JP6697331B2 - Moving vehicle - Google Patents

Description

  The present invention relates to a moving vehicle, and more particularly, to a moving vehicle including an image capturing unit that captures a monitored object.

  2. Description of the Related Art Today, autonomous traveling vehicles that move autonomously are used, such as a transport robot that transports luggage, and a monitoring robot that monitors conditions inside a building, the vicinity of the building, and a predetermined site. In addition, cameras, various sensors, arms, booms, etc. can be used for activities in dangerous areas such as searching for victims in disaster areas such as earthquakes, tsunamis, and landslides, or collecting internal information such as factories and power plants where accidents occurred. There is a case where an autonomous vehicle equipped with is used (for example, refer to Patent Document 1).

Such a conventional autonomous vehicle stores the map information of the area to be traveled and the travel route information in advance, and utilizes the information acquired from the camera, the distance image sensor, and the GPS (Global Positioning System) to make an obstacle. Run on a designated route while avoiding objects.

  In an autonomous vehicle equipped with a camera, when the vehicle turns, the image blur may increase due to the vibration and the image may not be recognized. Therefore, a vibration absorbing member is provided at the camera mounting position or the like to suppress the image blur. ..

JP, 2005-111595, A

  However, if the image blur suppression structure is effective for all of large vibrations to small vibrations, the structure becomes complicated and the cost becomes high. In particular, in the case of an autonomous traveling type vehicle having a boom that raises and lowers a camera, the boom shakes and the image blur increases when the autonomous traveling type vehicle turns.

  The present invention has been made in view of these problems, and an object thereof is to provide a moving vehicle that can effectively suppress image blur with a simple configuration.

Thus, according to the present invention, it is possible to provide a movable electric chassis part and an imaging unit provided on the electric chassis part,
The electric chassis part includes a chassis main body, a plurality of left and right wheels provided in front and rear of the chassis main body, and two electric motors that individually rotate and drive at least one front and rear left and right pair of wheels of the plurality of wheels. A motor and a battery supplying electric power to the two electric motors,
A pair of left and right wheels rotationally driven by the electric motor are arranged on the same axle line,
The imaging unit, when viewed in plan, has a predetermined radius centered on an intermediate point on the axle between the pair of left and right wheels rotationally driven by the electric motor and shorter than a distance between axles of front and rear wheels. There is provided a moving vehicle arranged in a circular area having

The moving vehicle of the present invention can individually control the rotation of at least a pair of left and right wheels on the front and rear sides of the plurality of wheels to perform forward, backward, left turn, right turn, and stationary turn. When turning, the vehicle turns left or right due to the difference in rotational speed between the left and right wheels that are rotationally driven, and the left and right wheels rotate in opposite directions to make a fixed turn.
At this time, for example, when the left and right front wheels are drive wheels to which rotational force is transmitted and the left and right rear wheels are driven wheels to which rotational force is not transmitted, if the vehicle does not have a steering mechanism, turning to the left will cause The rear wheel moves with a larger radius of curvature than the left front wheel, and when turning right, the right rear wheel moves with a larger radius of curvature than the right front wheel.
Therefore, in a plan view, the imaging unit has a predetermined radius that is centered on the midpoint on the same axle between the left and right wheels on the front and rear sides that are rotationally driven and that is shorter than the distance between the axles of the front and rear wheels. By being arranged in a circular area that has, compared with the case where it is arranged near the midpoint on the same axle line between the left and right wheels on the other side of the front and rear that are not rotationally driven, the imaging unit has a smaller radius of curvature when turning the vehicle. You can turn.
As a result, the turning speed and shaking of the image pickup unit during turning of the vehicle can be suppressed, so that it is possible to suppress image blurring with a simple configuration without using a special vibration absorbing member or a vibration absorbing mechanism. Further, since the image pickup unit does not project outward in the horizontal direction from the electric chassis part, it is possible to make the image pickup unit less likely to collide with an obstacle when the moving vehicle is traveling.

It is a figure explaining the schematic structure of the electric chassis part in Embodiment 1 of the mobile vehicle of this invention, (A) is a left side view, (B) is a BB line sectional view taken on the line of (A). Is. 1 is a left side view showing a moving vehicle according to a first embodiment. FIG. 3 is a plan view of the moving vehicle of FIG. 2 viewed from above. FIG. 3 is a left side view showing an ascending state of the image pickup unit in the moving vehicle of the first embodiment. FIG. 5 is a plan view of the moving vehicle of FIG. 4 viewed from above. It is a figure explaining the schematic structure of the electric chassis part in Embodiment 2 of the moving vehicle of this invention, (A) is a left side view, (B) is a BB line sectional view taken on the line of (A). Is. FIG. 7 is a plan view showing a moving vehicle according to a second embodiment. FIG. 9 is a plan view showing a rising state of an image pickup unit in the moving vehicle according to the second embodiment. It is a figure explaining the schematic structure of the electric chassis part in Embodiment 3 of the moving vehicle of this invention, (A) is a left side view, (B) is a BB line sectional view taken on the line of (A). Is. FIG. 9 is a left side view showing a moving vehicle according to a third embodiment. It is a top view which shows Embodiment 4 of the moving vehicle of this invention. FIG. 13 is a plan view showing a rising state of the image pickup unit in the moving vehicle of the fourth embodiment. It is a left side view showing Embodiment 5 of the mobile vehicle of the present invention. FIG. 14 is a plan view of the moving vehicle of FIG. 13 viewed from above. FIG. 16 is a left side view showing an ascending state of the image pickup unit in the moving vehicle according to the fifth embodiment. FIG. 16 is a plan view of the moving vehicle of FIG. 15 viewed from above. It is a left side view showing Embodiment 6 of the mobile vehicle of the present invention.

A mobile vehicle of the present invention includes an electric undercarriage portion capable of traveling, and an imaging portion provided on the electric undercarriage portion,
The electric chassis part includes a chassis main body, a plurality of left and right wheels provided in front and rear of the chassis main body, and two electric motors that individually rotate and drive at least one front and rear left and right pair of wheels of the plurality of wheels. A motor and a battery supplying electric power to the two electric motors,
A pair of left and right wheels rotationally driven by the electric motor are arranged on the same axle line,
The imaging unit, when viewed in plan, has a predetermined radius centered on an intermediate point on the axle between the pair of left and right wheels rotationally driven by the electric motor and shorter than a distance between axles of front and rear wheels. Are arranged in a circular area having.
Here, the wheel includes a hole with a tire, an omni wheel, a mecanum wheel, and the like.

The mobile vehicle of the present invention may be configured as follows and may be appropriately combined.
(1) The predetermined radius may be set to be equal to or shorter than the distance from the intermediate point to the outer peripheral end of the electric chassis part when seen in a plan view.
With this configuration, the image pickup unit does not project outward in the horizontal direction from the electric chassis part, and thus it is possible to make it difficult for an obstacle to collide when the moving vehicle travels.

(2) The image pickup unit may be arranged in a rectangular area having a corner portion on the center line in the front-rear direction passing through the intermediate point and orthogonal to the axle line and on the axle line, and within the circular region. ..
In other words, the rectangular area that fits within the circular area intersects the ground contact center points of the left and right front wheels that are rotationally driven and the center line in the front-rear direction that passes through the intermediate point and is orthogonal to the axle line at an angle of 45 °. It may be a square area having four sides.
With this configuration, when the elevating mechanism section that elevates and lowers the imaging section is provided on the electric chassis part, since the ascended imaging section is arranged in the rectangular area, stable image acquisition is possible even from the ascended position. Is possible.

