear support portion 5
Can be grounded to the step surface S1. If you touch the ground in such a posture, one of the wheels will always touch the ground,
It is possible to escape from the escalator 52 smoothly.

The wheelchair is provided with a control unit 41 as shown in FIG. The control unit 41 includes an operation panel 8, an inclinometer 21 for monitoring the inclination of the vehicle body 1, and a front wheel 2
A first tachometer 22 for monitoring the rotation speed of the vehicle, a second tachometer 23 for monitoring the rotation speed of the rear wheel 3, a drive motor 6 for driving the rear wheel 3, and a front for braking the front wheel 2 and the rear wheel 3. The brake 33 and the rear brake 34 are connected. The control unit 41 includes a microcomputer 42 including a CPU, a ROM, a RAM, a timer, and the like, a front wheel entry recognition device 43, a front wheel exit recognition device 44, a rear wheel entry recognition device 45, and a tilt recognition device that send information to the microcomputer 42. Device 46.

The front wheel entry recognition device 43 includes a first tachometer 22
By detecting the change in which the rotation speed of the front wheel 2 is reduced by the moving speed of the escalator, it recognizes that the front wheel 2 has entered the escalator, and sends this information to the microcomputer 42. Front wheel escape recognition device 44
Detects the escape of the front wheel 2 from the escalator by detecting the change in which the rotation speed of the front wheel 2 is increased from the state where the rotation speed of the front wheel 2 is 0 by the movement speed of the escalator, This information is sent to the microcomputer 42.

The rear wheel entry recognition device 45 includes the second tachometer 23
Of the rear wheel 3 is detected by detecting a change in the rotation speed of the rear wheel 3 from the rotation speed corresponding to the moving speed of the escalator to 0, thereby recognizing the entry of the rear wheel 3 into the escalator. Send to 42. The incline recognizing device 46 takes in the data of the inclinometer 21 and detects a change in which the incline of the vehicle body 1 approaches horizontal from a state in which the incline of the vehicle body 1 is inclined with respect to the horizontal plane, so that the wheelchair moves to the end portion (escape portion) of the escalator. Recognizing the approach, the information is sent to the microcomputer 42.

Next, the operation when the wheelchair enters the climbing escalator 51 will be described. FIG. 7 shows the escalator 5
1 shows a wheelchair approaching the beginning of 1; Here, by driving the rear wheel 3 by driving the drive motor 6,
Wheelchairs are self-propelled. FIG. 8 shows a state in which the front wheel 2 of the wheelchair that has been running on the step surface S4 of the escalator 51. When the front wheel 2 enters the escalator 51, the front wheel entry recognition device 43 recognizes this and sends this information to the microcomputer 42. Microcomputer 4
In response to the entry of the front wheel 2 into the escalator 51, the front wheel 2 issues a command to the front brake 33 to brake the front wheel 2 and issues a command to the drive motor 6 to stop driving.
As a result, the front wheel 2 cannot rotate and the rear wheel 3 can rotate freely.

By the movement of the escalator 51, the step surface S4 moves to the right in FIG. 8, and shifts from the state in FIG. 8 to the state in FIG. At this time, a force acts on the wheelchair from the escalator 51 via the friction between the front wheel 2 and the step surface S4, and the wheelchair is drawn into the escalator 51 as the step surface S4 moves. That is, the wheelchair is moved by the movement of the escalator 51.

The wheelchair pulled into the escalator 51 goes through the state of FIG. 9 and the rear wheel 3 is placed on the step surface S6 of the escalator 51 as shown in FIG.
When the rear wheel 3 is pulled into the escalator 51, the rear wheel entry recognition device 45 recognizes this and sends this information to the microcomputer 42. The microcomputer 42 is
In response to the rear wheel 3 being put on the escalator 51, a command for braking the rear wheel 3 is issued to the rear brake 34. As a result, both the front wheel 2 and the rear wheel 3 cannot rotate, and
The holding of the position of the wheelchair on the escalator 51 is stabilized.

As described above, the escalator 51 for raising the wheelchair
Has been described, but the same applies to the operation when entering the down escalator. As described above, the wheelchair is controlled not to run on the escalator, and the wheelchair is moved into the escalator using the movement of the escalator. The phenomenon of falling or falling forward with excessive momentum on the escalator going down is suppressed. Thereby, the safety and riding comfort of the wheelchair when entering the escalator are improved.

Next, the operation when the wheelchair escapes from the climbing escalator 51 will be described. FIG. 11 shows the wheelchair approaching the end of the escalator 51. Until this state, the front wheel 2 resting on the step surface S7 and the rear wheel 3 resting on the step surface S8 are in a non-rotatable state, and the driving of the drive motor 6 is also stopped. In the state shown in FIG. 11, the inclination of the vehicle body 1 that has been inclined up to that point becomes substantially horizontal, and the inclination recognition device 46 uses the escalator 5 of the wheelchair.
Recognizing the approach to one end, this information is sent to the microcomputer 42. The microcomputer 42 receives this and issues a command to the front brake 33 to release the braking of the front wheels 2. As a result, the front wheel 2 is free to rotate. Note that the rear wheel 3 remains unrotatable.

By the movement of the escalator 51, the step surface S8 moves to the right side in FIG.
Move to the state of 2. This shift is performed by rear wheel 3 and step surface S8.
This is performed by moving the wheelchair so as to be pushed out of the escalator 51 according to the movement of the step surface S8 by the force acting on the wheelchair from the escalator 51 through the friction with the wheelchair. At this time, the front wheel 2 moves from the step surface 7 to the floor surface 61 and starts rotating. At this time, the microcomputer 42 that has received the information on the escape of the front wheel 2 from the escalator 51 from the front wheel escape recognition device 44 operates a timer built in the microcomputer 42.

