JP2017222234A - Assist cart - Google Patents

Abstract

Provided is an assist cart capable of guiding (navigating) a user and providing navigation information through a tactile sense through a portion touched by the user.
A main body, a driving source that is provided in the main body and generates a driving force for running the main body, a control unit that controls the driving source, and a route that acquires route information to a target position. An information acquisition unit, a handle part 21 provided in the main body part and having a gripping area, and a movable part held in the gripping area of the handle part and provided movably with respect to the handle part. The movable unit operates according to the route information.
[Selection] Figure 1

Description

  The present invention relates to an assist cart, and more particularly to an assist cart that assists walking of a person.

  In recent years, for example, a carry cart having a driving means and an electric assist function has been proposed (Patent Document 1). In addition, a shopping assist system that guides customers during shopping in a store or the like has been proposed (Patent Document 2).

JP-A-2015-227119 JP 2012-185584 JP

  In a carry cart such as Patent Document 1, when navigation for road guidance is required, it is conceivable to use navigation on a display screen as in Patent Document 2, for example. However, in the navigation using the display screen, the user (user) may miss the display. Further, when the user is a visually impaired person such as a visually impaired person, navigation may not be possible.

  The present invention has been made in view of the above points, and provides an assist cart capable of guiding (navigating) a user and providing navigation information by touch through a portion touched by the user. Is one of the issues.

  The invention according to claim 1 is a main body, a drive source that is provided in the main body and generates a driving force for running the main body, a control unit that controls the drive source, and a route to a target position. A route information acquisition unit that acquires information; a handle unit that is provided in the main body unit and has a gripping region; and a movable unit that is held in the gripping region of the handle unit and that is movable with respect to the handle unit And the movable part is operated according to the route information.

It is a perspective view of the assist cart of an Example. It is a bottom view of the base part of the assist cart of an Example. It is a perspective view of the handle part of the assist cart of an Example. It is a top view of the handle part of the assist cart of an Example. 1 is an overall view of a route guidance system including an assist cart. It is a block diagram which shows an example of a structure of a server. It is a block diagram which shows an example of a structure of the control part of an assist cart. It is a flowchart of a mode selection routine. It is a flowchart of an autopilot routine. It is a flowchart of a manual operation routine. It is a perspective view of the handle | steering-wheel part of the assist cart of a modification. It is a perspective view of the handle | steering-wheel part of the assist cart of a modification. It is a perspective view of the handle | steering-wheel part of the assist cart of a modification. It is a perspective view of the handle | steering-wheel part of the assist cart of a modification.

  In the following, preferred embodiments of the present invention will be described. However, these may be appropriately modified and combined. In the following description and the accompanying drawings, substantially the same or equivalent parts will be described with the same reference numerals.

  Examples of the present invention will be described in detail below. FIG. 1 is a perspective view of the assist cart 10.

  The frame portion 11 includes a columnar (round bar-like) shaft portion 11A, and one end fixed to one end of the shaft portion 11A, and a forked portion 11B that extends in a bifurcated manner with the one end serving as a base. Yes. A base portion 13 is fixed to the tip (the other end) of the bifurcated portion 11B. The frame portion 11 and the base portion 13 are used as a main body portion.

  FIG. 2 shows a bottom view of the base portion 13. The base portion 13 has a rectangular top surface shape (see FIG. 1). The base portion 13 has a rectangular shape provided along a peripheral edge of a base plate 13A (see FIG. 1) having a rectangular surface SA and a back surface SB that is a surface opposite to the surface SA of the base plate 13A. The base frame 13B is included. The tip of the bifurcated portion 11B is fixed to the base frame 13B. That is, the bifurcated portion 11B is fixed to the base frame 13B and extends from the vicinity of both ends of one longitudinal side RL of the surface SA of the base plate 13A toward the upper side of the surface SA.

  In the following description, the direction parallel to the surface SA of the base plate 13A and perpendicular to the longitudinal side RL of the surface SA is defined as the front-rear direction (X direction in the figure) of the assist cart 10, and one longitudinal side RL side of the surface SA The direction of is assumed to be the rear, and the opposite direction is assumed to be the front. The direction along the longitudinal side will be described as the width direction (Y direction in the figure). In addition, a direction perpendicular to the surface SA will be described as a vertical direction (Z direction in the drawing). In the present embodiment, the description will be made assuming that the bifurcated portion 11B extends perpendicularly to the surface SA as viewed from the direction along the width direction. Further, the shaft portion 11A and the forked portion 11B will be described as being in a straight line when viewed from the direction along the width direction.