(3) The stationary turning center point of the electric chassis part may be an intermediate point on the axle line between the left and right wheels rotationally driven by the electric motor.
With this configuration, the center of the circular or rectangular area in which the imaging unit is arranged coincides with the stationary turning center point, so that it is possible to further reduce the radius of curvature at which the imaging unit turns when the moving vehicle makes the stationary turning. .. As a result, it is possible to further suppress the image blurring of the image pickup unit at the time of stationary turning, and it is particularly effective for photographing from a raised position when an elevating mechanism unit for raising and lowering the image pickup unit is provided on the electric chassis part.

(4) The electric undercarriage portion further includes a right power transmission mechanism that connects right and front wheels to each other, and a left power transmission mechanism that connects left and front wheels to each other.
The stationary turning center point of the electric chassis part may be a center point of a rectangular area surrounded by the grounding center points of the left and right front wheels and the left and right rear wheels.
With this configuration, when viewed in a plan view, the center or the vicinity of the electric chassis part is set as the fixed turning center point, the fixed turning center point is arranged in a circular or rectangular area, and the imaging unit is set on the fixed turning center point or It can be placed near it. This configuration is suitable for a moving vehicle that performs image capturing while suppressing image blur by moving the image capturing unit up and down at or near the center of the electric chassis part.

(5) The left and right wheels that are rotationally driven by the electric motor are front wheels,
The left and right rear wheels may be a wheel with rollers having a wheel body and a plurality of rollers provided on the outer peripheral portion of the wheel body.
Here, the wheel with rollers means an omni wheel (registered trademark) in which the angle of the rotation axis of each roller is 90 ° with respect to the axle of the wheel body, and the rotation of each roller with respect to the axle of the wheel body. And a mecanum wheel having an axis angle of 45 °.
With this configuration, in the moving vehicle having the configurations (2) and (3), the rear wheels can be smoothly moved during stationary turning, and image blur can be further suppressed.

(6) The imaging unit may be arranged on a center line in the front-rear direction that passes through the intermediate point and is orthogonal to the axle line when seen in a plan view.
By doing so, it is possible to obtain the same image blur suppression effect in the left turn and the right turn including the stationary turn of the moving vehicle.

(7) The left and right wheels that are rotationally driven by the electric motor are front wheels,
The image capturing unit may be disposed in front of an intermediate point of the axle lines of the left and right front wheels.
With this configuration, the imaging unit can be arranged at the front center position where it is easy to monitor.

(8) Further comprising an elevating mechanism part provided on the electric chassis part for elevating the imaging part,
The moving range of the imaging unit that moves up and down by the elevating mechanism unit in plan view may be within the circular region.
With this configuration, image blurring can be suppressed even when the electric chassis part turns while the imaging unit is raised so that it can be monitored further.

(9) The elevating mechanism unit may be configured to move the imaging unit in the up-down direction and the front-rear direction with respect to the electric chassis part.
In this case, a parallel link mechanism or a pantograph mechanism having a boom that swings vertically and longitudinally can be used as the lifting mechanism unit.

(10) The elevating mechanism unit may be configured such that the imaging unit can move across the axle line when seen in a plan view.
This configuration is suitable for a mobile vehicle in which the midpoint of the axle is set as the fixed turning center point, and the lifting mechanism moves the imaging part forward when descending and moves the imaging part backward when ascending. Since the part is arranged near the center point of stationary rotation, it is possible to suppress image blur during stationary rotation and acquire a stable image.

(11) The lifting mechanism unit includes a link mechanism having an underframe fixed to the chassis body and extending in the front-rear direction, and a boom provided at a rear end portion of the underframe so as to be swingable about a left-right axis. And
The underframe has a support portion that supports the boom lowered to the front end portion,
The support may be arranged on the axles of the left and right wheels that are rotationally driven by the electric motor.
By doing so, it is possible to suppress the shaking of the imaging unit in the lowered state during stationary rotation and to stably support the imaging unit.

(12) The elevating mechanism unit may be configured to move the imaging unit only in the vertical direction with respect to the electric chassis part.
With this configuration, a diamond-shaped or frame-intersecting pantograph mechanism can be used as the lifting mechanism unit.

(13) A wheel main body in which a pair of left and right wheels rotationally driven by the electric motor are attached to the electric chassis part via a drive shaft, and a tire attached to the outer peripheral portion of the wheel main body and filled with air. And may have respectively.
With this configuration, the vibrations of the left and right drive wheels can be absorbed when the moving vehicle is running, so that the image blur of the image pickup unit located near the left and right drive wheels can be further suppressed. You can

(14) The moving vehicle may be an autonomous traveling type moving vehicle.
In this way, the traveling vehicle can be autonomously run and monitored without the operator remotely controlling the traveling vehicle wirelessly or by wire, or without the operator boarding the traveling vehicle.

  Hereinafter, an embodiment of a mobile vehicle of the present invention will be described in detail with reference to the drawings. In the embodiments described below, the case of an autonomous traveling type moving vehicle is illustrated, but the moving vehicle of the present invention is not limited to the autonomous traveling type, and it may be a wireless or wired remote control type, an operator boarding type or the like. It is applicable to vehicles.

(Embodiment 1)
FIG. 1 is a diagram illustrating a schematic configuration of an electric chassis part in a first embodiment of a moving vehicle of the present invention, (A) is a left side view, and (B) is a line BB arrow of (A). FIG. 2 is a left side view showing the moving vehicle of the first embodiment, and FIG. 3 is a plan view of the moving vehicle of FIG. 2 as viewed from above. Further, FIG. 4 is a left side view showing a raised state of the image pickup unit in the moving vehicle of the first embodiment, and FIG. 5 is a plan view of the moving vehicle of FIG.

  The moving vehicle 1A according to the first embodiment mainly includes an electric chassis part 10A, a lifting mechanism part 50 provided on the electric chassis part 10A, and a monitoring camera 60 as an imaging part provided at a tip end of the lifting mechanism part 50. Equipped with. In the first embodiment, a case where the mobile vehicle is an autonomous traveling type monitoring vehicle including the monitoring camera 60 is illustrated.

  More specifically, the distance detection unit 12 is provided on the front end of the electric chassis 10A, and the Wi-Fi antenna 71 and the warning light 72 are provided on the rear end of the electric chassis 10A. CCD cameras 73 are provided on the left and right side surfaces and a rear end surface of the, and a GPS antenna 74 is provided at a position behind the imaging unit 60 at the tip of the elevating mechanism unit 50.

The distance detection unit 12 has a function of confirming the state of the moving front region and the road surface, and is directed to a light emitting unit that emits light, a light receiving unit that receives the light, and a plurality of predetermined measurement points in the front space. And a scanning control unit that scans the light emission direction so that the light is emitted.
The distance detection unit 12 emits a laser into a two-dimensional space or a three-dimensional space within a predetermined distance measurement area, and measures distances at a plurality of measurement points within the distance measurement area. LIDAR (Light Detection and Ranging, Alternatively, Laser Imaging Detection and Ranging) can be used.

