Operating device

Abstract

To provide an inexpensive operation device.SOLUTION: An operation device 5 comprises a base 40, an operation part 45 extending in a lateral direction and a pair of first connection parts 50 provided between the base and the operation part and laterally arranged apart from each other, and each of the first connection parts has a first end 56 connected with the base, a second end 55 connected with the operation part, a first elastic member 63 connecting the second end with the first end displaceably in a longitudinal direction and first distance sensors 65A, 65B measuring a relative distance in a longitudinal direction of the second end to the first end.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to an operating device.

Background Art

[0002] Patent Document 1 discloses a cart that supports an X-ray device. The cart has a handle that is gripped by a user and wheels. The control device of the cart assist-drives the wheels based on the load input to the handle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Force sensors that detect multi-directional loads applied to the handle are generally expensive. Therefore, cost reduction of the operating device is desired.

[0005] In view of the above background, an object of the present invention is to provide an inexpensive operating device.

Means for Solving the Problems

[0006] In order to solve the above problems, an aspect of the present invention is an operating device (5), comprising a base (40), an operation unit (45) extending in the left-right direction, and a pair of left and right first connection parts (50) provided between the base and the operation unit and arranged at a distance from each other in the left-right direction. Each of the first connection parts has a first end part (56) connected to the base, a second end part (55) connected to the operation unit, a first elastic member (63) that connects the second end part to the first end part so as to be displaceable in the front-rear direction, and a first distance sensor (65A, 65B) that measures the relative distance in the front-rear direction of the second end part with respect to the first end part.

[0007] According to this embodiment, the left and right first distance sensors can detect both forward / backward movements and rotational movements by the user. Since distance sensors can be obtained relatively inexpensively, an inexpensive operating device can be provided.

[0008] In the above embodiment, it is preferable to have at least one second elastic member (64) that connects each of the first ends to the base so as to be displaceable in the left-right direction, and a second distance sensor (75) that measures the relative distance of one of the first ends to the base in the left-right direction.

[0009] According to this embodiment, the user's operating force in the left-right direction can be detected.

[0010] In the above embodiment, the second end of the first connection portion, which is positioned above the second distance sensor, is preferably fixed to the operating portion so as not to be displaceable in the left-right direction.

[0011] According to this embodiment, the lateral displacement of the operating section can be efficiently transmitted to the second elastic member.

[0012] In the above embodiment, the second end of the first connection portion, which is different from the first connection portion located above the second distance sensor, is preferably connected to the operating portion so as to be displaceable in the left-right direction.

[0013] According to this embodiment, the measurement accuracy of the second distance sensor can be improved.

[0014] In the above embodiment, each of the first distance sensors may have a conductive first piece (67) extending from the second end toward the corresponding first end, and a first eddy current sensor (69) provided at the first end and corresponding to the first piece in the front-rear direction.

[0015] According to this embodiment, the first distance sensor can be manufactured at low cost. Furthermore, the size and measurement distance of the first distance sensor can be made more appropriate.

[0016] In the above embodiment, each of the second distance sensors may have a conductive second piece (77) extending from the first end toward the base, and a second eddy current sensor (79) provided on the base and corresponding to the second piece in the left-right direction.

[0017] According to this embodiment, the second distance sensor can be manufactured at low cost. Furthermore, the environmental resistance and lifespan of the second distance sensor can be improved.

[0018] In the above embodiment, it is preferable to further include a stopper (48) provided on the base that contacts the operating part to restrict the range of movement of the operating part.

[0019] According to this embodiment, the range of movement of the operating unit is restricted, and the application of operating force to the first distance sensor can be suppressed.

[0020] In the above embodiment, the stopper is positioned between the left and right second ends, and the stopper may have a through hole (53) extending to the left and right for receiving the operating part.

[0021] According to this embodiment, the left and right first connecting parts and the stopper can be arranged compactly.

[0022] In the above embodiment, it is preferable to have at least one second elastic member that connects each of the second ends to the operating portion so as to be displaceable in the left-right direction, and a second distance sensor that measures the relative distance of the operating portion in the left-right direction to one of the second ends.

[0023] According to this embodiment, the user's operating force in the left-right direction can be detected. [Effects of the Invention]

[0024] According to the above configuration, an inexpensive operating device can be provided.

