WO2016199311A1

WO2016199311A1 - Mobile chassis

Info

Publication number: WO2016199311A1
Application number: PCT/JP2015/067371
Authority: WO
Inventors: 大島　章; 宏泰城吉
Original assignee: 株式会社Ｄｏｏｇ
Priority date: 2015-06-10
Filing date: 2015-06-10
Publication date: 2016-12-15
Also published as: JPWO2016199311A1

Abstract

A mobile chassis equipped with a multi-dimensional input device capable of steering the mobile chassis, and a seat in which a passenger can sit and steer the mobile chassis by using the multi-dimensional input device, wherein the multi-dimensional input device is positioned near the center of the seat. The present invention makes it possible to provide a mobile chassis which either of the two passengers thereof can steer without changing seats.

Description

Moving case

TECHNICAL FIELD The present invention relates to a movable case which is moved by the operation of a passenger. The moving case may be, for example, an electric wheelchair, a crawler robot, or an omnidirectional moving vehicle using an omni wheel. In particular, the present invention relates to the configuration of input devices and sensors in a moving case on which a person rides.

Conventionally, most electric wheelchairs are single-seated, and a joystick for steering is often disposed on the left or right side of the seat. In the example of Patent Document 1, a steering wheel or joystick for a single seat is disposed at the center of the front of the seat. However, in a two-seater vehicle, the steering wheel is disposed in front of the left or right seat, and can be steered by either of the boarding passengers.

JP 2000-51279

In vehicles where two or more people can now ride, the steering wheel and the joystick are located on either side, and only one passenger can steer. For this reason, it was necessary to change the boarding position when it is desired to change the pilot.

Means to solve the problem

In order to solve the above-mentioned problems, the present invention is a moving case which moves by controlling a motor, which is a multi-dimensional input device capable of steering the moving case and a multi-dimensional input device on which a passenger sits down The mobile housing is equipped with a seat that can steer the mobile housing by using a single seat, and the total width is 800 mm or more in one seat, or a mobile housing having two or more seats, a multidimensional input device, a mobile housing In the plan view seen from the top, the center line is disposed equidistantly from the left and right ends of the entire seat, on a center line parallel to the traveling direction of the movable housing, or at a position within 100 mm from the center line.
The prime mover is a machine that can control forward rotation and reverse rotation as represented by an electric motor, and can move a moving case by rotating a tire, a crawler, or the like. By having two prime movers and independently controlling the tires disposed on the left and right of the moving case, for example, the moving case can be moved forward, backward, curved, or in-situ turning.
The multidimensional input device may be a joystick input device. In addition, a touch pad type tablet device may be touched to operate. These can be interpreted as two-dimensional input devices, and the maneuver can be considered as being input as two-dimensional coordinate values.
Also, an input device such as a sensing device that directly detects the spatial position of a finger or a part of the pilot's body or a three-dimensional mouse may be used as the three-dimensional input device. In the present invention, the steering device of steering wheel type can be interpreted as a one-dimensional input device, and not as a multidimensional input device.
The moving housing is provided with a seat for two and is configured to be steered by either of two passengers. The seat can be regarded as a seat that can be carried by two passengers if the width is 800 mm or more. In such a two-seater seat, placing the multi-dimensional input device near the center of the seat allows any one of the two passengers to operate the input device. Specifically, the multi-dimensional input device is disposed on a center line parallel to the traveling direction of the movable housing at equal distances from the left and right ends of the entire seat in a plan view seen from above the movable housing. Preferably, two pilots steer the moving case using the input device if they are placed in front of the seat and further away from the centerline if the distance from the centerline is 100 mm or less be able to. When the seat is divided into two, if the total width is 800 mm or more, the traveling direction of the moving case is equally distanced from the both ends of the left and right seats in a plan view seen from the top of the moving case as well The configuration in which the input device is disposed near the parallel center line can be configured such that any of two passengers can operate the input device.

According to the present invention, it is possible to provide a moving case which can be steered by two passengers without changing seats.