  The control unit (not shown) is a part that executes the traveling function and the monitoring function of the moving vehicle 1A, and includes, for example, a control unit, a human detection unit, an instruction recognition unit, a communication unit, an instruction execution unit, a storage unit, and the like. It

  The moving vehicle 1A stores map information of a region to be traveled and moving route information in advance, and uses the information acquired from the monitoring camera 60, the distance detection unit 12 and the GPS (Global Positioning System) to detect obstacles. It is configured to travel on a predetermined route while avoiding it.

  At this time, the moving vehicle 1A particularly recognizes the posture of the instructor by using the monitoring camera 60, the distance detection unit 12, and the like, and based on the instruction previously associated with the posture, the electric vehicle chassis 10A. Self-propelled while confirming the state ahead of the direction of travel. For example, when it detects that there is an obstacle or a step ahead, it changes its course by performing operations such as stationary, rotation, retreat, and forward movement to prevent collision with the obstacle. Then, the function corresponding to the instruction is executed.

  Next, a configuration relating to traveling of the moving vehicle 1A will be described mainly with reference to FIGS. 1 (A) and 1 (B). In addition, in FIG. 1A, the left front wheel 31 and the rear wheel 32 are indicated by a two-dot chain line.

<Explanation of the electric chassis part>
The electric chassis part 10A includes a chassis body 11, four wheels provided on the front, rear, left, and right sides of the chassis body 11, and two electric motors that individually rotate and drive at least a pair of left and right wheels on one of the front and rear sides of the four wheels. 41R and 41L, the battery 40 which supplies electric power to the two electric motors 41R and 41L, the distance detection unit 12, and a control unit (not shown).

In the case of the first embodiment, as shown in FIGS. 1 (A) and 1 (B), the electric chassis 10A moves forward in the direction of arrow A, so the left and right wheels on the arrow A side are the front wheels 21 and 31, and the remaining wheels. The left and right wheels are rear wheels 22 and 32, and the left and right front wheels 21 and 31 are individually driven and controlled by the two electric motors 4RL and 43L.
1 (A) and 1 (B) simply describe the components and their arrangement that form the electric chassis part, the electric chassis part shown in FIGS. 1 (A) and 1 (B). The sizes, intervals, etc. of the respective constituent parts do not necessarily match those of the electric chassis part shown in FIGS. 2 and 3.

Bumpers 17f and 17r are attached to the front surface 13 and the rear surface 14 of the chassis main body 11, and strip-shaped covers 18 are installed on the right side surface 12R and the left side surface 12L and extend along the front-rear direction of the chassis main body 11. .. Under the cover 18, there are provided axles 21a, 31a and axles 22a, 32a for rotatably supporting the front wheels 21, 31 and the rear wheels 22, 32, respectively.
The axles 21a, 31a of the front wheels 21, 31 which are the drive wheels are arranged on the same first axis (the axle line of the front wheels) P ₁ and the axles 22a, 32a of the rear wheels 22, 32 which are the driven wheels are They are arranged on the same second axis (rear wheel axle) P ₂ .
In addition, each axle 21a, 31a, 22a, 32a is independently rotatable.

  Two motors, an electric motor 41R for driving the right front wheel 21 and an electric motor 41L for driving the left front wheel 31, are provided on the front wheel side of the bottom surface 15 of the chassis main body 11. A gear box 43R is provided as a power transmission mechanism between the motor shaft 42R of the right electric motor 41R and the axle 21a of the right front wheel 21. Similarly, a gearbox 43L is provided as a power transmission mechanism between the motor shaft 42L of the left electric motor 41L and the axle 31a of the left front wheel 31. Here, the two electric motors 41R and 41L are arranged in parallel so as to be bilaterally symmetrical with respect to the center line CL of the chassis main body 11 in the traveling direction (direction of arrow A), and the gearboxes 43R and 43L are also electric motors, respectively. It is arranged on the left and right outside of 41R and 41L.

  The gearboxes 43R and 43L are assembly parts that are composed of a plurality of gears, shafts, etc., and transmit the power from the electric motor to the axle that is the output shaft by changing the torque, the number of rotations, and the rotation direction. It may include a clutch for switching the cutoff. The pair of rear wheels 22 and 32 are rotatably supported by bearings 44R and 44L, respectively, and the bearings 44R and 44L are arranged close to the right side surface 12R and the left side surface 12L of the bottom surface 15 of the chassis main body 11, respectively. There is.

  With the above configuration, the front wheel 21 on the right side in the traveling direction and the front wheel 31 on the left side can be independently driven. That is, the power of the electric motor 41R on the right side is transmitted to the gearbox 43R via the motor shaft 42R, and the gearbox 43R changes the rotation speed, the torque, or the rotation direction and transmits the change to the axle 21a. Then, the front wheel 21 is rotated by the rotation of the axle 21a. The transmission of power from the left electric motor 41L to the front wheels 31 is the same as the operation on the right side described above.

  When the rotation speeds of the right and left electric motors 41R and 41L are the same, if the gear ratios (reduction ratios) of the gear boxes 43R and 43L are the same, the moving vehicle 1A will move forward or backward. When changing the speed of the moving vehicle 1A, it suffices to change it while maintaining the gear ratios of the gear boxes 43R and 43L at the same value.

  When the traveling direction is changed, the gear ratio of each gear box 43R, 43L may be changed so that the rotation speed of the right front wheel 21 and the rotation speed of the left front wheel 31 have a rotation difference. Furthermore, by changing the rotation direction of the output from each gear box 43R, 43L, the rotation directions of the right and left wheels are made opposite and the rotation speeds are made the same, so that the axle line P1 of the pair of front wheels 21, 31 is made. It becomes possible to perform the fixed turning with the intermediate point MP of the fixed turning center point.

  When the moving vehicle 1A is stationary-turned, a steering mechanism for varying the angles of the front and rear wheels is not provided. Therefore, the larger the distance between the front and rear wheels (wheel base), the larger the resistance applied to the wheels, and thus the turning. Therefore, a large driving torque is required. However, since the gear ratios in the gear boxes 43R and 43L are variable, a large torque can be applied to the wheels simply by lowering the rotation speed of the wheels during turning.

  For example, if the number of gear teeth on the motor shaft 42R side is 10, the number of gear teeth on the intermediate gear is 20, and the number of gear teeth on the axle shaft 21b side is 40 as the gear ratio in the gear box 43R, the rotation speed of the axle shaft 21b. Is a quarter of the rotation speed of the motor shaft 42R, but four times the torque is obtained. By selecting a gear ratio that further reduces the number of rotations, a larger torque can be obtained, so that it is possible to turn even on a road surface with a large resistance related to wheels such as rough terrain or sand. .

  Here, the wheel is not particularly limited, and in the case of the first embodiment, the same front and rear wheels 21, 22, 31, 32 are used. That is, as shown in FIG. 2, the front wheels 31 and the rear wheels 32 have wheel bodies 31a, 32a and tires 31b, 32b attached to the outer peripheral portions of the wheel bodies 31a, 32a and filled with air. Become. The same applies to the front and rear wheels 21 and 22 on the right side.