Brief Description of the Drawings

[0025] [Figure 1] Perspective view of the cart according to the embodiment [Figure 2] Plan view of the cart [Figure 3] Cross-sectional view of the omnidirectional wheel [Figure 4] Side view of the main wheel [Figure 5] Perspective view of the operating device [Figure 6] Vertical cross-sectional view showing the stopper [Figure 7] Cross-sectional view showing the stopper [Figure 8] Side view showing the first distance sensor when no operating force is applied [Figure 9] Side view showing the first distance sensor when a forward operating force is applied [Figure 10] Front view showing the second distance sensor when no operating force is applied [Figure 11] Front view showing the second distance sensor when a rightward operating force is applied [Figure 12] Block diagram showing the control device of the cart <op

Mode for Carrying Out the Invention

[0026] Hereinafter, an embodiment of a cart to which an operating device according to the present invention is applied will be described with reference to the drawings. Hereinafter, each direction will be defined based on the cart.

[0027] As shown in FIGS. 1 and 2, the cart 1 includes a vehicle body 2, at least one omnidirectional wheel 3 provided on the vehicle body 2 and configured to move the vehicle body 2 in all directions along the floor surface, a drive unit 4 that drives each of the omnidirectional wheels 3, an operating device 5 provided on the vehicle body 2 and configured to receive a user's operation, and a control device 7 that controls the drive unit <op 4.

[0028] The vehicle body 2 extends in the front and rear directions. The rear part 2A of the vehicle body 2 extends upward above the front part 2B. The front part 2B of the vehicle body 2 is provided with a support base 11 for supporting other devices. The devices supported by the support base 11 include, for example, inspection equipment such as an X-ray scanner. The devices may be fastened to the support base 11. Inside the rear part 2A of the vehicle body 2, a control device 7, a battery, and various sensors may be provided.

[0029] In this embodiment, a pair of omnidirectional wheels 3 are provided at the lower part of the rear 2A of the vehicle body 2. In addition, left and right casters 13 are supported at the lower part of the front 2B of the vehicle body 2 via a suspension. The suspension is located below the vehicle body 2 and has arms 14 that extend to the left and right, and a spring 15 and a shock absorber 16 positioned between the vehicle body 2 and the arms 14. Each caster 13 is located below the left and right ends of the arms 14. Each caster 13 has a fork 13A that is rotatably coupled to the arm 14 about an axis that extends vertically, and a wheel 13B that is rotatably supported on the fork 13A about an axis that extends horizontally. The fork 13A rotates freely relative to the arm 14, and the wheel 13B rotates freely relative to the fork 13A.

[0030] As shown in Figure 2, the pair of omnidirectional wheels 3 are positioned with a gap between them to the left and right. In this embodiment, the pair of omnidirectional wheels 3 are positioned on the lower left and lower right of the rear 2A of the vehicle body 2. As shown in Figure 3, each omnidirectional wheel 3 has a frame 17, a pair of drive discs 18 rotatably supported by the frame 17, and an annular main wheel 19 positioned between the pair of drive discs 18.

[0031] As shown in Figures 1 and 3, the frame 17 has an upper frame 17A connected to the lower part of the vehicle body 2, and a pair of side frame portions 17B extending downward from both the left and right ends of the upper frame portion 17A. A support shaft 21 extending from left to right is spanned across the lower ends of the pair of side frame portions 17B. A pair of drive disks 18 are rotatably supported on the support shaft 21. The pair of drive disks 18 rotate about the axis Y1 of the support shaft 21. The position of each drive disk 18 in the left-right direction is restricted with respect to the support shaft 21. The drive disks 18 face each other at a distance in the left-right direction.

[0032] The drive disks 18 are positioned on either side of the annular main wheel 19, and apply frictional force to the main wheel 19, causing it to rotate around its central axis and annular axis. The drive disk 18 has a disc-shaped base 18A that is rotatably supported by the frame 17, and a plurality of drive rollers 18B that are rotatably supported on the outer circumference of the base 18A at an angle to each other and in contact with the main wheel 19. The base 18A is positioned coaxially with the support shaft 21.

[0033] Driven pulleys 18C are provided on opposite sides of each drive disk 18. The driven pulleys 18C are mounted coaxially with the drive disks 18. The drive unit 4 is located at the bottom of the vehicle body 2 and has a plurality of electric motors 25 corresponding to each drive disk 18. In this embodiment, four electric motors 25 are provided corresponding to four drive disks 18. A drive pulley 26 is provided on the output shaft of each electric motor 25. The corresponding drive pulleys 26 and driven pulleys 18C are connected by a belt 27. Each electric motor 25 rotates independently of each other, causing each drive disk 18 to rotate independently of each other.

