Pushcart
A step board is attached to a main body in a rotatable manner. The step board is biased toward the upper side due to a tensile force of a spring while taking a position at which the step board is attached to the main body as an axis, and an attachment angle thereof is so fixed by a stopper as to fall within a predetermined angle. On the lower side of the step board, a cylinder unit covering a side surface of the bar-like main body is provided. The cylinder unit is connected to a brake shoe. Accordingly, when the step board is stepped on, the cylinder unit is moved downward so that the brake shoe makes contact with part of a rear wheel, thereby limiting a rotational velocity of the rear wheel.
1. A pushcart including:
a main body;
a rear wheel connected to the main body in a rotatable manner;
a front wheel connected to the main body in a rotatable manner;
a holding portion provided on the main body;
a detector that detects an operation of a user to move the front wheel in a direction being distanced from a ground contact surface;
a velocity limiting unit that limits a rotational velocity of the rear wheel to less than a predetermined rotational velocity in a case where the detector detects the operation to move the front wheel in the direction being distanced from the ground contact surface;
a driver unit that rotationally drives the rear wheel; and
a controller that controls the driver unit so as to prevent the rear wheel from rotating in a reverse direction with respect to the travelling direction in a case where the detector detects the operation to move the front wheel in the direction being distanced from the ground contact surface.
2. The pushcart according to claim 1 ,
wherein the controller controls the rotational driving operation of the driver unit,
wherein the velocity limiting unit is realized by the controller performing control to suppress the rotational velocity of the rear wheel so as to be no more than a predetermined rotational velocity.
3. The pushcart according to claim 2 ,
wherein there is provided a step board, and an attachment angle of the step board to the main body is so fixed as to fall within a predetermined range.
4. The pushcart according to claim 1 ,
wherein there is provided a step board, and an attachment angle of the step board to the main body is so fixed as to fall within a predetermined range.
5. A pushcart comprising:
a main body;
a rear wheel connected to the main body in a rotatable manner;
a front wheel supporter, one end of the front wheel supporter being connected to a rotational shaft of the rear wheel or the main body;
a front wheel connected to the other end of the front wheel supporter in a rotatable manner;
a holding portion provided on the main body;
a driver unit that rotationally drives the rear wheel;
a controller that controls the rotational driving operation of the driver unit;
a main body angle change detector that detects an angle change of the main body in a pitch direction; and
a reception unit that receives an operation from a user to move the front wheel in a direction being distanced from a ground contact surface,
wherein the controller has a first control mode in which inverted pendulum control is performed to control the rotation of the rear wheel so that the angle change of the main body becomes 0, and
the controller has a second control mode in which control is performed to turn off the inverted pendulum control and suppress a rotational velocity of the rear wheel so as to be no more than a predetermined rotational velocity in the case where the reception unit receives the operation to move the front wheel in a direction being distanced from the ground contact surface.
6. The pushcart according to claim 5 ,
wherein an intersecting angle of the front wheel supporter with respect to a rotational shaft of the rear wheel or the main body is limited to a predetermined range.
7. The pushcart according to claim 6 ,
wherein, in the case where the reception unit receives the operation to move the front wheel in a direction being distanced from the ground contact surface, the controller turns off the inverted pendulum control and controls to make the rear wheel proceed in a travelling direction for a predetermined time or by a predetermined distance.
8. The pushcart according to claim 6 ,
wherein the controller controls the driver unit so as to prevent the rear wheel from rotating in a reverse direction with respect to the travelling direction.
9. The pushcart according to claim 6 ,
wherein there is provided a step board, and an attachment angle of the step board to the main body is so fixed as to fall within a predetermined range.
10. The pushcart according to claim 6 ,
wherein the front wheel is in contact with the ground surface in the first control mode, and
the intersecting angle between the main body and the front wheel supporter is fixed in the case where the reception unit receives the operation to move the front wheel in a direction being distanced from the ground contact surface.
11. The pushcart according to claim 6 ,
wherein the controller controls the driver unit so as to prevent the rear wheel from rotating in a reverse direction with respect to the travelling direction.
12. The pushcart according to claim 6 ,
wherein there is provided a step board, and an attachment angle of the step board to the main body is so fixed as to fall within a predetermined range.
13. The pushcart according to claim 5 ,
wherein the front wheel is not in contact with the ground surface in the first control mode, and
the intersecting angle between the main body and the front wheel supporter is always fixed.
14. The pushcart according to claim 5 ,
wherein the controller controls the driver unit so as to prevent the rear wheel from rotating in a reverse direction with respect to the travelling direction.
15. The pushcart according to claim 5 ,
wherein there is provided a step board, and an attachment angle of the step board to the main body is so fixed as to fall within a predetermined range.
16. The pushcart according to claim 5 ,
wherein, in the case where the reception unit receives the operation to move the front wheel in a direction being distanced from the ground contact surface, the controller turns off the inverted pendulum control and controls to make the rear wheel proceed in a travelling direction for a predetermined time or by a predetermined distance.
17. The pushcart according to claim 7 ,
wherein the controller controls the driver unit so as to prevent the rear wheel from rotating in a reverse direction with respect to the travelling direction.
18. The pushcart according to claim 7 ,
wherein there is provided a step board, and an attachment angle of the step board to the main body is so fixed as to fall within a predetermined range.
19. The pushcart according to claim 5 , wherein the controller controls the driver unit so as to prevent the rear wheel from rotating in a reverse direction with respect to the travelling direction.
20. The pushcart according to claim 5 ,
wherein there is provided a step board, and an attachment angle of the step board to the main body is so fixed as to fall within a predetermined range.