  Since at least the right and left front wheels 21, 31 which are the driving wheels are equipped with tires filled with air, vibrations are absorbed by the tires of the front wheels 21, 31 when the moving vehicle 1A is traveling on the uneven road surface. Therefore, it is possible to further suppress the image blur of the image pickup unit 60 arranged at a position close to the front wheels 21 and 31.

  Further, since the moving vehicle 1A is provided with the gear boxes 43R and 43L between the motor shafts 42R and 42L and the axles 21a and 31a, the vibrations from the front wheels 21 and 31 are not directly transmitted to the motor shafts. Further, the gearboxes 43R and 43L are provided with clutches for disconnecting (disconnecting) power, and when the electric motors 41R and 41L are not energized, the electric motors 41R and 41L and the axles 21a and 31a serving as drive shafts are provided. It is desirable to cut off the power transmission between them. As a result, even if a force is applied to the chassis main body 11 at the time of stop and the wheels rotate, the rotation is not transmitted to the electric motors 41R and 41L, so that back electromotive force is not generated in the electric motors 41R and 41L, and the electric motors are driven. There is no risk of damaging the circuits of the motors 41R and 41L.

  As described above, the two electric motors 41R, 41L are arranged on the right and left sides in the traveling direction on the front wheels 21, 31 side of the bottom surface 15 of the chassis body 11, and further on the right and left sides of the respective electric motors 41R, 41L. Although the gearboxes 43R and 43L are arranged, since the bearings 44R and 44L are only arranged on the rear wheels 22 and 32 of the bottom surface 15 on the bottom surface 15 of the chassis main body 11, from the center position thereof. For example, a wide accommodation space 16 can be secured up to the rear end of the vehicle body.

  Each of the electric motors 41R and 41L uses a battery (rechargeable battery) 40 such as a lithium ion battery as a power source, and installs the battery 40 in the accommodation space 16. Specifically, the battery 40 has, for example, a rectangular parallelepiped outer shape, and can be placed at a substantially central position on the bottom surface 15 as shown in FIG. Further, it is desirable that the rear surface 14 of the chassis main body 11 be configured to be openable and closable with respect to the upper surface or the bottom surface 15 so that the battery 40 can be easily taken in and out of the accommodation space 16. As a result, a large-capacity battery 40 for realizing long-term traveling can be mounted in the accommodation space 16 of the chassis main body 11, and operations such as replacement, charging and inspection of the battery 40 can be easily performed from the rear surface 14. It becomes feasible. Further, since the battery 40 can be disposed on the bottom surface 15, it is possible to obtain an electric vehicle that has a low center of gravity of the chassis main body 11 and can travel stably.

<Explanation of lifting mechanism section and imaging section>
As shown in FIGS. 2 to 5, in the case of the first embodiment, the elevating mechanism unit 50 is configured to move the monitoring camera 60, which is an imaging unit, in the up-down direction and the front-rear direction with respect to the electric chassis part 10A.

More specifically, as the elevating mechanism section 50, a link mechanism having a boom 52 that swings in the up-down direction and the front-rear direction, specifically, a parallel link mechanism is used.
That is, the lifting mechanism unit 50 includes an underframe 51 fixed on the chassis main body 11 and extending in the front-rear direction, and the boom 52 provided at the rear end of the underframe 51 so as to be swingable around the left and right axis. An equilibrium portion 53 provided at the tip of the boom 52 and a telescopic cylinder (not shown) provided in the underframe 51 for swinging the boom 52 up and down are provided.

The underframe 51 has a support portion 51a that supports the boom 52 that has descended to the front end portion, and also has a pivotal attachment portion 51b that pivotally supports the base end portion of the boom 52 at the rear end portion.
The boom 52 has a main frame 52a and a balancing portion support rod 52b provided along the main frame 52a.

The base end portion of the main frame 52a is fixed to a first base end shaft f ₁₁ which is rotatably attached to the pivot attachment portion 51b of the underframe 51, and the tip end portion of the main frame 52a is attached to the balance portion 53. It is pivotally attached via one tip axis f ₁₂ .
Proximal end of the balanced part supporting rod 52b is fixed to the second proximal shaft f ₂₁ which is pivotally connected to the pivot portion 51b of the underframe 51, the distal end portion of the balancing portion supporting rod 52b is in equilibrium 53 It is pivotally attached via the second tip axis f ₂₂ .

As the telescopic cylinder (not shown), an electric type, a hydraulic type or a pneumatic type cylinder can be used.
The base end portion of the telescopic cylinder is pivotally attached to the underframe 51 or the chassis main body 11 so as to be vertically swingable, and the tip end portion of the telescopic cylinder is connected to the first base end shaft f ₁₁ via an arm (not shown). At this time, the tip of the telescopic cylinder is pivotally attached to one end of the arm, and the other end of the arm is fixed to the first base end shaft f ₁₁ .

The balancing unit 53 is a balancing device that stably maintains the normal postures of the monitoring camera 60 and the GPS antenna 74 even when the boom 52 swings in the vertical direction.
The surveillance camera 60 is not particularly limited, and for example, a dome type camera (including a pan tilt zoom (PTZ) camera), a box type camera, a housing camera, an infrared night vision camera, a telephoto camera, or the like can be used. It is installed on the balance unit 60 so that the front and left and right spatial regions of the electric chassis 10A can be photographed. When the moving vehicle 1A is used outdoors, the surveillance camera 60 has a waterproof function.

  Further, as the dome type camera, a type having a wide horizontal and vertical lens field angle (for example, about 180 ° horizontally, about 90 ° vertically), a high resolution type (for example, 3840 × 2160 pixels), a type capable of color photographing, You may use the type which image | photographs only when a person is detected, the type which detects a person and tracks a face close-up, the infrared night vision type which can image | photograph in darkness, etc.

Next, the operation of the elevator rear portion 50 will be described.
2 and 3 show the state where the elevating mechanism section 50 is lowered, and at this time, the telescopic cylinder is extended. When raising the elevating mechanism section 50, the telescopic cylinder is shortened. As a result, the arm pivotally attached to the distal end of the telescopic cylinder is pulled forward, and the arm, the first proximal end shaft f ₁₁ and the main frame 52a integrally swing upward (in the direction of arrow E). Further, as the main frame 52a swings upward, the balancing part support rod 52b connected to the tip of the main frame 52a via the balancing part 53 is lifted upward (in the direction of arrow E).

At this time, the second tip axis f ₂₂ of the balancing portion 53 is pulled toward the balancing portion supporting rod 52b by the positional deviation of the balancing portion supporting rod 52b while being parallel to the main frame 52a, so that the balancing portion 53 and The normal postures of the surveillance camera 60 and the GPS antenna 74 installed thereon are maintained from the lowered position to the raised position.
Further, when the telescopic cylinder is extended, the boom 52 operates in the opposite direction to the lowered state of FIG. 2 from the raised state of FIG.
In this way, the raising and lowering mechanism unit 50 causes the surveillance camera 60 to move back and forth across the first axle line P ₁ .

The monitoring camera 60 installed on the equilibrium portion 53 of the elevating mechanism portion 50 having the above configuration has a stationary turning center point MP of the electric chassis 10A (the axle line P _{1 of the} pair of front wheels 21, 31 in plan view). It is arranged in the area of the circle CR in the inner area of the electric chassis 10A around the upper middle point MP).
At this time, the radius R of the circle CR is set to be shorter than the distance from the intermediate point MP to the outer peripheral end of the electric chassis 10A when viewed in plan so that the surveillance camera 60 does not collide with an obstacle when the vehicle is traveling. .. Specifically, the radius R is shorter than the front and rear axles P ₁ and P ₂ in plan view, and is more than the distance from the stationary turning center point MP to the right side surface or the left side surface of the electric chassis 10A. Is also short.