[0034] As shown in Figure 4, the main wheel 19 is annular in shape, coaxially positioned between a pair of drive disks 18, in contact with a plurality of drive rollers 18B, and rotatable around a central axis and an annular axis. The main wheel 19 has an annular core 31 and a plurality of driven rollers 32 rotatably supported on the core 31. The plurality of driven rollers 32 are arranged at equal intervals in the circumferential direction of the core 31. Each driven roller 32 is rotatably supported on the annular core 31 about the axis A1 (annular axis) of the annular core 31. Each driven roller 32 can rotate about a tangent to the core 31 at its respective position relative to the core 31. Each driven roller 32 rotates relative to the core 31 when subjected to an external force.

[0035] The main wheel 19 is positioned along the outer circumference of a pair of drive disks 18 and is in contact with a plurality of drive rollers 18B provided on each drive disk 18. The drive rollers 18B of each drive disk 18 are in contact with the inner circumference of the main wheel 19, clamping the main wheel 19 from both the left and right sides. In addition, the drive rollers 18B of the left and right drive disks 18 restrict the radial displacement of the drive disks 18 around the axis Y1 by contacting the inner circumference of the main wheel 19. As a result, the main wheel 19 is supported by the left and right drive disks 18, and the central axis of the main wheel 19 (core body 31) is positioned coaxially with the axis Y1 of the left and right drive disks 18. The main wheel 19 is in contact with a plurality of drive rollers 18B of the left and right drive disks 18 at the plurality of driven rollers 32.

[0036] In each omnidirectional wheel 3, when a pair of drive discs 18 rotate in the same direction at the same rotational speed, the main wheel 19 rotates together with the pair of drive discs 18. That is, the main wheel 19 rotates forward or backward around its own axis of rotation, which coincides with the axis Y1. At this time, the drive rollers 18B of the drive discs 18 and the driven rollers 32 of the main wheel 19 do not rotate relative to the core body 31. In each omnidirectional wheel 3, when there is a difference in rotational speed between a pair of drive discs 18, a component force perpendicular to the circumferential (tangential) force caused by the rotation of the pair of drive discs 18 acts from the left and right drive rollers 18B to the driven rollers 32 of the main wheel 19. Because the axis of the drive roller 18B is inclined with respect to the circumferential direction of the drive roller 18B, a component force is generated between the drive discs 18 due to the difference in rotational speed. This component force causes the drive roller 18B to rotate relative to the base 18A, and the driven roller 32 to rotate relative to the core body 31. As a result, the main wheel 19 generates a driving force in the left-right direction.

[0037] The trolley 1 moves forward as the left and right omnidirectional wheels 3 rotate forward at the same speed. The trolley 1 moves backward as the left and right omnidirectional wheels 3 rotate backward at the same speed. The trolley 1 turns to the right or left as speed is generated in the forward and backward rotation of the left and right omnidirectional wheels 3. The trolley 1 moves parallel to the right or left as the driven rollers 32 of each main wheel 19 of the left and right omnidirectional wheels 3 rotate.

[0038] As shown in Figures 1 and 5, the operating device 5 is supported on the upper part of the rear 2A of the vehicle body 2. The operating device 5 has a base 40, an operating section 45, and a pair of left and right first connecting sections 50.

[0039] The base 40 has a first base portion 42 connected to the vehicle body 2 and a pair of second base portions 43 connected to the first base portion 42. The first base portion 42 extends vertically. The first base portion 42 is connected to the rear portion 2A of the vehicle body 2 at its front. The pair of second base portions 43 are connected to the sides of the first base portion 42.

[0040] The operating section 45 is positioned above the base 40 and extends in the left-right direction. A stopper 48 is provided between the operating section 45 and the first base section 42. A pair of left and right first connecting sections 50 are provided between the operating section 45 and a pair of second base sections 43.

[0041] The stopper 48 is provided at the upper end of the first base portion 42. The stopper 48 has a lower stopper 51 and an upper stopper 52. The lower stopper 51 is connected to the first base portion 42. The upper stopper 52 is connected to the upper part of the lower stopper 51. As shown in Figures 6 and 7, the upper surface of the lower stopper 51 and the lower surface of the upper stopper 52 define a first through hole 53 that extends left and right. The first through hole 53 receives the central part of the operating portion 45 in the left-right direction.

