To provide a steering input device for a moving truck allowing an operator to operate that at will without a feeling of wrongness, facilitating steering input, and ensuring safety even when contacted with an external environment during steering.
The steering input device for the moving truck makes the moving truck travel according to the will of a teaching person. The steering input device for the moving truck comprises a plurality of contact force detecting devices 3 disposed on the outer periphery of the moving truck, and detecting contacting force from the outside; a voltage/force converting device 12 calculating force applied on each contacting force detecting device 3; a composite computing means 13 calculating resultant translation force applied on the moving truck and resultant moment around a vehicular center of the moving truck on the basis of information about the position and force of the contacting force detecting device 3; a force/velocity converting device 14 calculating vehicular body command velocity on the basis of the output of the composite computing means 13; and a reverse kinematic device 15 outputting command velocity to a motor 16 moving the moving truck on the basis of the vehicular body command velocity. The operator can directly apply command force on the moving truck without using a joystick lever and the like. And natural steering input without a feeling of wrongness as if the operator actually push and move the moving truck for himself is enabled.
Kazuto Ishida
Mikio Hotta