  On the region surrounded by the base frame 13B on the back surface SB of the base plate 13A, the battery 15, the control unit 17, and the two drive motors 19A and 19B are arranged. The battery 15 is a rechargeable battery such as a lithium ion battery. The control unit 17 is an electronic circuit having a calculation function, a signal input / output function, a communication function, a storage function, and the like. The controller 17 is electrically connected to the battery 15 and can receive power supply from the battery 15.

  The drive motors 19A and 19B as drive sources are provided at both ends in the width direction on the back surface SB. That is, the drive motor 19A is provided in the vicinity of the right short side RS toward the front, and the drive motor 19B is provided in the vicinity of the left short side RS toward the front. The drive motors 19 </ b> A and 19 </ b> B have a drive shaft SH that faces the short side RS close to each other and protrudes in the width direction of the assist cart 10.

  A drive gear AG is fixed to each end of the drive shaft SH of the drive motors 19A and 19B. The drive gear AG meshes with a transmission gear TG that is rotatably fixed to a gear fixing portion (not shown) provided on the base frame 13B. A wheel WH that rotates together with the transmission gear TG is fixed to the transmission gear TG.

  The drive motors 19 </ b> A and 19 </ b> B are electrically connected to the battery 15, and can be driven by power supply from the battery 15. The drive motors 19 </ b> A and 19 </ b> B are communicably connected to the control unit 17 in a wireless or wired manner, and are driven by a control signal from the control unit 17. That is, when the drive motors 19A and 19B are driven by receiving a control signal from the control unit 17, the wheel WH rotates and the assist cart 10 travels.

  In other words, the drive motors 19 </ b> A and 19 </ b> B are drive sources that generate drive force that causes the frame unit 11 and the base unit 13 as the main body unit to travel.

  For example, when the two wheels WH are rotated at the same speed in the same direction, the assist cart 10 moves forward and backward. Further, for example, when the two wheels WH are rotated at different speeds, the assist cart 10 moves forward or backward while turning in the direction of the wheel WH having a lower rotation speed. Further, for example, when the wheels WH are rotated at different speeds in different directions, the assist cart 10 rotates on the spot.

  Referring to FIG. 1 again, the handle portion 21 is attached to the upper end portion of the shaft portion 11A of the frame portion 11, that is, the end portion opposite to the end portion to which the bifurcated portion 11B is fixed. The handle portion 21 is attached to the shaft portion 11A so as to be rotatable around the columnar cylindrical axis of the round rod-shaped shaft portion 11A.

  FIG. 3 shows an enlarged perspective view of the vicinity of the attachment portion between the handle portion 21, the handle portion 21, and the handle portion 21 and the shaft portion 11A.

  The handle portion 21 has a hollow circular connecting portion 21A that is rotatably engaged with the upper end portion of the shaft portion 11A. The connection portion 21A is rotatably engaged with the shaft portion 11A by accommodating the upper end portion of the shaft portion 11A in the hollow interior.

  The handle portion 21 further has a grip portion 21B formed integrally with the connection portion 21A. The gripping part 21 </ b> B has an annular shape (polygonal annular shape) having a polygonal shape when viewed from the front-rear direction of the assist cart 10. In addition, the gripping portion 21B has a straight cylindrical gripping area GA (see the one-dot chain line portion in FIG. 4) that extends in the width direction of the assist cart 10. In using the assist cart 10, the user holds the grip area GA.

  Further, an opening OP provided facing the inner side of the annular shape formed by the gripping portion 21B is formed in the gripping region GA of the gripping portion 21B. Inside the gripping area GA of the gripping part 21B, a lever LV as a movable part, which is a longitudinal member extending as a whole in the width direction of the assist cart 10, is held as in the gripping area GA. A part of the lever LV protrudes (exposes) from the inside of the gripping part 21B through the opening OP.

  The lever LV has a protrusion PR1 as the first portion and a protrusion PR2 as the second portion at both ends in the longitudinal direction. Each of the protrusions PR1 and PR2 protrudes toward the inside of the annular shape formed by the grip portion 21B.