[0042] The operating section 45 is provided so as to be displaceable at least in the front-rear direction relative to the stopper 48. When no operating force (load) is applied to the operating section 45, the stopper 48 is positioned at a distance from the operating section 45 in the front-rear direction. When a user of the trolley 1 (see Figure 1) applies an operating force in the front-rear direction to the operating section 45, the operating section 45 comes into contact with the stopper 48 in the front-rear direction. The stopper 48 restricts the range of movement of the operating section 45 by coming into contact with it. As shown in Figure 5, a pair of left and right first connecting sections 50 are provided on both the left and right sides of the stopper 48.

[0043] The left and right first connecting parts 50 extend vertically and are positioned at a distance from each other horizontally. Each of the left and right first connecting parts 50 has a second end 55 connected to the operating part 45 and a first end 56 connected to the second base part 43. The first end 56 is connected to the second base part 43 by a second elastic member 64, which will be described later.

[0044] The second end portion 55 is located above the first connecting portion 50. The second end portion 55 has a main body portion 60 and a cover 61 connected to the main body portion 60. The cover 61 is connected to the upper part of the main body portion 60. The upper surface of the main body portion 60 and the lower surface of the cover 61 define a second through hole 58 that extends to the left and right. As shown in Figures 5 and 7, the second through hole 58 receives the operating portion 45.

[0045] The second end 55 and the operating section 45 are fastened together by a pin 59. The pin 59 is preferably inserted downward from above the cover 61. This fixes the second end 55 so that it cannot be displaced in the front-rear and left-right directions relative to the operating section 45. In another embodiment, the second end 55 of the right-side first connection section 50 and the operating section 45 may be provided to be displaceable in the left-right direction.

[0046] The first end portion 56 is located below the first connecting portion 50 and above the second base portion 43. The first end portion 56 is a rectangular parallelepiped-shaped member. The first end portion 56 and the second end portion 55 are connected by two first elastic members 63. The first end portion 56 and the second base portion 43 are connected by two second elastic members 64.

[0047] As shown in Figures 5 and 8, the two first elastic members 63 extend vertically. Each of the two first elastic members 63 has a main surface facing front and rear, and is positioned at a distance from each other in the front and rear directions. The two first elastic members 63 include a front first elastic member 63 and a rear first elastic member 63. The front first elastic member 63 connects the upper front part of the first end 56 to the lower front part of the second end 55. The rear first elastic member 63 connects the upper rear part of the first end 56 to the lower rear part of the second end 55. The first elastic members 63 may be made of stainless steel. The first elastic member 63 connects the second end 55 to the first end 56 in a way that it cannot be displaced in the left-right direction. The first elastic member 63 connects the second end 55 to the first end 56 in a way that it can be displaced in the front-rear direction.

[0048] The first connection portion 50 on the right side has a first distance sensor 65A. The first distance sensor 65A is a sensor for measuring the relative distance in the front-rear direction of the second end portion 55 to the first end portion 56 (hereinafter referred to as the right-side first relative distance).

[0049] The left-side first connection portion 50 has a first distance sensor 65B. The first distance sensor 65B is a sensor for measuring the relative distance in the front-rear direction of the second end portion 55 to the first end portion 56 (hereinafter referred to as the left-side first relative distance). The first distance sensors 65A and 65B each have a first piece 67 and a first eddy current sensor 69.

[0050] The first piece 67 is a conductive plate-shaped member. The first piece 67 functions as the object to be measured by the first eddy current sensor 69. The first piece 67 is located below the second end 55. The first piece 67 extends downward toward the first end 56.

[0051] The first eddy current sensor 69 is located on the upper part of the first end portion 56. The first eddy current sensor 69 may be supported by a first sensor support member 68 located on the upper part of the first end portion 56. The first eddy current sensor 69 is located to the left of the first piece 67. The first eddy current sensor 69 is located in a position corresponding to the first piece 67 in the front-rear direction. The first eddy current sensor 69 is located in a position corresponding to the first piece 67 in the left-right direction.

