To provide a traveling assist device which can be connected to/detached from an existing traveling tool and assists the traveling of a traveling tool without requiring an exclusive operation part.SOLUTION: A traveling assist device includes: driving wheels 20 supported by a device body and making the device body travel; a speed acquisition unit 20a acquiring information about a traveling speed and an angle velocity; a connection unit that is connected to a traveling tool equipped with a main body and a plurality of driven wheels supported by the main body, and receives a load applied from the traveling tool; a load sensor (a sensor 120) detecting the load; and a control unit 22. The control unit 22 calculates static friction force of the driven wheels based on the load of when the driving wheels 20 is applied with the driving force to start traveling, calculates an estimated value of an external force applied to the traveling tool based on the traveling speed, the angle velocity, the driving force, and the static friction force while regarding the load as the driving force, calculates the driving force that makes the external force zero, and performs control such that the driving wheels travel with the driving force.SELECTED DRAWING: Figure 21
【課題】既存の走行器具と接続可能かつ離脱可能であって、専用の操作部を必要とせずに走行器具の走行を補助する。【解決手段】走行補助装置は、装置本体に支持されて装置本体を走行させる駆動輪20と、走行速度及び角速度の情報を取得する速度取得部20aと、本体部及び本体部に支持される複数の従動輪とを備える走行器具に接続して走行器具からかかる荷重を受ける接続部と、荷重を検知する荷重センサ(センサ120)と、制御部22と、を備え、制御部22は、駆動輪20に駆動力を付与して走行し始めた時の荷重に基づいて従動輪の静止摩擦力を算出し、荷重を駆動力とみなし、走行速度及び角速度と駆動力と静止摩擦力とに基づいて走行器具にかかる外力の推定値を算出し、外力がゼロとなるような駆動力を算出し、当該駆動力で駆動輪が走行するよう制御する。【選択図】図21
TRAVELING ASSIST DEVICE AND TRAVELING ASSIST CONTROL METHOD
走行補助装置及び走行補助制御方法
2024-03-07
Patent
Electronic Resource
Japanese
IPC: | B61B RAILWAY SYSTEMS , Eisenbahnanlagen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / A61G TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS , Transport, persönliche Beförderungsmittel, oder Lagerung besonders ausgebildet für Kranke oder Behinderte |
TRAVELING ASSIST CONTROL DEVICE AND TRAVELING ASSIST METHOD
European Patent Office | 2024
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