In the case of the first embodiment, the ground contact is made at the four ground contact center points G ₂₁ , G ₃₁ , G ₂₂ , and G ₃₂ of the pair of front wheels 21 and 31 and the pair of rear wheels 22 and 32 shown in FIG. 1B. between the center point _{G 21, G 22 (G 31} , G 32 between) distance is about 450～550Mm, the distance between the ground center point G _21, G ₃₁ (between G _22, G ₃₂₎ about 650~750mm And the radius R is about 300 to 500 mm. Further, the height of the surveillance camera 60 in the lowered position is about 850 to 1,050 mm, and the height of the surveillance camera 60 in the raised position is about 1650 to 1900 mm.

Further, the monitoring camera 60 is arranged on the center line CL in the front-rear direction passing through the stationary turning center point MP. The center line CL is a line orthogonal to the first axle line P ₁ in the area of the circle CR at the midpoint MP. As a result, the same image blur suppression effect can be obtained when the moving vehicle 1A turns left and right.

  The descending position monitoring camera 60 shown in FIG. 3 is arranged in front of the intermediate point MP (stationary turning center point MP), and the ascending position monitoring camera 60 shown in FIG. 5 is located behind the intermediate point MP. Although they are arranged, they are both located within the area of a narrow circular CR centered at the midpoint MP. That is, since the range of movement of the monitoring camera 60 that moves up and down by the lifting mechanism unit 50 is within the area of the circular circle CR that is narrow in plan view, it goes without saying that when the monitoring camera 60 in the lowered position captures the surrounding space, it rises. The shaking of the monitoring camera 60 at the tip of the boom 52 is suppressed when the image is taken while turning the surrounding space to the right or left by the monitoring camera 60 at the position, and the image blur is suppressed. It should be noted that the monitoring camera 60 in the lowered position is effectively suppressed from swinging when turning because the boom 52 of the lifting mechanism 50 in the lowered position is supported by the support portion 51a.

  Further, when the right and left front wheels 21 and 31 rotate in opposite directions at a constant speed, the moving vehicle 1A makes a stationary turn around the intermediate point MP (stationary turning center point MP). At this time, as shown in FIG. 5, the surveillance camera 60 in the raised position is located near the stationary turning center point MP, so that shaking is suppressed and image blurring is also suppressed.

(Embodiment 2)
6A and 6B are diagrams illustrating the schematic configuration of the electric chassis part in the second embodiment of the mobile vehicle of the present invention, in which FIG. 6A is a left side view and FIG. 6B is a line BB arrow of FIG. FIG. Further, FIG. 7 is a plan view showing the moving vehicle of the second embodiment, and FIG. 8 is a plan view showing a rising state of the imaging unit in the moving vehicle of the second embodiment. 6 to 8, the same elements as those in FIGS. 1 to 5 are designated by the same reference numerals.
Hereinafter, points of the second embodiment different from the first embodiment will be mainly described.

The moving vehicle 1B according to the second embodiment includes a right power transmission mechanism 45R that connects the right and left front wheels 21 and 22 to the electric chassis 10A of the moving vehicle 1A according to the first embodiment, and a left power that connects the left and right front wheels 31 and 32. The electric vehicle chassis 10B including the transmission mechanism 45L is provided, and the lifting mechanism unit 50 similar to that of the first embodiment is provided on the electric vehicle chassis 10B.
That is, in the moving vehicle 1B of the second embodiment, the pair of right and left front wheels 21 and 31 and the pair of rear wheels 22 and 32 are configured to be interlocked by belts 23 and 33 that are power transmission members. The configuration of is the same as that of the first embodiment.

The right power transmission mechanism 45R is specifically configured as follows.
A pulley 21b is provided on the axle 21a of the right front wheel 21, and a pulley 22b is provided on the axle 22a of the rear wheel 22. Further, between the pulley 21b of the front wheel 21 and the pulley 22b of the rear wheel 22, for example, a belt 23 having a projection on its inner surface side that meshes with a plurality of grooves provided on the outer peripheral surfaces of the pulleys 21b and 22b is wound. It is hung.
Similarly to the left power transmission mechanism 45L, the left front wheel 31 has a pulley 31b provided on the axle 31a and the rear wheel 32 has a pulley 32b provided on the axle 32a. A belt 33 having a structure similar to that of the belt 23 is wound around the pulley 32 b of 32.

Therefore, since the right and left front wheels and the rear wheels (21 and 22, 31 and 32) are connected and driven by the belts (23 and 33), one of the wheels may be driven. The second embodiment exemplifies a case where the front wheels 21 and 31 are driven. When one wheel is the driving wheel, the other wheel functions as a driven wheel that is driven by the belt that is the power transmission member without slipping.
As a power transmission member for connecting and driving the front wheel and the rear wheel, a pulley and a belt provided with protrusions that mesh with a plurality of grooves on the outer peripheral surface of the pulley are used.For example, a sprocket and a chain that meshes with the sprocket are used. May be used. Furthermore, if slippage is acceptable, a pulley and a belt with large friction may be used as the power transmission member. However, the power transmission member is configured so that the driving wheels and the driven wheels have the same rotational speed.
In FIGS. 6A and 6B, the front wheels (21, 31) correspond to driving wheels and the rear wheels (22, 32) correspond to driven wheels.

  With the above configuration, the front and rear wheels 21, 22 on the right side in the traveling direction and the front and rear wheels 31, 32 on the left side can be independently driven. That is, the power of the electric motor 41R on the right side is transmitted to the gear box 43R via the motor shaft 42R, and the gear box 43R changes the rotation speed, the torque, or the rotation direction, and then is transmitted to the axle 21a. The front wheel 21 is rotated by the rotation of the axle 21a, and the rotation of the axle 21a is transmitted to the rear shaft 22b via the pulley 21b, the belt 23, and the pulley 22b to rotate the rear wheel 22. The transmission of power from the left electric motor 41L to the front wheels 31 and the rear wheels 32 is the same as the operation on the right side described above.

  When the rotation speeds of the right and left electric motors 41R and 41L are the same, if the gear ratios (reduction ratios) of the gear boxes 43R and 43L are the same, the moving vehicle 1 will move forward or backward. When the speed of the moving vehicle 1 is changed, it may be changed while maintaining the gear ratios of the gear boxes 43R and 43L at the same value.

When the traveling direction is changed, the gear ratios of the gear boxes 43R and 43L are changed so that the rotation speeds of the right front wheel 21 and the rear wheel 22 and the left front wheel 31 and the rear wheel 32 are changed. Just make a difference. Furthermore, by changing the rotation direction of the output from each gear box 43R, 43L, the rotation directions of the right and left wheels are made opposite to each other and the rotation speeds are made the same, so that the pair of front wheels 21, 31 and the pair of rear wheels are formed. Stationary turning is possible around the center point CP of the rectangular area surrounded by the four ground contact center points G ₂₁ , G ₃₁ , G ₂₂ , and G ₃₂ of the wheels ₂₂ and ₃₂ . In the case of the second embodiment, the central portion of the chassis main body 11 is set so as to substantially coincide with the center point CP.

