Tractor

Abstract

To enable the safe operation of towable mobile signage. [Solution] The towing vehicle 100 comprises a drive unit 1 and a display mounting unit 2 positioned on top of the drive unit 1. The display mounting unit 2 has a display panel 21 on its side and a coupling unit 11 for towing a vehicle, positioned behind the drive unit 1, and the width of the display mounting unit 2 is narrower than the width of the drive unit 1.

Description

Technical Field

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[0001] The present invention relates to a tractor.

Background Art

[0002] There is known a mobile signboard for efficiently allowing users to view the signboard and improving the advertising effect (see, for example, Patent Document 1).

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when the conventional mobile signboard pulls a cart or luggage, it is difficult to see through from the front to the back of the mobile signboard, and there is a problem in ensuring safety.

[0005] The present invention has been made in view of such circumstances, and an object thereof is to enable a mobile signboard that can be towed to be safely operated.

Means for Solving the Problems

[0006] In the tractor of the present invention, a drive unit and a display mounting unit disposed above the drive unit are provided, and a display panel provided on a side surface of the display mounting unit and a connecting unit provided behind the drive unit for towing a vehicle are provided, and the width of the display mounting unit is narrower than the width of the drive unit. <000​​​​​​The width of the drive unit may be the same as the width of the vehicle, and the width of the display mounting unit may be narrower than the width of the vehicle.

[0009] The towing vehicle may further have a recognition sensor provided on the upper part of the display mounting section for recognizing the surrounding environment.

[0010] The drive unit may further include a slit portion and a detection sensor provided in the slit portion for detecting obstacles.

[0011] The drive unit may further include a battery mounting unit configured to allow the battery to be attached and detached, and for supplying power charged to the attached battery to the drive unit and the display mounting unit.

[0012] The display mounting section may further include an operating section for operating the drive unit, located in front of the display mounting section.

[0013] The system may further include a member to prevent accidental operation, which is provided so as to surround the aforementioned operating section. [Effects of the Invention]

[0014] According to the present invention, it is possible to safely operate a towable mobile signage system. [Brief explanation of the drawing]

[0015] [Figure 1] This diagram schematically shows the usage status of the towing vehicle 100. [Figure 2] This is a perspective view of the 100-liter towing vehicle. [Figure 3] This is a front view of the towing vehicle 100. [Figure 4] This is a rear view of towing vehicle 100. [Figure 5] This is a left side view of towing vehicle 100. [Figure 6] This is a top view of towing vehicle 100.

Mode for Carrying Out the Invention

[0016] <Embodiment> Hereinafter, an example of an embodiment of the tractor 100 according to the present invention will be described based on the drawings. The following drawings are created for the purpose of explanation, and there may be cases where members unnecessary for the explanation are not intentionally illustrated. In the following description, the same reference numerals in different drawings indicate parts having the same function, and duplicate explanations in each drawing are omitted. Also, in the following description, the traveling direction of the tractor is referred to as the front direction, the reverse direction as the rear direction, the left side with respect to the traveling direction as the left direction, the right side with respect to the traveling direction as the right direction, the vertically upward direction as the upward direction, and the vertically downward direction as the downward direction for explanation.

[0017] [Usage state of the tractor 100] FIG. 1 is a diagram schematically showing the usage state of the tractor 100 according to an embodiment of the present invention. The tractor 100 is a vehicle for towing a vehicle 200 and autonomously traveling. As an example, the tractor 100 is a signage robot having a towing part capable of connecting to other vehicles. The vehicle 200 is, for example, a trolley, a shopping cart, etc. used in large-scale facilities such as shopping centers and airports. The tractor 100 has display panels on the left and right side surfaces and can travel while displaying information such as advertisements, floor maps, and various guides on the display panels.

[0018] [Configuration of the tractor 100] FIGS. 2 to 5 are respectively a perspective view, a front view, a rear view, and a left side view of the tractor 100. The tractor 100 has a drive unit 1 and a display mounting unit 2. Hereinafter, the configuration of the tractor 100 will be described while referring to FIGS. 2 to 5.

[0019] The drive unit 1 is a housing having a drive mechanism. The drive unit 1 has a connecting portion 11, a detection sensor 12, a battery mounting portion 13, front wheels 14, rear wheels 15, a bumper 16, and a speaker 17. Although not shown, the drive unit 1 has a motor, a steering mechanism, and a brake. A computer 28 described later controls the motor, the steering mechanism, and the brake to cause the towing vehicle 100 to travel.

[0020] The connecting portion 11 is provided behind the drive unit 1. The connecting portion 11 is a member for fixing a vehicle connecting portion provided on the vehicle 200 in order to tow the vehicle 200.