[0052] The first eddy current sensor 69 includes a sensor coil and a resonant circuit. The sensor coil is connected to an AC power supply and generates a magnetic field. When the first piece 67 is placed within the generated magnetic field, eddy currents are induced. The magnitude of the eddy currents changes depending on the distance between the first eddy current sensor 69 and the first piece 67 (hereinafter referred to as the first distance). Specifically, as the first distance increases, the eddy currents decrease. As the first distance decreases, the eddy currents increase. The change in the magnitude of the eddy currents changes the impedance of the sensor coil, which in turn changes the output voltage of the resonant circuit. Therefore, the first distance can be detected from the change in output voltage.

[0053] As shown in Figures 5 and 9, when a user applies a forward operating force to the operating section 45, a forward load is applied to the second end 55. The load on the second end 55 is transmitted to the first elastic member 63. As a result, the first elastic member 63 deforms, and the second end 55 is displaced forward relative to the first end 56. Therefore, when a user applies a forward operating force to the operating section 45, the first distance increases. The first piece 67 is provided on the second end 55, and the first eddy current sensor 69 is provided on the first end 56. Thus, the first distance and the first relative distance are equal. Therefore, the first distance sensors 65A and 65B can detect the first relative distance.

[0054] As shown in Figures 5 and 10, the two second elastic members 64 extend vertically. Each of the two second elastic members 64 has a main surface facing left and right, and is positioned at a distance from each other to the left and right. The two second elastic members 64 include a right second elastic member 64 and a left second elastic member 64. The right second elastic member 64 connects the upper right side of the second base portion 43 to the lower right side of the first end portion 56. The left second elastic member 64 connects the upper left side of the second base portion 43 to the lower left side of the first end portion 56. The second elastic members 64 may be made of stainless steel. The second elastic member 64 connects the first end portion 56 to the second base portion 43 so as not to be displaceable in the front-rear direction. The second elastic member 64 connects to the second base portion 43 so as to be displaceable in the left-right direction.

[0055] The left-side first connection portion 50 has a second distance sensor 75. The second distance sensor 75 is a sensor for measuring the relative distance (hereinafter referred to as the second relative distance) of the first end portion 56 to the second base portion 43 in the left-right direction. The second distance sensor 75 has a second piece 77 and a second eddy current sensor 79.

[0056] The second piece 77 is a conductive plate-shaped member. The second piece 77 functions as the object to be measured by the second eddy current sensor 79. The second piece 77 is located below the first end portion 56. The second piece 77 extends downward toward the second base portion 43.

[0057] The second eddy current sensor 79 is located on the upper part of the second base portion 43. The second eddy current sensor 79 may be supported by a second sensor support member 78 located on the upper part of the second base portion 43. The second eddy current sensor 79 is located to the left of the second piece 77. The second eddy current sensor 79 is located in a position corresponding to the second piece 77 in the left-right direction. The second eddy current sensor 79 is located in a position corresponding to the second piece 77 in the front-back direction. The configuration of the second eddy current sensor 79 is the same as that of the first eddy current sensor 69, so a description is omitted.

[0058] As shown in Figures 5 and 11, when a user applies a rightward operating force to the operating section 45, a rightward load is applied to the second end 55. The load on the second end 55 is transmitted to the second elastic member 64 via the first end 56. As a result, the second elastic member 64 deforms, and the first end 56 is displaced to the right relative to the second base 43. Therefore, when a user applies a rightward operating force to the operating section 45, the distance between the second eddy current sensor 79 and the second piece 77 (hereinafter referred to as the second distance) increases. The second piece 77 is provided on the first end 56, and the second eddy current sensor 79 is provided on the second base 43. Therefore, the second distance and the second relative distance are equal. Thus, the second distance sensor 75 can detect the second relative distance.

[0059] While the user is using the trolley 1 (see Figure 1), the right-side first distance sensor 65A detects the right-side first relative distance. The left-side first distance sensor 65B detects the left-side first relative distance. The second distance sensor 75 detects the second relative distance. As shown in Figure 12, the right-side first distance sensor 65A, the left-side first distance sensor 65B, and the second distance sensor 75 each output a signal indicating the detection result to the control device 7.

[0060] The control unit 7 is an electronic control unit (ECU) that includes a processor such as a CPU, non-volatile memory (ROM), volatile memory (RAM), and a storage device such as an HDD. The control unit 7 controls the drive unit 4 by executing arithmetic processing in accordance with a program stored in the non-volatile memory using the processor. The control unit 7 may be configured as a single piece of hardware, or as a unit consisting of multiple pieces of hardware. Furthermore, at least a portion of each functional part of the control unit 7 may be implemented by hardware such as an LSI, ASIC, or FPGA, or by a combination of software and hardware.