  In this way, the right and left front wheels and the rear wheels are connected by the power transmission member, and the four wheels are driven so as to be driven by the two electric motors arranged on the front wheel side. Since it is not necessary to provide an electric motor and a gearbox dedicated to the rear wheels, which is required between the electric motor and the rear wheels, it is possible to reduce the installation space for the electric motor or gearbox dedicated to the rear wheels.

According to the moving vehicle 1B of the second embodiment, as shown in FIG. 8, since the monitoring camera 60 at the raised position is arranged almost directly above the stationary turning center point (center point CP), the rising position of the surveillance camera 60 at the time of the stationary turning is changed. Shaking of the surveillance camera 60 and image blurring are effectively suppressed. Further, as shown in FIG. 7, since the surveillance camera 60 in the lowered position is arranged in the area of the circular CR centering on the midpoint MP of the first axle P ₁ of the left and right front wheels 21, 31, the right side Even when the vehicle turns right or left due to the difference in rotational speed between the front and rear wheels 21 and 22 and the left front and rear wheels 31 and 32, the shaking and image blurring of the surveillance camera 60 in the lowered position can be suppressed.

(Embodiment 3)
9A and 9B are views for explaining the schematic configuration of the electric chassis part in the third embodiment of the moving vehicle of the present invention, FIG. 9A is a left side view, and FIG. 9B is a line BB arrow of FIG. FIG. FIG. 10 is a left side view showing the moving vehicle of the third embodiment. 9 and 10, the same elements as those in FIGS. 1 to 8 are designated by the same reference numerals.
Hereinafter, differences between the third embodiment and the first and second embodiments will be mainly described.

In the case of the moving vehicle 1B of the second embodiment (see FIG. 6B), wheels with tires are used as the wheels 21, 22, 31, 32, but in the case of the moving vehicle 1C of the third embodiment, the left and right wheels are Omni wheels (registered trademark) are used as the rear wheels 122 and 132. In this case, the outer surfaces of the left and right front wheels 21, 31 and the outer surfaces of the left and right rear wheels 122, 132 are flush with each other.
Note that the other configurations of the third embodiment are similar to those of the second embodiment.

By making the left and right rear wheels 122, 132 omni wheels, the left and right rear wheels 122, 132 can move smoothly in the left-right direction when the electric chassis 10C turns. Therefore, in the moving vehicle 1C of the third embodiment, when the left and right front wheels 21, 31 (wheels with tires) are rotated at the same number of revolutions in mutually opposite directions, the middle point of the first axle P ₁ of the front wheels 21, 31. It is possible to smoothly make a fixed turn around the MP even at low torque.
According to the moving vehicle 1C of the third embodiment, in addition to the drivability of driving the front wheels 21, 31 and the rear wheels 122, 132 by the right power transmission mechanism 45R and the left power transmission mechanism 45L, the monitoring camera 60 can be obtained. Since the center point MP of the area of the circle CR (see FIG. 7) in which is arranged is set as the stationary turning center point, it is possible to suppress the image blur during the stationary turning.
In the moving vehicle 1C of the third embodiment, mecanum wheels may be used as the left and right rear wheels 122 and 132 instead of the omni holes.

(Embodiment 4)
FIG. 11 is a plan view showing a fourth embodiment of the moving vehicle of the present invention, and FIG. 12 is a plan view showing a rising state of the image pickup unit in the moving vehicle of the fourth embodiment. 11 and 12, the same elements as those in FIGS. 3 and 5 are designated by the same reference numerals.
Hereinafter, differences from the first embodiment in the fourth embodiment will be mainly described.

In the first embodiment, when viewed in plan, the monitoring camera 60 is centered on the midpoint MP of the axle P ₁ of the drive wheels (front wheels 21, 31) and the electric chassis part 10A in both the lowered and raised states. The case of arranging in the area of the circular CR that fits in the inner area of is illustrated.
On the other hand, in the moving vehicle 1D of the fourth embodiment, when viewed in plan, the intermediate point MP of the axle P ₁ of the drive wheels (the front wheels 21 and 31) is detected regardless of whether the monitoring camera 60 is in the descending state or the ascending state. Is arranged in the area of the rectangle SQ which is centered on and which fits in the area of the circular CR. The area of the rectangle SQ is defined by the ground contact center points G ₂₁ and G _{31 of} the left and right front wheels 21 and 31 that are rotationally driven, and the center line CL in the front-rear direction that passes through the intermediate point MP and is orthogonal to the axle line P _1. It is a square area having four sides intersecting at an angle of 45 °.
The rest of the configuration of the fourth embodiment is similar to that of the first embodiment.

Thus, even if the monitoring camera 60 is arranged in the area of the rectangle SQ centered on the midpoint MP of the axle P ₁ of the drive wheels (front wheels 21, 31), the moving range of the monitoring camera 60 is lowered and raised. In any of the states, the image blurring during the turning of the moving vehicle 1 can be suppressed because it falls within the area of the rectangle SQ.
In the moving vehicles 1B and 1C of the second and third embodiments, the surveillance camera 60 may be arranged in the same rectangular SQ area as in the fourth embodiment.

(Embodiment 5)
13 is a left side view showing Embodiment 5 of the moving vehicle of the present invention, and FIG. 14 is a plan view of the moving vehicle of FIG. 13 as seen from above. Further, FIG. 15 is a left side view showing an ascending state of the image pickup unit in the moving vehicle of the fifth embodiment, and FIG. 16 is a plan view of the moving vehicle of FIG. 13 to 16, the same elements as those in FIGS. 2 to 5 are designated by the same reference numerals.

The moving vehicle 101 of the fifth exemplary embodiment is different from the first exemplary embodiment in the configuration of the lifting mechanism unit 150, and the other configurations in the second exemplary embodiment are generally the same as those in the first exemplary embodiment.
Hereinafter, differences between the fifth embodiment and the first embodiment will be mainly described.

As shown in FIGS. 13 and 14, a single-arm type pantograph mechanism is used as the elevating mechanism unit 150 of the fifth embodiment.
That is, the lifting mechanism unit 150 includes an underframe 151 fixed on the chassis main body 11 and extending in the front-rear direction, and a first boom 152A provided at the front end of the underframe 151 so as to be swingable around the left-right axis. Of the second boom 152B, a second boom 152B provided at the tip of the first boom 152A so as to be swingable about the left-right axis, a hinge portion 152C connecting the first boom 152A and the second boom 152B, and a second boom 152B. An equilibrium portion 153 provided at the tip end and a telescopic cylinder (not shown) provided in the underframe 151 for vertically swinging the first boom 152A are provided.

The underframe 151 has a pivotal attachment portion 151b that pivotally supports the base end portion of the first boom 152A at the rear end portion.
The first boom 152A has a lower first frame 152Aa, a lower second frame 152Ab provided along the lower first frame 152Aa, and a balancing rod 152Ac.
The second boom 152B has an upper frame 152Ba and a balancing portion support rod 152Bb provided along the upper frame 152Ba.