The wheelchair moving rightward in FIG. 12 by receiving the force from the escalator 51 via the friction between the rear wheel 3 and the step surface S8, the rear wheel 3 escapes from the escalator 51 after a predetermined time (t1). (See FIG. 13). The predetermined time (t1) is a set time of a timer built in the microcomputer 42, and is calculated from the moving speed of the wheel base WB and the escalator 51. When the state shown in FIG. 13 is reached, the microcomputer 42 issues a command to the rear brake 34 to release the braking of the rear wheel 3, and at the same time, releases the drive suspension of the drive motor 6 to restart the drive.

As a result, from the state shown in FIG. 13, the wheelchair starts running by itself, the rear wheel 3 moves from the step surface S8 to the floor surface 61, and the wheelchair completely escapes from the escalator 51. Thereafter, as shown in FIG. 14, the wheelchair runs on the floor surface 61 by itself. The operation when the wheelchair escapes from the ascending escalator 51 has been described above. The same applies to the operation when the wheelchair escapes from the descending escalator.

Here, considering the absolute speed of the wheelchair in the horizontal direction, it is equal to the horizontal speed of the escalator 51 until the drive by the drive motor 6 is restarted. Next, when the driving is resumed, the speed becomes the speed of the escalator 51 plus the self-propelled speed by the driving motor 6. Then, after the wheelchair escapes from the escalator 51, the speed becomes the self-propelled speed by the drive motor 6. That is, when the wheelchair escapes from the escalator 51, the driving is restarted and the speed temporarily increases, and then the escape from the escalator 51 is completed and the speed decreases.

Here, the driving by the driving motor 6 and the release of the braking of the rear brake 34 are performed by using a timer for the rear wheels 3.
Is controlled immediately before escape from the escalator 51 (in the state shown in FIG. 13), there is almost no time period during which the speed temporarily increases. That is, when the rear wheel 3 is on the escalator 51, the wheelchair is
After the rear wheel 3 escapes from the escalator 51, the wheelchair moves at its own speed.
Therefore, by setting the self-running speed immediately after exiting from the escalator 51 to a value close to the moving speed of the escalator 51, the movement of the wheelchair when exiting from the escalator 51 can be made smooth.

[0042]

According to the present invention, after the front wheel has entered the escalator, the vehicle is controlled not to travel on the escalator but to use the movement of the escalator to draw the traveling vehicle into the escalator. The phenomenon in which the front wheel or the vehicle body collides with the step on the front side to give an impact, or the escalator on the descent escalator falls forward with excessive momentum is suppressed, and the safety and riding comfort of the traveling vehicle are improved.

[Brief description of the drawings]

FIG. 1 is a side view of a wheelchair according to an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a lower part of a wheelchair.

FIG. 3 is a schematic configuration diagram showing a step surface of an escalator.

FIG. 4 is a schematic view showing a posture on an ascending escalator.

FIG. 5 is a schematic view showing a posture on a descending escalator.

FIG. 6 is a control block diagram.

FIG. 7 is a schematic view showing an operation when entering a climbing escalator.

FIG. 8 is a schematic view showing an operation when entering a climbing escalator.

FIG. 9 is a schematic view showing an operation when entering a climbing escalator.

FIG. 10 is a schematic view showing an operation when entering a climbing escalator.

FIG. 11 is a schematic view showing an operation when the player escapes from the climbing escalator.

FIG. 12 is a schematic view showing an operation when the player escapes from the climbing escalator.

FIG. 13 is a schematic view showing an operation at the time of escape from the climbing escalator.

FIG. 14 is a schematic view showing an operation at the time of escape from the climbing escalator.

FIG. 15 is a schematic view showing an operation when a conventional electric wheelchair enters a climbing escalator.

FIG. 16 is a schematic view showing an operation when a conventional electric wheelchair enters a descending escalator.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body 2 Front wheel 3 Rear wheel 6 Drive motor (drive means) 33 Front brake 34 Rear brake 41 Control unit 43 Front wheel entry recognition device 44 Front wheel escape recognition device 46 Tilt recognition device

Claims (6)

[Claims] 1. A traveling vehicle capable of entering and exiting an escalator, comprising: a vehicle body; a front wheel and a rear wheel mounted on a front portion and a rear portion of the vehicle body; and driving at least one of the front wheel and the rear wheel. And a front brake for braking the rotation of the front wheel, wherein when the front wheel enters the escalator, the front brake is braked by the front brake and the driving by the driving unit is stopped. 2. The control device according to claim 1, further comprising a front wheel entry recognition device that recognizes entry of the front wheel into the escalator by detecting a change in the rotation speed of at least one of the front wheel and the rear wheel. The traveling vehicle according to. 3. A rear brake for braking the rotation of the rear wheel, wherein the control means brakes the rear wheel by the rear brake when the rear wheel enters the escalator. The traveling vehicle according to. 4. The control means releases the front brake before the front wheel escapes from the escalator to make the front wheel freely rotatable, and after the front wheel escapes from the escalator and the rear wheel releases the front wheel. The traveling vehicle according to claim 3, wherein the driving by the driving means is restarted and the rear brake is released before the vehicle escapes from the escalator. 5. The vehicle control system according to claim 1, wherein the control means detects a change in the leaning state of the vehicle body, and detects a change in the rotation speed of the front wheel to recognize that the front wheel has escaped from the escalator. The traveling vehicle according to claim 4, further comprising a recognition device. 6. The control means controls the driving by the driving means and the release of the rear brake after the front wheel has escaped from the escalator and before the rear wheel has escaped from the escalator. The traveling vehicle according to claim 4 or 5, which is performed immediately before escape from the escalator.