  In addition, a pressure sensor PS1 as a second pressure sensor is provided on the surface exposed from the opening OP of the lever LV. The pressure sensor PS1 is connected to the control unit 17 so as to be communicable wirelessly or in a wired manner, and can transmit a measurement signal to the control unit 17.

  FIG. 4 shows the internal structure of the handle portion 21 and the vicinity of the attachment portion of the handle portion 21 and the shaft portion 11A. Two cylindrical projections PR projecting outward in the radial direction of the cylindrical shape of the shaft portion 11A are provided in the portion accommodated in the connecting portion 21A of the shaft portion 11A. The protrusions PR protrude in opposite directions in the width direction of the assist cart 10.

  Inside the handle portion 21, two press sensors PS <b> 2 as first press sensors are fixed at positions corresponding to the projections PR so as to contact the cylindrical side surface of the projection PR. Each of the press sensors PS2 is connected to the control unit 17 in a communicable manner by a wireless or wired method, and can transmit a measurement signal to the control unit 17.

  Specifically, for example, when a torsional force (torque) is generated around the rotation axis AX between the shaft portion 11A and the handle portion rotatably connected to the shaft 11A, the pressing sensor PS2 is caused by the protrusion PR. Pressed. A pressing force detection signal is transmitted to the control unit 17. In other words, the protrusion PR and the pressure sensor PS2 serve as a torque detection unit that detects torque generated between the shaft portion 11A and the handle portion 21.

  The lever LV is fixed to the grip portion 21B by a pin P so as to be rotatable. That is, the lever LV is rotatable around an axis along the front-rear direction (X direction) of the assist cart 10. In other words, the lever LV can swing around the pin P as a fulcrum.

  The lever LV is formed with a gear portion G1 serving as a worm wheel and a gear portion G2 serving as a spur gear. The gear portions G1 and G2 are formed on an arc centered on the rotation center axis (center axis of the pin P) in the rotation operation of the lever LV.

  The lever drive motor M is provided inside the grip portion 21B. The lever drive motor M is electrically connected to the battery 15 (see FIG. 2), and can be driven by power supply from the battery 15. The lever drive motor M is connected to the control unit 17 (see FIG. 2) so that it can communicate wirelessly or in a wired manner, and is driven by a control signal from the control unit 17.

  The lever drive motor M has a drive shaft along the width direction of the assist cart 10, that is, the extending direction of the gripping area GA, and a worm W is provided on the drive shaft. The worm W meshes with the gear portion G1 of the lever LV. That is, the worm gear and the gear portion G1 constitute a worm gear.

  Therefore, when the lever drive motor M is driven by the control signal from the control unit 17, the lever LV rotates. When the lever LV rotates, the protrusion amount of the portion on the protrusion PR1 side and the protrusion amount of the portion on the protrusion PR2 side of the lever LV from the opening OP change around the pin P. By changing the protrusion amount of the lever LV, it becomes possible to tactilely transmit information to the user who holds the grip area GA.

  Furthermore, a rotation angle sensor AS is provided inside the hollow portion of the grip portion 21B. The rotation angle sensor AS has a gear G3 and detects the rotation angle of the gear G3. The gear G3 meshes with a gear G4 that is rotatably fixed in the grip portion 21B. The gear G4 meshes with the gear part G2 of the lever LV. Therefore, when the lever LV is rotated, the gear G3 is rotated via the gear portion G2 and the gear G4, and a sensor signal is generated in the rotation angle sensor AS.

The rotation angle sensor AS is communicably connected to the control unit 17 in a wireless or wired manner, and the generated sensor signal is transmitted to the control unit 17, and the current state of the lever LV (rotation) is transmitted from the sensor signal. Corner) is obtained.
[Route guidance system]
Below, the route guidance system containing the assist cart 10 is demonstrated.

  FIG. 5 shows a route guidance system SYS1 in which the assist cart 10 is included. As shown in FIG. 5, the guidance system SYS <b> 1 includes a server 100 (an example of a “server device”) and an assist cart 10. In the example of FIG. 5, for convenience of explanation, one assist cart 10 is shown, but in reality, many assist carts 10 may be able to communicate with the server 100.

  The server 100 and the assist cart 10 can transmit / receive data to / from each other using a communication protocol such as TCP / IP via a network NW (communication path). The network NW is constructed by, for example, the Internet, a LAN (Local Area Network), a WAN (Wide Area Network) mobile communication network (including base stations), and / or a gateway.