[0021] The detection sensor 12 is a sensor for detecting obstacles. As an example, the detection sensor 12 is a 2D-LiDAR (Light Detection And Ranging). As an example, the drive unit 1 has groove-shaped slit portions 121 on the front surface and both side surfaces of the drive unit 1, and the detection sensor 12 is attached to the slit portions 121.

[0022] By arranging the detection sensor 12 in the slit portion 121, it is possible to monitor the safety under the feet without impairing the design. Further, when the detection sensor 12 is arranged in the slit portion 121, the detection sensor 12 can be arranged rearward as compared with the case where the detection sensor 12 is attached to the front surface of the housing. As a result, the dead angle in the left-right direction of the detection sensor 12 is reduced. Further, since the detection sensor 12 is not exposed, it is possible to suppress a failure of the detection sensor 12 due to a collision and a decrease in the accuracy of the detection sensor 12 due to dirt, and the maintainability of the towing vehicle 100 can be improved.

[0023] The battery mounting section 13 is configured to allow the battery to be attached and detached. The battery mounting section 13 supplies power charged in the battery to each part of the drive unit 1 and the display mounting section 2. The battery mounting section 13 may be configured to allow multiple batteries to be attached and detached individually. The battery mounting section 13 consists of an openable and closable lid, a substantially rectangular housing section for housing the battery, and a connector section that contacts the electrodes of the housed battery when the battery is installed in the battery housing section. By providing the battery mounting section 13 to the drive unit 1, the weight of the installed battery lowers the center of gravity during operation (when the battery is installed), making the operation of the towing vehicle 100 more stable.

[0024] The front wheels 14 are, for example, driven wheels. The rear wheels 15 are drive wheels. In this case, the towing vehicle 1 rotates due to the difference in rotational speed between the left and right wheels of the rear wheels 15. The front wheels 14 may also be configured as steering wheels. The bumper 16 is mounted on the front lower part of the drive unit 1. The bumper 16 is configured in a roughly T-shape when viewed from above. The bumper 16 is made of an elastic material so as to absorb the impact in the event of a collision. The bumper 16 has a bumper sensor 161. The bumper sensor 161 detects when the bumper 16 has collided with an obstacle. For example, when the bumper sensor 161 detects that it has collided with an obstacle, it transmits information indicating that it has collided with an obstacle to the computer 28 (described later).

[0025] The speaker 17 outputs sound based on control from the computer 28, which will be described later. Because the speaker 17 is located at the bottom of the drive unit 1, the sound output by the speaker 17 is more easily blocked by pedestrians and others around the towing vehicle 100, thereby limiting the range of transmission. As a result, necessary information can be transmitted to pedestrians around the towing vehicle 100.

[0026] The display mounting unit 2 is constructed of a roughly rectangular prism-shaped housing. The display mounting unit 2 is positioned above the drive unit 1 so as it moves in the direction of travel of the drive unit 1. The display mounting unit 2 includes a display panel 21, a recognition sensor 22, an operation unit 23, a malfunction prevention member 24, an emergency stop button 25, a camera 26, a microphone 27, and a computer 28.

[0027] The display panel 21 is, for example, a liquid crystal display panel. The display panel 21 is mounted so as to cover the left and right sides of the display mounting section 2. For example, the display panel 21 is approximately rectangular in side view and is configured to occupy most of the area on both sides of the display mounting section 2. The shape of the display panel 21 may be any shape based on its relationship to the image to be displayed on the display panel 21 and its relationship to the shape or size of the display mounting section 2. The display panel 21 displays an image based on a signal acquired from the computer 28.

[0028] [Ensuring visibility] To allow pedestrians positioned in front of the towing vehicle 100 to see the vehicle 200 being towed by the towing vehicle 100, the width of the display mounting section 2 is configured to be narrower than the width of the drive unit 1. This configuration enables the safe operation of the towable mobile signage.

[0029] Since the display panel 21 displays content such as advertisements, it is desirable that the display panel 21 be positioned so that it is easily visible from the surroundings. Therefore, the height of the upper edge of the display mounting section 2 may be configured to be higher than the height of the average adult's eye level (e.g., eye height). As an example, the upper edge of the display panel may be configured to be higher than 140 to 180 cm in height relative to the running surface of the drive unit 1.

[0030] In the case of conventional mobile signage, if the upper edge of the display mounted on the mobile signage is configured to be higher than the average adult's eye level, it will obstruct the view of the rear of a pedestrian positioned in front of the mobile signage. As a result, pedestrians may be slow to see the vehicle being towed by the mobile signage, potentially leading to a collision between the towed vehicle and the pedestrian. However, in the embodiment of the present invention, the width of the display mounting section 2 of the towing vehicle 100 is configured to be narrower than the width of the drive unit 1. This ensures that even if the upper edge of the display mounting section 2 is higher than the eye level of a pedestrian positioned in front of the towing vehicle 100, pedestrians can still see the rear of the towing vehicle 100, enabling the safe operation of the towable mobile signage.