The base end portion of the lower first frame 152Aa is fixed to a lower first base end shaft (not shown) that is rotatably pivotally attached to the pivotal attachment portion 151b, and the tip end portion of the lower first frame 152Aa is a hinge portion. It is pivotally secured via a first tip axis f ₁₁₂ of the lower to 152C.
The base end portion of the lower second frame 152Ab is fixed to a lower second base end shaft (not shown) pivotally attached to the pivot attachment portion 151b, and the tip end portion of the lower second frame is a hinge portion 152C. Is pivotally attached via a second lower tip shaft f ₁₁₄ .
The base end portion of the balance rod 152Ac is fixed to a lower third base end shaft (not shown) that is pivotally attached to the pivot attachment portion 151b, and the tip end portion of the second balance rod 152Ac is an upper frame. It is pivotally attached to a bent base end portion (not shown) of 152Ba via a lower third tip shaft (not shown).

The base end portion of the upper frame 152Ba is fixed to the upper first base end shaft f ₁₁₇ pivotally attached to the pivot portion 151b, and the tip end portion of the upper frame 152Ba is connected to the balance portion 153 by the upper first tip end shaft f _117. It is pivotally attached via f ₁₁₈ .
The base end portion of the balance portion support rod 152Bb is fixed to the upper second base end shaft f ₁₁₉ pivotally attached to the pivot portion 151b, and the tip portion of the balance portion support rod 152Bb is located above the balance portion 53. It is pivotally attached via the second tip axis f ₁₂₀ .

As the telescopic cylinder (not shown), an electric, hydraulic, or pneumatic cylinder can be used as in the first embodiment.
The base end portion of the telescopic cylinder is pivotally attached to the underframe 151 or the chassis main body 11 so as to be vertically swingable, and the tip end portion of the telescopic cylinder is connected to the lower first base end shaft via an arm (not shown). .. At this time, the tip of the telescopic cylinder is pivotally attached to one end of the arm, and the other end of the arm is fixed to the lower first proximal end shaft.

  Similar to the first embodiment, the balancing unit 153 is a balancing device that stably maintains the normal postures of the surveillance camera 60 and the GPS antenna 74 even when the first and second booms 152A and 152B swing vertically. ..

Next, the operation of the elevator rear portion 50 will be described.
13 and 14 show the state where the elevating mechanism 150 is lowered, and at this time, the telescopic cylinder is extended. When raising the lifting mechanism 150, the telescopic cylinder is shortened. As a result, as shown in FIGS. 15 and 16, the arm pivotally attached to the distal end of the telescopic cylinder is pulled forward, and the arm, the lower first proximal end shaft, and the lower first frame 152Aa are moved upward ( It swings integrally in the direction of arrow F). Further, as the lower first frame 152Aa swings upward, the lower second frame 152Ab connected to the tip of the lower first frame 152Aa is lifted upward (in the direction of arrow F) via the hinge portion 152C.

At this time, since the second tip axis f ₁₁₄ of the lower hinge portion 152C by positional displacement remains parallel second frame 152Ab down against the lower first frame 152Aa is attracted toward the lower second frame 152Ab The bent base end portion of the upper frame 152Ba is attracted toward the balance rod 152Ac, whereby the upper frame 152Ba swings in the arrow G direction and rises. At the same time, the balancing portion support rod 152Bb connected to the tip of the upper frame 152Ba is lifted via the balancing portion 153.

At this time, the balancer support rod 152Bb is displaced in parallel with the upper frame 152Ba, and the second tip end axis f _{120 on} the upper side of the balancer 153 is pulled toward the balancer support rod 152Bb. The normal postures of 153 and the surveillance camera 60 and the GPS antenna 74 installed thereon are maintained from the lowered position to the raised position.
When the telescopic cylinder is extended, the first and second booms 152A and 152B operate in the opposite manner to the raised state of FIG. 15 and the lowered state of FIG.

Similar to the case of the first embodiment, the surveillance camera 60 installed on the balance unit 153 of the lifting mechanism unit 150 having the above-described configuration has the first axle line between the pair of left and right front wheels 21 and 31 in plan view. It is arranged in a region of a circle CR having a radius R that fits within the inner region of the electric chassis 10A from the midpoint MP on P ₁ . Further, the surveillance camera 60 is arranged on the center line CL in the front-rear direction orthogonal to the midpoint MP of the first axle P ₁ in the area of the circle CR. In the case of the second embodiment, the height of the monitor camera 60 in the lowered position is about 900 to 1100 mm, and the height of the monitor camera 60 in the raised position is about 1650 to 1900 mm.

  The monitoring camera 60 in the lowered position shown in FIG. 14 is arranged in front of the intermediate point MP, and the monitoring camera 60 in the raised position shown in FIG. 16 is arranged almost directly above the intermediate point MP, both of which are circular. It is in the area of CR. That is, since the range of movement of the monitoring camera 60 that moves up and down by the elevating mechanism unit 150 in plan view falls within the area of the circular CR, it goes without saying that when the surrounding space is photographed by the monitoring camera 60 in the descending position, The camera shake at the tip of the second boom 152B at the time of shooting while rotating the surrounding space by the surveillance camera 60 in FIG.

Further, when the right front wheels 21 and 22 or the left front wheels 31 and 32 reversely rotate at a constant speed, the moving vehicle 1 makes a stationary turn around the midpoint MP of the first axle P ₁ . At this time, as shown in FIG. 16, since the surveillance camera 60 in the raised position is located near the stationary turning center point (intermediate point MP), shaking is suppressed and image blurring is also suppressed.

  The electric vehicle chassis 10A of the moving vehicle 101 of the fifth embodiment may be configured like the electric vehicle chassis 10B of the second embodiment or the electric vehicle chassis 10C of the third embodiment. Further, the surveillance camera 60 on the elevating mechanism unit 150 in the moving vehicle 101 of the fifth embodiment may be arranged in the area of the rectangle SQ as in the fourth embodiment.

(Embodiment 6)
FIG. 17 is a left side view showing a sixth embodiment of the moving vehicle of the present invention. 17, the same elements as those in FIGS. 2, 6 and 7 are designated by the same reference numerals.

The moving vehicle 201 according to the sixth embodiment is provided with an elevating mechanism unit 250 that vertically elevates and lowers on the electric chassis 10B according to the second embodiment. The other configurations of the sixth embodiment are similar to those of the second embodiment.
Hereinafter, differences from the second embodiment of the sixth embodiment will be mainly described.

As shown in FIG. 17, a frame-intersecting pantograph mechanism is used as the elevating mechanism section 250 of the sixth embodiment.
That is, the elevating mechanism unit 250 includes a rectangular underframe 251 fixed on the chassis body 11 and an outer lower frame fixed on the left-right first axis s ₁ pivotally mounted on the front end of the underframe 251. A frame 252, an inner lower frame 253 fixed to the second axis s ₂ in the left-right direction pivotally mounted on the rear end of the underframe 251, and a tip of the outer lower frame 252 via the first hinge 256. The outer upper frame 254 connected thereto, the inner upper frame 255 connected to the tip of the inner lower frame 253 via the second hinge portion 257, the tip of the outer upper frame 254 and the tip of the inner upper frame 255 are pivotally attached. A lift base 258, a fixed base 259 for fixing the surveillance camera 60 and the GPS antenna 74 on the lift base 258, and an outer lower frame 252 or an inner lower frame 253 provided in the underframe 251 to swing up and down. Not equipped with a telescopic cylinder.