  FIG. 6 shows the configuration of the server 100. For example, the server 100 is a device in which a mass storage device 103, a system control unit 105, and a data communication unit 107 cooperate with each other via a system bus 101.

  The large-capacity storage device 103 is constituted by, for example, a hard disk device and an SSD (solid state drive), and stores various programs such as an operating system and server software.

  Note that the various programs may be acquired from, for example, another server device or the like via the network NW, or may be recorded on a recording medium and read via the various drive devices. That is, various programs stored in the large-capacity storage device 103 (including a program for executing processing on the server 100 side in route guidance processing to be described later) can be transmitted via the network NW, and can be a computer. It can be recorded and transferred to a readable recording medium.

  In addition, a guide route information database (DB) 103A is constructed in the large-capacity storage device 103. The guide route information DB 103A may include, for example, a shopping mall in which the assist cart 10 is deployed, a passage in a store such as a supermarket, and an arrangement position of a product. In addition, for example, one or a plurality of route information from various points in these stores to an arrangement position of a specific product may be included.

Note that the guidance route information DB 103A includes not only the information inside the store and the like, but also position information and guidance route information regarding places where the assist cart 10 can move, such as various passages, sidewalks, and roads. The system control unit 105 includes a CPU (Central Processing Unit) 105A, a ROM (Read Only Memory) 105B, a RAM (Random Access Memory) 105C, and the like, and functions as a computer. The CPU 105A implements various functions by reading and executing various programs stored in the ROM 105B and the large-capacity storage device 103.

  The data communication unit 107 is connected to the above-described network NW and transmits / receives various data to / from other devices such as the assist cart 10.

  FIG. 7 shows a configuration of the control unit 17 of the assist cart 10. For example, in the control unit 17, the mass storage device 33, the system control unit 35, the sensor signal reception unit 37, the control signal transmission unit 39, and the data communication unit 41 cooperate through the system bus 31. Function as a guidance device.

  The large-capacity storage device 33 includes, for example, a hard disk device, an SSD (solid state drive), a flash memory, and the like, and stores various programs such as an operating system and terminal software. Note that the various programs may be acquired from, for example, another server device or the like via the network NW, or may be recorded on a recording medium and read via the various drive devices.

  That is, various programs stored in the large-capacity storage device 33 (including a program for executing an operation process of the assist cart 10 described later) can be transmitted via the network NW, and can be read by a computer. It can be recorded on a recording medium and transferred.

  The system control unit 35 includes a CPU (Central Processing Unit) 35A, a ROM (Read Only Memory) 35B, a RAM (Random Access Memory) 35C, and the like, and functions as a computer. Then, the CPU 35A implements various functions by reading and executing various programs stored in the ROM 35B and the mass storage device 33. Further, the system control unit 35 receives signals from the pressure sensors PS1, PS2 rotation angle sensors AS, etc., and transmits control signals to the drive motors 19A, 19B and the motor M1 based on these information. To control.

  The input unit 37 is an input device such as a keyboard, mouse, touch pad, touch panel, stylus pen, voice input device, acceleration sensor, or tilt sensor. The output unit 39 is, for example, a display that displays video and / or a speaker that emits sound.

  Although the input unit 37 is not shown in FIGS. 1 to 3, for example, the handle unit 21 or the like can be appropriately provided at a position where a user can easily perform an input operation. Although the output unit 39 is not shown in FIGS. 1 to 3, for example, the output unit 39 such as the handle unit 21 can be appropriately provided at a position where the user can easily recognize the output information.

  The data communication unit 41 is connected to the network NW described above, and transmits / receives various data to / from other devices such as the server 100.

[Assist cart operation routine]
Hereinafter, the operation of the assist cart 10 will be described with reference to FIGS. In the following description, the routine is executed by the control unit 17 of the assist cart 10, for example.
[Mode selection routine]
For example, the assist cart 10 can be switched between an automatic operation mode in which the assist cart is automatically operated by the acquired guidance route information and a manual operation mode in which the operation is operated by the user according to the user's selection. Is possible.

  FIG. 8 shows the mode selection routine R1. The mode selection routine R1 is executed once, for example, when a power switch (not shown) of the assist cart 10 is operated and the power is turned on. The mode selection routine R1 is executed once after the mode selected in the mode selection routine R1 is completed.