FIG. 1 is an external view of the main body of the movable case. Example 1
FIG. 2 is a front view of the main body of the movable case. Example 1
FIG. 3 is a left side view of the main body of the movable case. Example 1
FIG. 4 shows a joystick provided in the moving case. Example 1
FIG. 5 is a schematic view of the arrangement of joysticks provided in the movable housing. Example 1
FIG. 6 is an appearance of a scanner type laser distance sensor. Example 1
FIG. 7 is a schematic view relating to the detection of the seating state of the passenger. Example 1
FIG. 8 is a schematic view of the moving case as viewed from above. (Example 2)
FIG. 9 is an example of the appearance and display of a tablet device. (Example 2)

The moving case according to the first embodiment of the present invention will be described below with reference to FIGS. 1 to 7.
First, the main body of the movable housing in the present embodiment will be described with reference to FIGS. 1 to 3.
FIG. 1 is an external view of an electric wheelchair type which is a moving case. FIG. 2 is a front view of the moving case, and FIG. 3 is a left side view of the moving case.
A mobile chassis of the electric wheelchair type shown in the present embodiment is shown at 1 in FIGS. Reference numeral 5 in FIG. 1 denotes a seat for a passenger, which is a seat on which two adults can board. The movable housing includes a drive wheel 21 for moving, a caster 22, and a motor 20 for rotating the drive wheel 21. The prime mover 20 is an electric motor in this embodiment, and an electric motor is attached to the left and right to drive each of the two oppositely facing drive wheels, and the drive wheel 21 is rotated forward and reverse via the reduction mechanism. It is possible to operate the short circuit between terminals and the release free between terminals. By driving the drive wheel 21, the movable housing 1 can perform operations such as forward movement, backward movement, curve, and in-situ turning. The prime mover may drive not the drive wheels but the crawlers. The adoption of crawlers improves the leveling ability and enables movement on uneven terrain. Further, a plurality of types capable of omnidirectional movement may be adopted as the drive wheel. When an omnidirectional movement type drive wheel is adopted, movement etc. in the lateral direction becomes possible. In addition, a locking structure by an electromagnetic brake or a lever mechanism may be provided around the motor 20. In addition, you may employ | adopt the movable housing | casing which has a steering mechanism like a motor vehicle.
Reference numeral 3 in FIGS. 1 to 3 is a joystick used as a multi-dimensional input device in this embodiment. The traveling direction and speed intended by the operator can be reflected on the moving case according to the tilting angle and tilting direction of the joystick 3. Although not shown, it has an operation button and other input means, and has a speed mode function capable of selecting set values such as maximum speed and acceleration in a plurality of steps. As a multidimensional input device, a touch pad type tablet device may be touched to operate. In addition, it may be made to be able to maneuver with the movement and mouth of the foot, face and eyes. These can be interpreted as two-dimensional input devices, and the maneuver can be considered as being input as two-dimensional coordinates. Also, an input device such as a sensing device or a three-dimensional mouse that directly detects the spatial position of a finger or a part of the pilot's body may be used as a three-dimensional input device, and this embodiment is implemented for various methods. It can be applied to the example. Reference numeral 4 in FIGS. 1 to 3 denotes a scanner type laser rangefinder.
FIG. 4 shows the details of the joystick 3 used as a multi-dimensional input device in this embodiment. The joystick 3 mainly includes a lever 31 and a display operation unit 33. The display operation unit 33 displays, for example, the state of the moving case and the applied speed mode, and can perform an operation such as mode setting. The driver controls the traveling direction and speed of the moving case by tilting the lever 31. Reference numeral 311 denotes a tilt angle L when the lever 31 is tilted, which is limited within a predetermined movable range of the lever 31.