[0061] The control device 7 is connected to the right-side first distance sensor 65A, the left-side first distance sensor 65B, the second distance sensor 75, and the drive unit 4. The control device 7 controls the drive unit 4 based on signals from the right-side first distance sensor 65A, the left-side first distance sensor 65B, and the second distance sensor 75. The control device 7 determines the control amount for each electric motor 25 based on signals from the right-side first distance sensor 65A, the left-side first distance sensor 65B, and the second distance sensor 75. The control device 7 outputs a control signal to the drive unit 4 indicating the control amount for each electric motor 25. An example of how the control device 7 controls the drive unit 4 is shown below.

[0062] First, the control device 7 receives signals from the right-side first distance sensor 65A, the left-side first distance sensor 65B, and the second distance sensor 75 to obtain the right-side first relative distance, the left-side first relative distance, and the second relative distance.

[0063] Next, the control device 7 acquires the right-side first reference value, the left-side first reference value, and the second reference value, which are pre-stored in the memory device. The right-side first reference value is the distance between the first eddy current sensor 69 and the first piece 67 of the right-side first distance sensor 65A when no operating force is applied to the operating unit 45. The left-side first reference value is the distance between the first eddy current sensor 69 and the first piece 67 of the left-side first distance sensor 65B when no operating force is applied to the operating unit 45. The second reference value is the distance between the second eddy current sensor 79 and the second piece 77 of the second distance sensor 75 when no operating force is applied to the operating unit 45.

[0064] Next, the control device 7 calculates the displacement of the operating unit 45 by comparing the first relative distance on the right side, the first relative distance on the left side, and the second relative distance with the corresponding reference values. Specifically, the control device 7 calculates the first displacement on the right side from the difference between the first relative distance on the right side and the first reference value on the right side. The control device 7 calculates the first displacement on the left side from the difference between the first relative distance on the left side and the first reference value on the left side. The control device 7 calculates the second displacement from the difference between the second relative distance and the second reference value.

[0065] Next, the control device 7 determines the moment msz based on the difference between the first displacement on the right side and the first displacement on the left side. The control device 7 determines the longitudinal load fs1 based on the sum of the first displacement on the right side and the first displacement on the left side. The control device 7 determines the lateral load fs2 based on the second displacement.

[0066] The control device 7 may determine the moment msz by referring to a predetermined map that shows the relationship between the difference between the right-side first displacement and the left-side first displacement and the moment msz. The front-rear load fs1 may be determined by referring to a predetermined map that shows the relationship between the sum of the right-side first displacement and the left-side first displacement and the front-rear load fs1. The left-right load fs2 may be determined by referring to a predetermined map that shows the relationship between the second displacement and the left-right load fs2. Alternatively, the control device 7 may determine the moment msz, the front-rear load fs1, and the left-right load fs2 using known mathematical formulas.

[0067] Next, the control device 7 sets the target longitudinal speed vt1, target lateral speed vt2, and target angular velocity ωt of the vehicle body 2. The control device 7 sets the target longitudinal speed vt1 of the vehicle body 2 based on the longitudinal load fs1. The control device 7 sets the target lateral speed vt2 of the vehicle body 2 based on the lateral load fs2. The control device 7 sets the target angular velocity ωt of the vehicle body 2 based on the longitudinal load fs1, the lateral load fs2, and the moment msz.

[0068] The control device 7 may refer to a map in which the relationships between the longitudinal load fs1, lateral load fs2, and moment msz, and the target longitudinal velocity vt1, target lateral velocity vt2, and target angular velocity ωt are predetermined. Based on the reference results, the control device 7 may determine the target longitudinal velocity vt1, target lateral velocity vt2, and target angular velocity ωt, respectively.

[0069] Next, the control device 7 sets the first rotational speed r1 of each electric motor 25 based on the target longitudinal speed vt1. The control device 7 sets the second rotational speed r2 of each electric motor 25 based on the target lateral speed vt2. The control device 7 sets the third rotational speed r3 of each electric motor 25 based on the target angular velocity ωt.