  When the mode selection routine R1 is started, first, in step S1, the control unit 17 determines whether or not the autopilot mode is selected. This determination is performed based on an input from the user through the input unit 37, for example. Specifically, the output unit 39 prompts the user to select a mode by a display (not shown) or a speaker (not shown), and the input unit accepts it by a touch panel (not shown), an operation button (not shown), or the like. The determination is made based on the user's operation.

  If it is determined in step S1 that the autopilot mode has been selected (step S1: YES), the control unit 17 activates the autopilot mode (step S2), and then the routine ends.

  When it is determined in step S1 that the autopilot mode is not selected (step S1: NO), the control unit 17 determines whether or not the manual pilot mode is selected (step S3). This determination is performed based on the input from the user through the input unit 37, for example, as in step S1. If it is determined in step S3 that the manual steering mode is selected (step S3: YES), the control unit 17 activates the manual steering mode (step S4), and then the routine ends.

When determining that the manual operation mode is not selected in Step S3 (Step S4: NO), the control unit 17 returns to Step S1 again and determines whether or not the automatic operation mode is selected.
[Autopilot routine]
For example, the assist cart 10 acquires the guidance route information from the guidance route information DB or the like in the mass storage device 103 of the server 100 when the autopilot mode is activated in the mode selection routine R1 described above, and the current position To the destination automatically.

  FIG. 9 shows an autopilot routine R2. The autopilot routine R2 is executed, for example, when the autopilot mode is activated in the mode selection routine R1 described above.

  When the autopilot routine R2 is started, first, the control unit 17 acquires the current position of the assist cart 10 in step S1. For example, when the current position is acquired in a store such as a shopping mall, a magnetic tape marker provided on the floor of the store is read, or a radio wave marker beacon provided in the store is read. It may be performed by receiving radio waves. Moreover, if it is a place which can see the sky, it is good also as acquiring a present position by GPS.

  In the execution of the following steps, the current position of the assist cart 10 may be acquired constantly or intermittently (every fixed time).

  When step S <b> 1 ends, the control unit 17 acquires route information including a guide route on which the assist cart 10 travels. For obtaining route information, for example, the output unit 39 first prompts the user to select a destination (or desired product) by a display (not shown) or a speaker (not shown), and the input unit is a touch panel (see FIG. The destination (or desired product) is received by an operation button (not shown) or the like.

Thereafter, information including the current position of the assist cart 10 and the destination (or desired product) is transmitted to the server 100. Based on the received current position and destination (or desired product) of the assist cart 10 and information in the guidance route information DB 103A, the server 100 provides guidance from the current position to the destination (or desired product placement position). Route information including the route is created and transmitted to the control unit 17. The control unit 17 receives this route information and stores it in the large-capacity storage device 33 or the like, thereby completing the acquisition of route information. In this step, the control unit 17 functions as a route information acquisition unit that acquires route information to the target position. Note that the control unit 17 may create route information itself. In this case, the information of the guidance route information DB 103A may be received from the server 100, and the route information may be created based on the information. In addition, the guide route information DB 103A or a database based thereon may be originally built in the large-capacity storage device 33 of the control unit 17.

  When step S2 ends, the control unit 17 determines whether or not the user is holding the grip area GA, that is, whether or not the user's hand is holding the assist cart 10 (step S3). This determination may be performed based on the measurement signal of the press sensor PS2. For example, it may be determined that the user is grasping the gripping area GA when a measurement signal indicating that a certain pressing force is applied to the pressure sensor PS2 reaches the control unit 17.

  When the control unit 17 determines in step S3 that the gripping area GA is gripped by the user (step S3: YES), the control traveling operation is performed along the guide route included in the route information acquired in step S2. Is started (step S4). Specifically, drive control of the drive motors 19A and 19B is started so that the assist cart 10 travels toward the destination along the guide route.

  When determining that the grip area GA is not gripped by the user in step S3 (step S3: NO), the control unit 17 executes step S3 again after a predetermined time. That is, unless the grip area GA is gripped by the user, the guided travel operation is not started.

  After step S4, the control unit 17 determines whether or not the user is gripping the grip area GA (step S5). This determination may be performed based on the measurement signal of the press sensor PS2 as in step S3.