As the telescopic cylinder (not shown), an electric, hydraulic or pneumatic cylinder can be used as in the first embodiment.
The base end of the telescopic cylinder is pivotally attached to the underframe 251 or the chassis main body 11 so as to be vertically swingable, and the tip of the telescopic cylinder is connected to the first shaft s ₁ or the second shaft s ₂ via an arm (not shown). ing. At this time, the tip of the telescopic cylinder is pivotally attached to one end of the arm, and the other end of the arm is fixed to the first shaft s ₁ or the second shaft s ₂ .

  According to the elevator rear part 250 configured as described above, when the telescopic cylinder is shortened, the frame crossing pantograph mechanism extends in the vertical direction (direction of arrow H) to raise the monitoring camera 60 and the PS antenna 74, and the telescopic cylinder. Is extended, the pantograph mechanism of the frame crossing type is shortened and the surveillance camera 60 and the PS antenna 74 are lowered.

In the case of the sixth embodiment, the monitoring camera 60 installed on the elevating mechanism section 250 having the above-described configuration is provided with the central point CP of the electric chassis part 10B described in FIG. 6B, that is, the stationary state of the electric chassis part 10B. It is located directly above the turning center point. This center point CP is, in plan view, within a region of a circle CR having a radius R that fits inside the region of the electric chassis 10B from an intermediate point MP on the first axle P ₁ between the pair of left and right front wheels 21, 31. It is located in.
In the case of the sixth embodiment, the height of the monitoring camera 60 in the lowered position is about 800 to 1100 mm, and the height of the monitoring camera 60 in the raised position is about 1700 to 2500 mm.

The moving vehicle 201 of the sixth embodiment makes a stationary turn around the center point CP when the right front wheels 21 and 22 and the left front wheels 31 and 32 reversely rotate at the same speed. At this time, since the monitoring camera 60 is always located at the center of rotation within the range of movement from the lowered position to the raised position, shaking and image blur during stationary turning can be effectively suppressed.
Further, since the monitoring camera 60 is arranged in the area of the circle CR centering on the midpoint MP of the first axle P1, the right and left front wheels 21, 22 and the left front and rear wheels 31, 32 are rotated at rotational speeds. The swing and image blurring of the surveillance camera 60 can be suppressed to a small level even when the vehicle turns right or left due to the difference.

(Other embodiments)
In the case of the third embodiment, casters that can swing around the vertical axis may be used as the left and right rear wheels 22 and 32.
-In the mobile vehicles of Embodiments 1 to 6, the lifting mechanism may be omitted, and the monitoring camera 60 may be installed on the chassis main body directly or via an installation stand.

  It should be considered that the disclosed embodiments are illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description but by the scope of the claims, and is intended to include meanings equivalent to the scope of the claims and all modifications within the scope.

1A, 1B, 1C, 1D, 101, 201 Moving vehicle 10A, 10B, 10C, 10D Electric chassis part 11 Chassis body 21, 31 Front wheels 21b, 22b, 31b, 32b Pulley (power transmission mechanism)
22, 32, 122, 132 Rear wheels 23, 33 Belt (power transmission mechanism)
31a, 32a Wheel body 31b, 32b Tire 40 Battery 41R, 41L Electric motor 50, 150, 250 Lifting mechanism part 60 Monitoring camera (imaging part)
CL center line CP center point CR circle MP intermediate point P ₁ 1st axle line P ₂ 2nd axle line R radius SQ rectangle

Claims (12)

The vehicle is equipped with a movable electric chassis part and an image pickup part provided on the electric chassis part.
The electric chassis part includes a chassis main body, a plurality of left and right wheels provided in front and rear of the chassis main body, and two electric motors that individually rotate and drive at least one front and rear left and right pair of wheels of the plurality of wheels. A motor and a battery supplying electric power to the two electric motors,
A pair of left and right wheels rotationally driven by the electric motor are arranged on the same axle line,
The imaging unit, when viewed in plan, has a predetermined radius centered on an intermediate point on the axle between the pair of left and right wheels rotationally driven by the electric motor and shorter than a distance between axles of front and rear wheels. are disposed within a circular area having,
The mobile vehicle , wherein the predetermined radius is set to be equal to or shorter than a distance from the intermediate point to an outer peripheral end portion of the electric chassis part when seen in a plan view . The imaging unit, to claim 1, which is arranged within the rectangular region that fits in the corner portion in the longitudinal direction of the center line and on the axle line perpendicular to the midpoint and as the axle lines are arranged and the circular region The moving vehicle described. The mobile vehicle according to claim 1 or 2 , wherein the imaging unit is arranged on a center line in a front-rear direction that passes through the intermediate point and is orthogonal to the axle line when seen in a plan view. The left and right wheels that are rotationally driven by the electric motor are front wheels,
The moving vehicle according to any one of claims 1 to 5 , wherein the imaging unit is arranged in front of an intermediate point of the axle lines of the left and right front wheels. Further comprising an elevating mechanism part provided on the electric chassis part for elevating the imaging part,
Moving vehicle according to any one of claims 1-4 which dimensionally moving range when viewed in the imaging unit fits into the circular area of the lifting by the lifting mechanism. The moving vehicle according to claim 5 , wherein the lifting mechanism unit is configured to move the imaging unit in the up-down direction and the front-back direction with respect to the electric chassis part. Elevator mechanism is viewed in plan, the mobile vehicle according to claim 5 or 6 configured such that the imaging unit can be moved across the axle line. The elevating mechanism unit is a link mechanism having an underframe fixed on the chassis main body and extending in the front-rear direction, and a boom provided at the rear end of the underframe so as to be swingable around the left and right axis,
The underframe has a support portion that supports the boom lowered to the front end portion,
The support portion is moving vehicle according to any one of claims 5-7 disposed on the axle beam in a plan view. The moving vehicle according to claim 5 , wherein the lifting mechanism unit is configured to move the imaging unit only in the vertical direction with respect to the electric chassis part. A pair of left and right wheels rotatably driven by an electric motor each have a wheel body attached to the electric chassis part via a drive shaft, and a tire filled with air attached to the outer periphery of the wheel body. moving vehicle according to any one of claims 1-9 formed by. Moving vehicle according to any one of claims 1-10 which is autonomous type moving vehicle. The vehicle is equipped with a movable electric chassis part and an image pickup part provided on the electric chassis part.
The electric chassis part includes a chassis main body, a plurality of left and right wheels provided in front and rear of the chassis main body, and two electric motors that individually rotate and drive at least one front and rear left and right pair of wheels of the plurality of wheels. A motor and a battery supplying electric power to the two electric motors,
A pair of left and right wheels rotationally driven by the electric motor are arranged on the same axle line,
The imaging unit, when viewed in plan, has a predetermined radius centered on an intermediate point on the axle between the pair of left and right wheels rotationally driven by the electric motor and shorter than a distance between axles of front and rear wheels. Are arranged in a circular area having
Further comprising an elevating mechanism part provided on the electric chassis part for elevating the imaging part,
The moving range of the imaging unit that moves up and down by the lifting mechanism unit when viewed in plan is set within the circular region,
A moving vehicle, wherein the lifting mechanism section is configured to move the imaging section only in the vertical direction with respect to the electric chassis part.

Images