[0070] The control device 7 may determine the rotational speeds r1, r2, and r3 by referring to a map that predefines the relationship between the target longitudinal speed vt1, target lateral speed vt2, target angular velocity ωt, and the rotational speed of each electric motor 25.

[0071] Next, the control device 7 sets the target rotational speed rt for each electric motor 25 by adding the first rotational speed r1, the second rotational speed r2, and the third rotational speed r3 of each electric motor 25 (rt = r1 + r2 + r3).

[0072] Next, the control device 7 sets the current value It to be supplied to each electric motor 25 based on the target rotational speed rt of each electric motor 25.

[0073] The control device 7 may, for example, set the current value It by referring to a map that defines the relationship between the target rotational speed rt and the current value It supplied to each electric motor 25.

[0074] As a result, each electric motor 25 can be set to a target rotational speed, and each omnidirectional wheel 3 can be assisted and driven.

[0075] Next, the effects of the operating device 5 according to the present invention will be described. When a user applies an operating force in the forward and backward direction to the operating device 5, the left and right first elastic members 63 deform in the forward and backward direction. Due to the deformation of the left and right first elastic members 63, the second ends 55 of the left and right first connecting parts 50 are displaced in the forward and backward direction relative to the corresponding first ends 56. The right first distance sensor 65A detects the right first relative distance. The left first distance sensor 65B detects the left first relative distance. The first distance sensors 65A and 65B can detect both forward and backward operation and rotational operation by the user based on the combination of the right first relative distance and the left first relative distance. Since distance sensors can be obtained relatively inexpensively, an inexpensive operating device 5 can be provided.

[0076] Furthermore, the operating device 5 includes at least one second elastic member 64 and a second distance sensor 75. The second elastic member 64 connects each of the first end portions 56 to the second base portion 43 so as to be displaceable in the left-right direction. Therefore, when the user operates in the left-right direction, each of the first end portions 56 is displaced in the left-right direction relative to the second base portion 43. The second distance sensor 75 measures the relative distance in the left-right direction of one of the first end portions 56 relative to the second base portion 43. Therefore, it is possible to detect the user's operating force in the left-right direction.

[0077] The second end 55 of the first connection portion 50 (i.e., the left-side first connection portion 50) positioned above the second distance sensor 75 is fixed to the operating portion 45 so as not to be displaceable in the left-right direction. This allows the left-right displacement of the operating portion 45 to be efficiently transmitted to the second elastic member 64.

[0078] The second end 55 of the first connection part 50 (i.e., the right-side first connection part 50), which is different from the first connection part 50 (i.e., the left-side first connection part 50) located above the second distance sensor 75, is connected to the operating part 45 so as to be displaceable in the left-right direction. This improves the measurement accuracy of the second distance sensor 75.

[0079] Each of the first distance sensors 65A and 65B has a conductive first piece 67 and a first eddy current sensor 69. The first piece 67 extends from the second end 55 toward the corresponding first end 56. The first eddy current sensor 69 is provided on the first end 56 and corresponds to the first piece 67 in the front-rear direction. In this embodiment, the distance between the first eddy current sensor 69 and the first piece 67 is detected by the magnitude of the eddy current generated by the first eddy current sensor 69 and the first piece 67. Based on the detection result, the relative distance of the second end 55 to the first end 56 in the front-rear direction can be measured. Since eddy current sensors can be obtained relatively inexpensively, the first distance sensors 65A and 65B can be manufactured inexpensively. Furthermore, by using eddy current sensors, the size and measurement distance of the first distance sensors 65A and 65B can be made more appropriate.

[0080] Each of the second distance sensors 75 has a conductive second piece 77 and a second eddy current sensor 79. The second piece 77 extends from the first end 56 toward the second base portion 43. The second eddy current sensor 79 is provided on the second base portion 43 and corresponds to the second piece 77 in the left-right direction. Since eddy current sensors can be obtained relatively inexpensively, the second distance sensors 75 can be manufactured inexpensively. Furthermore, by using eddy current sensors, the environmental resistance and lifespan of the second distance sensors 75 can be improved.

[0081] The operating device 5 further includes a stopper 48 provided on the first base portion 42. The stopper 48 restricts the range of movement of the operating portion 45 by contacting it. This prevents the user's operating force from being applied to the first distance sensors 65A and 65B. Thus, it is possible to prevent the first piece 67 and the first eddy current sensor 69 from coming into contact and being damaged.