[0031] Furthermore, by configuring the width of the drive unit 1 to be wider than the width of the display mounting unit 2, the width of the drive wheels (rear wheels 15) and the tread width of the drive wheels (rear wheels 15) can be increased without being limited by the width of the display mounting unit 2. As a result, the driving of the towing vehicle 100 can be made more stable.

[0032] Furthermore, it is particularly preferable to configure the width of the drive unit 1 to be the same as the width of the vehicle 200, and the width of the display mounting unit 2 to be narrower than the width of the vehicle 200. That is, by configuring the width of the vehicle 200 to be the same as the width of the drive unit 1, it is possible to prevent the vehicle 200 from traveling beyond the width of the towing vehicle 100's travel path, and it also has the effect of making the towing vehicle 100 easier to see from behind the vehicle 200. In addition, by configuring the width of the display mounting unit 2 to be narrower than the width of the vehicle 200, pedestrians in front of the towing vehicle 100 can ensure a clear view of the area behind the towing vehicle 100. As a result, the towable mobile signage can be operated safely.

[0033] [Detection of surrounding environment] The recognition sensor 22 is a sensor for recognizing the environment around the towing vehicle 100. For example, the recognition sensor 22 is a 3D-LiDAR. It outputs information (e.g., point cloud data) indicating the detected surrounding environment to the computer 28. The recognition sensor 22 is located on the upper part of the display mounting unit 2.

[0034] By positioning the recognition sensor 22 on the upper part of the display mounting unit 2, the surrounding environment can be better understood, improving the accuracy of the towing vehicle 100's self-position estimation. Furthermore, if the detection range of the recognition sensor 22 covers the vehicle 200, the towing vehicle 100 can more easily recognize the footprint of the vehicle 200 it is towing. As a result, safe autonomous driving of the towing vehicle 100 can be achieved.

[0035] [Manual operation of towing vehicle 100] The control unit 23 is an input device for the manager of the towing vehicle 100 or vehicle 200 to operate the drive unit 1 when the towing vehicle 100 has difficulty moving autonomously. As shown in Figure 3, the control unit 23 may, for example, include a joystick 231 for inputting the direction of travel of the towing vehicle 100. The control unit 23 may further include an operation button 232. The operation button 232 may, for example, be a button for instructing the start or end of manual operation of the towing vehicle 100, but the use of the operation button 232 is not limited to this.

[0036] The control unit 23 is positioned in front of the display unit 2. By positioning the control unit 23 in front of the display unit 2, the administrator can operate it from the front of the towing vehicle 100. As a result, it is possible to prevent accidents in which the administrator is caught in the towed vehicle 200 while operating the control unit 23.

[0037] The control unit 23 is preferably configured to be positioned at a height approximately equal to the average adult's olecranon height (the vertical distance from the floor to the lower end of the elbow bone when the elbow is bent at a right angle with the palm facing inward and the forearm horizontal). For example, the joystick 231 is configured to be positioned at a height of 90 to 120 cm relative to the running surface of the drive unit 1. With this configuration, the operator can operate the towing vehicle 100 in a comfortable posture.

[0038] If the control unit 23 is positioned in an easily accessible location on the front of the towing vehicle 100, a problem arises in that passersby may accidentally operate the control unit 23, thereby hindering the safe operation of the towing vehicle 100. Therefore, the towing vehicle 100 has an error prevention member 24 provided to surround the control unit 23. As shown in Figures 3 and 5, the error prevention member 24 consists of a frame 241 that is approximately elliptical in shape when viewed from the front, and a support member 242 that extends from the display mounting section 2 and supports the frame. By having such an error prevention member 24, it becomes difficult to touch the control unit 23 from the left or right, and it becomes possible to prevent accidental operation of the control unit 23.

[0039] The emergency stop button 25 is a button used to stop the towing vehicle 100 in an emergency. The emergency stop button 25 is located above the control unit 23. Since the emergency stop button 25 is expected to be operated mainly by passersby, it is necessary to prevent accidents in which passersby who press the emergency stop button 25 are caught in the towed vehicle 200. By positioning the emergency stop button 25 in front of the towing vehicle 100, this risk can be reduced. In addition, by positioning the emergency stop button 25 above the control unit 23, it is made difficult for young children to reach it. Therefore, the risk of the emergency stop button being operated unnecessarily or in an emergency can be reduced. The emergency stop button 25 is located outside the malfunction prevention member 24. This is to improve the visibility of the emergency stop button 25 and make it easier for passersby to find and operate it in an emergency.