  When determining that the grip area GA is not gripped by the user in step S5 (step S5: NO), the control unit 17 interrupts the guide travel operation (step S6). This is to prevent the user from being left on the spot, for example.

  The control unit 17 executes Step S3 again after Step S6. That is, when the user removes his / her hand from the gripping area GA and the guided travel operation is interrupted, the guided travel operation is not started (restarted) until the gripping area GA is gripped again.

  When it is determined in step S5 that the grip area GA is gripped by the user (step S5: YES), the control unit 17 determines whether or not the assist cart 10 has arrived at the destination (step S7). This determination may be made based on whether or not the current location of the assist cart 10 matches the destination of the guidance route. In addition, in consideration of the accuracy of position measurement of the current location, this determination is performed based on whether or not the current location and the destination are close to each other even if they are not completely matched. Also good.

  If it determines with the assist cart 10 having arrived at the destination in step S7 (step S7: YES), the control part 17 will complete | finish guidance driving | operation operation | movement (step S8). Specifically, the drive control of the drive motors 19A and 19B is terminated. After step S7 ends, the routine ends. At this point, the autopilot mode may be terminated.

  If the control unit 17 determines in step S7 that the assist cart 10 has not arrived at the destination, a direction change such as a curve or a right / left turn is performed within a certain distance from the current position in the guidance route ahead from the current location. Whether or not (step S9).

  When the control unit 17 determines in step S9 that there is a direction change (step S9: YES), the control unit 17 drives the motor M in the handle unit 21 and reaches the lever LV before reaching the point where the direction change is performed. Is rotated (step S10). Specifically, for example, when there is a change of direction toward the front and to the right, the lever LV is rotated clockwise as seen from the front (front) of the assist cart 10 (see FIG. 4). That is, the protrusion amount of the protrusion PR1 on the right side facing the front is decreased from the handle portion 21, and the protrusion amount of the protrusion PR2 on the left side from the handle portion 21 is increased.

  Further, for example, when there is a turn to the left toward the front, the lever LV is rotated counterclockwise as viewed from the front (front) of the assist cart 10 (see FIG. 4). That is, the protrusion amount of the projection PR2 on the left side facing the front is decreased from the handle portion 21, and the protrusion amount of the protrusion PR1 on the right side from the handle portion 21 is increased.

  This change in the protrusion amount of the lever LV is recognized by the user through a tactile sense through the user's hand holding the gripping area GA. Therefore, the user can recognize the direction change before the assist cart 10 changes the direction. Thereby, it is possible to notify the user that there is a direction change before the direction change, make it possible to prepare in advance, and prevent an accident such as a user falling due to an unexpected direction change. .

The control unit 17 determines that there is no direction change in Step S9 (Step S9: NO) or executes Step S5 again after Step S10 and determines whether the gripping area GA is gripped.
[Manual control routine]
For example, the assist cart 10 can travel according to an input from the user to the handle portion 21 when the manual operation mode is activated in the mode selection routine R1 described above.

  FIG. 10 shows the manual control routine R3. The manual steering routine R3 is executed, for example, when the manual steering mode is activated in the above-described mode selection routine R1.

  When the manual control routine R3 is started, the control unit 17 first determines whether or not the grip area GA is gripped by the user (step S1). Similar to step S3 of the above-described autopilot routine R2, this determination may be made based on the measurement signal of the press sensor PS2. For example, it may be determined that the user is grasping the gripping area GA when a measurement signal indicating that a certain pressing force is applied to the pressure sensor PS2 reaches the control unit 17.

  If the control part 17 determines with the user holding the holding | grip area | region GA in step S1, manual drive operation | movement will be started. This manual travel operation is performed by driving the drive motors 19A and 19B based on a steering input to the handle portion 21 by the user.

  For example, the control unit 17 recognizes the force (gripping force) with which the user grips the gripping region GA via the press sensor PS2, and the drive motors 19A and 19B change the speed of the assist cart 10 according to the gripping force. The rotation may be controlled. Specifically, as the gripping force increases, the drive motors 19A and 19B may be rotated at a higher speed so that the assist cart 10 travels at a higher speed.

  Further, for example, the control unit 17 recognizes the force with which the user twists the handle unit 21 via the press sensor PS1, and changes the driving direction of the assist cart 10 according to the twisting force. You may control each rotation of 19A, 19B.