[0082] The stopper 48 is positioned between the left and right second ends 55. The stopper 48 has a first through hole 53 that extends to the left and right. The first through hole 53 receives the operating part 45. This allows the left and right first connecting parts 50 and the stopper 48 to be arranged compactly.

[0083] This concludes the description of specific embodiments, but the present invention is not limited to the above embodiments and can be broadly modified and implemented. For example, at least one second elastic member 64 may be connected to each of the second end portions 55 and the operating portion 45 so as to be displaceable in the left-right direction. In this case, the second distance sensor 75 measures the relative distance of the operating portion 45 in the left-right direction to one of the second end portions 55. The second distance sensor 75 is positioned above the first distance sensor 65B. With this configuration, the user's operating force in the left-right direction can be detected.

[0084] Furthermore, although the first distance sensors 65A, 65B and the second distance sensor 75 had eddy current sensors 69 and 79, they may also have other sensors. For example, the first distance sensors 65A, 65B and the second distance sensor 75 may have non-contact sensors such as capacitive sensors, LED distance sensors, laser sensors, ultrasonic sensors, or contact sensors equipped with contacts. [Explanation of symbols]

[0085] 1: Dolly 2: Vehicle body 3: Omnidirectional wheels 4: Drive Unit 5: Operating device 40: Bass 45:Operation unit 48: Stopper 50: First connection section 53: First through hole (through hole) 55:Second end 56: First end 63: First elastic member 64: Second elastic member 65A: Right-side first distance sensor (first distance sensor) 65B: Left side first distance sensor (first distance sensor) 67: 1st piece 69: First eddy current sensor 75: Second distance sensor 77: 2nd piece 79: Second eddy current sensor

Claims

1. An operating device, Bass and, The control section extends in the left-right direction, It has a pair of left and right first connecting parts provided between the base and the operating part, and arranged at a distance from each other to the left and right, Each of the first connection parts is, The first end connected to the base, The second end connected to the operating section, A first elastic member connects the second end to the first end so as to be displaceable in the front-rear direction, A first distance sensor for measuring the relative distance of the second end to the first end in the front-rear direction, At least one second elastic member connects each of the first ends to the base so as to be displaceable in the left-right direction, An operating device having a second distance sensor for measuring the relative distance of one of the first ends to the base in the left-right direction.

2. The operating device according to claim 1, wherein the second end of the first connection portion, which is positioned above the second distance sensor, is fixed to the operating portion so as not to be displaceable in the left-right direction.

3. The operating device according to claim 1, wherein the second end of the first connection portion, which is different from the first connection portion located above the second distance sensor, is connected to the operating portion so as to be displaceable in the left-right direction.

4. The operating device according to any one of claims 1 to 3, wherein each of the first distance sensors comprises a conductive first piece extending from the second end toward the corresponding first end, and a first eddy current sensor provided at the first end and corresponding to the first piece in the front-rear direction.

5. The operating device according to any one of claims 1 to 4, wherein each of the second distance sensors comprises a conductive second piece extending from the first end toward the base, and a second eddy current sensor provided on the base and corresponding to the second piece in the left-right direction.

6. An operating device, Bass and, The control section extends in the left-right direction, It has a pair of left and right first connecting parts provided between the base and the operating part, and arranged at a distance from each other to the left and right, Each of the first connection parts is, The first end connected to the base, The second end connected to the operating section, A first elastic member connects the second end to the first end so as to be displaceable in the front-rear direction, A first distance sensor for measuring the relative distance of the second end to the first end in the front-rear direction, The base is provided with a stopper that contacts the operating part to restrict the range of movement of the operating part, The stopper is positioned between the left and right second ends. The stopper is an operating device having through holes extending to the left and right for receiving the operating part.

7. An operating device, Bass and, The control section extends in the left-right direction, It has a pair of left and right first connecting parts provided between the base and the operating part, and arranged at a distance from each other to the left and right, Each of the first connection parts is, The first end connected to the base, The second end connected to the operating section, A first elastic member connects the second end to the first end so as to be displaceable in the front-rear direction, A first distance sensor for measuring the relative distance of the second end to the first end in the front-rear direction, At least one second elastic member connects each of the second ends and the operating portion so as to be displaceable in the left-right direction, An operating device having a second distance sensor for measuring the relative distance in the left-right direction of the operating part to one of the second ends.

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