[0040] [Other safety features] Camera 26 consists of a front camera 261, a side camera 262, and a rear camera 263. The front camera 261, side camera 262, and rear camera 263 are cameras for capturing images of the front, sides (left and right), and rear of the towing vehicle 100, respectively. The front camera 261, side camera 262, and rear camera 263 are positioned in front of, to the sides (left and right), and rear of the display mounting unit 2, respectively.

[0041] Although not shown in the diagram, the front camera 261 may further include a camera for imaging the area in front of and below the towing vehicle 100, or the front camera may be a 360-degree camera capable of imaging a range that includes the area in front of and below the towing vehicle 100. This configuration reduces blind spots in safety monitoring for the safe operation of the towing vehicle 100.

[0042] The rear camera 263 is positioned near the top edge of the display mounting section 2. The rear camera 263 needs to monitor the safety of the towed vehicle 200 and pedestrians in its vicinity, and the rear camera 263 is installed in a high position to ensure a clear line of sight.

[0043] The front camera 261, side camera 262, and rear camera 263 each input the image data they capture and generate to the computer 28. The computer 28 analyzes the image data acquired from each camera, recognizes the surrounding environment based on the analysis results of the image data, and determines the travel route of the towing vehicle 100. The computer 28 may control the towing vehicle 100 to stop if it determines that an obstacle is included in the analysis results of the image data acquired by each camera. The computer 28 may also control the towing vehicle 100 to stop if it determines, based on the analysis of the acquired images, that the vehicle 200 is in an abnormal state (for example, if the connection between the towing vehicle 100 and the vehicle 200 has come undone).

[0044] Furthermore, the computer 28 determines the travel route of the towing vehicle 100 based on the detection results of the detection sensor 12 and the recognition sensor 22.

[0045] The microphone 27 is a device for collecting sounds from the surroundings of the towing vehicle 100. The microphone 27 inputs audio information corresponding to the collected sound into the computer 28. For example, if the sound indicated by the input audio information meets a predetermined condition (for example, if it detects a volume above a predetermined threshold), the computer 28 stops the towing vehicle 100.

[0046] The computer 28 may output an audio message via the speaker 17 to warn of the risk of collision if it determines, based on the results of recognizing the image data captured by each camera or the detection results of the sensors, that there is a pedestrian in the direction of travel of the towing vehicle 100 or that there is a pedestrian approaching the towing vehicle 100. The computer 28 may also output an audio message via the speaker 17 indicating the direction of travel of the towing vehicle 100.

[0047] [Effects of towing vehicle 100] As explained above, the configuration of the towing vehicle 100 makes it possible to safely operate the towable mobile signage.

[0048] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of its gist. For example, all or part of the apparatus can be configured by functionally or physically distributing and integrating in any unit. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combinations are combined with the effects of the original embodiments. [Explanation of Symbols]

[0049] 1. Drive unit 2 Display mounting section 11 Connecting part 12 detection sensors 13. Battery compartment 14 Front Wheel 15 Rear wheel 16 Bumper 21 Display Panels 22 Recognition Sensors 23 Control section 24. Prevents misoperation 25 Emergency Stop Button 26 cameras 27 Mike 28 Computer 100 Towing Vehicle 121 Slit section 161 Bumper Sensor 200 vehicles 231 Joystick 232 Operation Buttons 241 frames 242 Support member 261 Front Camera 262 Side Camera 263 Rearview Camera

Claims

1. A towing vehicle comprising a drive unit and a display mounting unit located above the drive unit, A display panel is provided on the side of the display mounting section, A coupling section for towing a vehicle is provided behind the aforementioned drive unit, An operating unit for operating the drive unit is provided in front of the display mounting unit, It has, The width of the display mounting section is narrower than the width of the drive section. Towing vehicle.

2. The height of the upper edge of the display mounting section is higher than the height of the average adult's eye level. Towing vehicle according to claim 1

3. The width of the drive unit is equal to the width of the vehicle. The width of the display mounting section is narrower than the width of the vehicle. The towing vehicle according to claim 1.

4. The above-mentioned display mounting section further includes a recognition sensor for recognizing the surrounding environment of the towing vehicle, The towing vehicle according to claim 1.

5. The slit portion provided in the drive unit, The slit portion is further provided with a detection sensor for detecting obstacles, The towing vehicle according to claim 1.

6. The drive unit is configured to allow the battery to be attached and detached, and further includes a battery mounting unit for supplying power charged in the attached battery to the drive unit and the display mounting unit. The towing vehicle according to claim 1.

7. The device further includes a malfunction prevention member provided to surround the aforementioned operating section. The towing vehicle according to claim 1.

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