FIG. 5 illustrates the arrangement of the joystick 3 in the present embodiment. FIG. 5 schematically shows a plan view of the moving case in the present embodiment as viewed from above. Two passengers are seated in the seat 5, and the joystick 3 is disposed at the front of the seat 5, in the center in the left-right direction. The width of the seat 5 is the width of the seating surface of the seat 5, as shown at 8 in FIG. It is also possible to regard the distance between the left and right ends of the seat, 91 and 92, as the seat width. If this seat width 8 is made 800 mm or more, it can be regarded as a seat for two seats. By setting the seat width 8 to, for example, 900 mm or more, an adult can ride comfortably with the shoulders aligned. In addition, even in the case of a passenger with a large physical size that is too narrow to be able to board in a general seat for single use, the seat of the present embodiment can be boarded with plenty of space. Reference numeral 9 shown in FIG. 5 is a center line equidistant from the left end 91 and the right end 92 of the seat 5. The joystick 3 is disposed on the center line 9 in a plan view seen from above the movable housing. Specifically, the center position of the lever 31 of the joystick 3 is disposed on the center line 9. Alternatively, if the input device 3 is disposed within 100 mm from the center line 9, it can be considered that the input device 3 is disposed substantially at the center.
In this way, placing the multi-dimensional input device near the center of the seat in a two-seater seat allows both passengers to maneuver the moving housing using the multi-dimensional input device . Specifically, for example, a passenger on the left side of the seat 5 can steer with the right hand, and a passenger on the right side can steer the moving casing by operating the joystick with the left hand. Further, by disposing the display operation unit 33 at the center as in the multidimensional input device, two passengers can perform operations such as display confirmation and setting.
Furthermore, in the present embodiment, as in the case of the multidimensional input device, a scanner type laser distance sensor is disposed near the front center of the moving case. A scanner type laser distance sensor used as a sensing device is shown at 4 in FIGS. 1 to 3. FIG. 6 shows the appearance of the scanner type laser distance sensor 4. The laser 42 is irradiated so as to scan from the optical window of the sensor shown at 41 in FIG. 6 and the laser reflected from the object is captured, whereby the distance to the object can be output. The distance information is output together with the irradiation angle of the laser, and by repeating the scan, the distance information is continuously detected at constant time intervals. The distance data is continuously sent to a computer and used to locate obstacles, locate specific targets, or compare the environment with a map to find its own location on the map. In particular, in the present embodiment, the distance information from the scanner type laser distance sensor 4 is also used to detect the seating state of the passenger.
FIG. 7 shows an outline of the detection of the seating state of the passenger. FIG. 7 is a plan view of the moving case in the present embodiment as viewed from above, in which the passenger 51 is seated on the seat 5 and is facing in the direction of movement of the moving case. The joystick 3 for steering the moving housing is disposed between the passengers 51, and the scanner type laser distance sensor 4 is disposed at the front center of the seat 5. Reference numeral 43 in FIG. 7 indicates the detectable direction of the scanner type laser distance sensor 4 and is an example in the case where the horizontal scanning angle of the sensor is 320 degrees. This scanner type laser distance sensor 4 is used for detection of the occupant's sitting condition as the scanning angle of the sensor extends to the rear as well as detection of an obstacle in front of the moving case and determination of a traveling path. . Specifically, for example, as shown in FIG. 7, when the passenger 52 stands in front of the seat 5, the passenger 52 stands from the data of the scanning area on the right rear of the scanner type laser distance sensor 4 Can be detected. As shown in FIG. 3, two scanner type laser distance sensors 4 are disposed at the upper and lower sides of the moving case, the upper sensor scans near the seat, and the lower sensor scans the passenger's foot doing. The lower sensor can determine the presence or absence of the passenger's foot, and the upper sensor can detect a state where the passenger is correctly sitting or standing.
By detecting that the passenger stands up, the mobile chassis can prompt the passenger to properly sit by issuing a predetermined operation such as a warning sound or a warning message. In particular, when the moving case is moving, it is dangerous for the passenger to stand, so the moving case can be decelerated and stopped regardless of the steering input to ensure the safety of the user.