  For example, when the user turns to the front of the assist cart 10 and twists clockwise, the rotational speed of the drive motor 19A on the right side in the traveling direction is made slower than the rotational speed of the drive motor 19B on the left side in the traveling direction. The traveling direction of the cart 10 may be changed to the right.

  For example, when the user turns to the front of the assist cart 10 and twists counterclockwise, the rotational speed of the drive motor 19A on the left side in the traveling direction is made slower than the rotational speed of the drive motor 19B on the right side in the traveling direction. The traveling direction of the assist cart 10 may be changed to the left.

  The controller 17 determines whether or not the grip area GA is gripped by the user again after the end of step S2, that is, after the start of the manual travel operation (step S3). This determination is the same determination as in step S1.

  If it determines with the control part 17 having grasped the holding | grip area | region GA in step S3 (step S3: YES), it will perform step S3 again after a fixed time. When the control unit 17 determines that the user does not hold the grip area GA (step S3: NO), the control unit 17 ends the manual travel operation (step S4), and then the routine ends. That is, the manual travel operation is continued as long as the user holds the grip area GA, and ends when the user releases the hand from the grip area GA. At this point, the manual control mode may be terminated.

  According to the assist cart 10 of the present embodiment, it is possible to guide the user holding the grip area GA to a desired position. Further, according to the assist cart 10 of this embodiment, when there is a direction change during the guidance, the user is notified that the direction change is performed before the direction change is performed by rotating the lever LV. It is possible to inform. That is, it is possible to tactilely notify the user holding the grip area GA including the lever LV that there is a direction change.

  Thereby, it is possible to prevent an accident such as a user falling due to a direction change unexpected by the user. In addition, this tactile notification differs from guidance voice from a speaker etc. regarding direction change or guidance display from a display, etc., and missed notifications due to missed or overlooked guidance, or inaudible or invisible voice. It is possible to prevent.

That is, by notifying the direction change through the tactile sense, for example, even if the user is a hearing impaired person or the surroundings of the assist cart 10 are noisy and the voice guidance cannot be heard, the direction change is surely made to the user. A notice of advance notice is possible. In addition, even when the user is visually impaired or when the guidance display cannot be seen due to low lighting or the like, the user can be surely notified of the direction change.
[Other embodiments]
In the above embodiment, the lever LV is attached to the handle portion 21, and the lever LV is rotated to tactilely notify the user of the direction change. However, another structure may be attached to the handle portion 21 instead of the lever LV to notify the user of a tactile direction change notice.

  For example, as shown in FIG. 11 or FIG. 12, two protrusions AE1 serving as a first part and a second part in which the protruding amount from the gripping part 21B is attached to the gripping area GA of the gripping part 21B in a variable manner. (FIG. 11) or AE2 (FIG. 12) may be provided. The two protrusions AE may be formed as separate bodies.

  In the example shown in FIG. 11 or 12, it is possible to notify the user tactilely by changing the amount of protrusion of each of the two protrusions AE1 and the holding portion 21B of AE2. Specifically, for example, when there is a turn such as a curve or a left or right turn within a certain distance from the current position, the amount of protrusion of the protrusions AE1 or AE2 is changed, and a notice of notice of the change of direction is given. May be.

  Further, for example, as shown in FIG. 13, a rotating body AE3 that is exposed in the gripping area GA of the gripping part 21B and is rotatably attached to the gripping part 21B may be provided. In the example shown in FIG. 13, it is possible to notify the user tactilely by rotating the rotating body AE3. Specifically, for example, when there is a turn such as a curve or a left or right turn within a certain distance from the current position, the rotating body AE3 is rotated in one direction or the other direction, and the change notice is made. Notification may be made.

Further, for example, as shown in FIG. 14, a slide body AE4 that is exposed in the gripping area GA of the gripping part 21B and is slidably attached to the gripping part 21B may be provided. In the example shown in FIG. 14, it is possible to notify the user tactilely by sliding the slide body AE4. Specifically, for example, when there is a change of direction such as a curve or a right or left turn within a certain distance from the current position, the slide body AE4 is slid in one direction or the other direction, and a notice of the change in direction is given. Notification may be made.
[Other functions]
In the above embodiment, the assist cart 10 travels along the guide route. However, the assist cart 10 may be able to avoid an obstacle or the like on the guide route. For example, a camera or an ultrasonic sensor may be provided on the front surface of the assist cart 10 to detect an obstacle in the traveling direction and stop the travel of the assist cart 10 or cause the assist cart 10 to change the course. Good.