A moving case according to a second embodiment of the present invention will be described using FIGS. 8 and 9. In the second embodiment, a touch pad type tablet device is adopted as a multi-dimensional input device for steering the movable housing, and the seat is divided into two. The arrangement of the tablet device in the present embodiment is schematically illustrated in FIG. FIG. 8 schematically shows a plan view of the movable casing in the present embodiment as viewed from above, and the upper direction of the drawing is the traveling direction of the movable casing. The seat 53 and the seat 54 are disposed side by side, and the tablet device 30 is disposed in the front center of the two seats. If there are two or more seats, the sum of the width of each of the seats 53 and 54 is set to 800 mm or more. For example, when the width of the seat 53 and the seat 54 is 450 mm, the total is 900 mm. Then, as shown by 91 and 92 in FIG. 8, the left end 91 of the leftmost seat and the right end 92 of the rightmost seat are regarded as the left and right ends of the entire seat, and the centers of equal distances from the left end 91 and the right end 92 Place the tablet device 30 on the line 9. Alternatively, if the tablet device 30 is disposed at a position within 100 mm of the distance from the center line 9, it can be regarded as substantially centered.
The tablet device 30 can be used to steer the moving case by touch operation. An example of the screen of the tablet device 30 is schematically shown in FIG. A control area 301 is provided at the bottom of the screen of the tablet device 30, and when the rider touches this area with a finger, the tablet device 30 recognizes the position of the operator's finger and outputs coordinates as a two-dimensional input device. Control the moving case. Similar to the joystick, the input can be used for control as two-dimensional coordinates, for example, touching the upper part of the maneuvering area 301 moves the moving case forward, and touching the left side curves the moving case to the left It can be designed. In addition, the map 302 can be displayed on the screen of the tablet device 30, and information such as the speed 303 of the moving case can be displayed. Furthermore, for example, the setting 304 of the speed mode applied to the moving case or the like can be displayed, and the display location can be touched to perform an operation of changing the setting. The tablet device 30 is provided with a camera 305, and by providing the camera on both the front and back of the tablet device 30, both the forward shooting of the moving housing and the backward shooting including the passenger are performed. Can. Shooting in the forward direction of the moving case can be used not only for recording but also for detection of an obstacle in front and judgment of a traveling route. Shooting in the backward direction can be used for a recorded image of the passenger, recognition of the passenger, and the like.
Also in the two seats, the tablet device which is a multi-dimensional input device is arranged near the center of the seat, so that both passengers can use the tablet device to steer the moving housing. The tablet device doubles as a display operation unit, so that two passengers can perform operations such as display confirmation and setting.

Mainly two-seater, it can be used for vehicles that move by the control of the passenger.

1 moving housing 20 motor 3 joystick 4 scanner type laser range finder 5 seat

Claims

It is a moving case that moves by controlling the motor, and
The mobile housing includes a multi-dimensional input device capable of steering the mobile housing and a seat on which a passenger can sit and maneuver the mobile housing using the multi-dimensional input device.
In the case of one seat, the total width of the seat is at least 800 mm,
Or it is a moving case having two or more of the above-mentioned seats,
In a plan view of the multidimensional input device as viewed from above the movable housing, the central line parallel to the traveling direction of the movable housing or the distance from the central line at equal distances from the left and right ends of the entire seat Is disposed at a position within 100 mm.
In the moving case according to claim 1,
A sensing device is provided forward of the seat in the traveling direction,
The mobile housing characterized in that the sensing device can detect the presence or absence of an object located behind the traveling direction from the location where the sensing device is disposed.
In the moving case according to claim 2,
A moving case characterized in that a seating state of the passenger is detected by the sensing device, and a predetermined operation or notification is performed based on this.
In the moving case according to claim 3,
The moving case characterized in that the sensing device detects an object in front of the moving direction of the moving case.
In the moving case according to claim 1,
The movable housing includes a display operation device.
In a plan view of the display operation device as viewed from above the movable housing, the display operation device is a central line parallel to the traveling direction of the movable housing at an equal distance from the left and right ends of the entire seat or A moving case characterized in that the distance from the center line is 100 mm or less.
In the moving case according to claim 1,
A mobile housing characterized by using a tablet device capable of touch operation as a multi-dimensional input device capable of steering the mobile housing.