  Further, for example, a sensor such as a photoelectric sensor is arranged on the lower surface of the base portion 13 and the distance from the floor surface (the ground) is measured to detect a descending step in the traveling direction of the assist cart 10. It is good also as stopping driving | running | working or changing a course.

  Moreover, the assist cart 10 may be controlled according to the condition of the floor (or the ground). For example, by mounting a gyroscope (gyro sensor) or the like on the base portion 13 or the like, for example, the assist cart 10 is traveling on a floor surface (ground) tilted to the left and right in the manual operation mode and is horizontal. It is also possible to detect that the user is not in a correct posture and to correct the twisting force applied to the handle portion 21 of the user. Further, in this case, when the user's posture is constantly tilted, such as when the user has a failure, correction may be further made regarding the tilt of the user.

  Moreover, in the said Example, although the method performed by the user's operation to the assist cart 10 was demonstrated as an example as a guide route setting method, the guide route setting method is not restricted to this. For example, the control unit 17 may acquire route data to a destination selected or set by a smartphone or a terminal device in a facility via wired communication or wireless communication such as Bluetooth (registered trademark) or wireless LAN. .

  Further, functions other than those described above may be mounted on the assist cart. For example, by installing a gyroscope (gyro sensor) or the like on the base portion 13 or the like, it is detected that the cart is lifted or held at an inappropriate angle, and the traveling of the assist cart 10 is stopped. It is good as well.

  In addition, when a user gets lost in a facility such as a shopping mall, a function of starting a route guidance to the nearest information center, or notifying the facility staff of the position of the assist cart 10 by wireless communication, and this function are provided. A button for activation may be provided on the assist cart 10.

  Further, for example, a display for displaying information such as the distance to the destination point may be provided on the handle portion 21 or the like.

  Further, the server 100 may record and save the movement trajectory (movement route) of one or a plurality of assist carts 10. This record can be utilized as statistical data for use in, for example, examination of customer leads of managers of facilities such as shopping malls.

  Further, the assist cart 10 may have a function of holding the cart upright by locking the wheel WH and taking out a stand (support leg) when not operating, such as when the power is turned off.

  In the above embodiment, the pressure sensors PS1 and PS2 are used. However, these sensors may be surface pressure sensors.

  The various configurations, shapes, and the like in the above-described embodiments are merely examples, and can be appropriately selected or combined depending on the application.

DESCRIPTION OF SYMBOLS 10 Assist cart 11 Frame part 11A Shaft part 11B Fork part 13 Base part 13A Base board 13B Base frame 15 Battery 17 Control part 19A Drive motor 19B Drive motor 21 Handle part 21A Connection part 21B Grip part LV Lever M Lever drive motor PR Projection part PR1 Projection part PR2 Projection part PS1 Pressure sensor PS2 Pressure sensor

Claims (6)

The main body,
A driving source that is provided in the main body and generates a driving force for running the main body;
A control unit for controlling the drive source;
A route information acquisition unit for acquiring route information to the target position;
A handle portion provided in the main body portion and having a gripping area;
A movable part that is held in the gripping area of the handle part and is provided movably with respect to the handle part;
Including
The movable cart operates according to the route information.   The movable part has a first part and a second part, and the protruding amount of the first part and the second part from the handle part changes according to the route information. The assist cart according to claim 1.   The assist cart according to claim 2, wherein the first part and the second part are integrated, and the movable part is rotatably provided on the handle part.   The handle portion is engaged with the main body portion so as to be rotatable about a rotation axis, and the assist cart is provided at an engagement portion between the handle portion and the main body portion and the handle portion. 2. A torque detection unit that detects torque about the rotation axis generated between the main body unit and the main body unit, and the drive source is controlled in accordance with the detected torque. 4. The assist cart according to any one of items 1 to 3.   The torque detector is provided on the handle and protrudes in a radial direction of the rotation shaft, and is provided on the main body and engages with the protrusion and is applied from the protrusion. The assist cart according to claim 4, further comprising: a first press sensor that detects press in the circumferential direction of the rotating shaft.   The movable part has a second pressure sensor on a surface thereof, and the driving source is controlled according to the pressure applied to the second pressure sensor. The assist cart described in one.