WO2016125728A1 - Dispositif de déplacement autonome - Google Patents

Dispositif de déplacement autonome Download PDF

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Publication number
WO2016125728A1
WO2016125728A1 PCT/JP2016/052880 JP2016052880W WO2016125728A1 WO 2016125728 A1 WO2016125728 A1 WO 2016125728A1 JP 2016052880 W JP2016052880 W JP 2016052880W WO 2016125728 A1 WO2016125728 A1 WO 2016125728A1
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WO
WIPO (PCT)
Prior art keywords
battery
main body
door
autonomous traveling
tray
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/052880
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English (en)
Japanese (ja)
Inventor
清隆 平田
篤史 樋口
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sharp Corp
Original Assignee
Sharp Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2016011479A external-priority patent/JP6771895B2/ja
Application filed by Sharp Corp filed Critical Sharp Corp
Priority to CN201680008445.1A priority Critical patent/CN107206880B/zh
Priority to US15/543,592 priority patent/US10466699B2/en
Publication of WO2016125728A1 publication Critical patent/WO2016125728A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present invention relates to an autonomous traveling device that autonomously travels by driving wheels.
  • the autonomous mobile device is used, for example, when monitoring an obstacle on a monitoring route (circulating route). In this case, the autonomous traveling device autonomously travels on the monitoring route at a preset speed.
  • Such an autonomous traveling device includes wheels, a device body, a power source, and a battery.
  • the battery supplies power to the power source.
  • the power source drives the wheels by the power of the battery to cause the apparatus main body to travel autonomously.
  • the autonomous traveling device When an electric motor or the like is used as a power source, the autonomous traveling device requires a large capacity battery. However, charging a large capacity battery takes time. For this reason, a method of replacing the entire battery is used. Thus, it is desirable that the autonomous mobile device can easily replace the battery so that the battery can be replaced quickly.
  • the power source is one of the heavy mechanical parts, but the battery is the heaviest among the members of the autonomous mobile device.
  • the center of gravity of the autonomous traveling device (device main body) varies greatly depending on the arrangement of the battery. Therefore, in the autonomous traveling device, it is desired to arrange the battery in consideration of the center of gravity of the device main body so that stable autonomous traveling can be performed.
  • Patent Document 1 discloses a vehicle (electric vehicle) equipped with a battery.
  • a battery is exchanged from below the vehicle body, and a battery exchange device for exchanging the battery is provided below the vehicle body.
  • the battery exchange device is provided between the left and right wheels below the ground contact surface of the wheels.
  • the battery can be easily replaced by this battery exchange device.
  • Patent Document 2 discloses a vehicle (passenger car) equipped with a battery.
  • a battery is arranged by providing a partition in an auxiliary unit chamber provided in a vehicle body.
  • the battery can be easily replaced by this partition.
  • the present invention has been made in view of the above-described conventional problems.
  • the battery can be easily replaced, and stable autonomous traveling can be performed by arranging the battery in consideration of the center of gravity of the apparatus main body.
  • An object is to provide an autonomous traveling device.
  • the autonomous traveling device of the present invention includes a wheel, a device main body, a power source that is provided on one end of the device main body in the device main body, drives the wheel to autonomously travel the device main body, and the power A battery for supplying power to the power source; and a storage unit for storing the battery in a central portion of the device main body in the device main body from the other end of the device main body.
  • the autonomous traveling device can easily replace the battery, and can perform stable autonomous traveling by arranging the battery in consideration of the center of gravity of the device main body.
  • FIG. 3 is an enlarged view of a portion A in FIG. 2 in the autonomous traveling device 1 according to the first embodiment.
  • FIG. 3 is a cross-sectional view taken along the line B-B ′ of FIG. 2 in the autonomous traveling device 1 according to the first embodiment.
  • the autonomous traveling apparatus 1 which concerns on 1st Embodiment, it is an enlarged view of the C section of FIG.
  • FIG. 3 is a cross-sectional view taken along the line B-B ′ of FIG. 2 in the autonomous traveling device 1 according to the second embodiment. It is upper surface sectional drawing of the autonomous traveling apparatus 1 which concerns on 3rd Embodiment. It is a block diagram which shows the electric constitution of the autonomous traveling apparatus 1 which concerns on 4th Embodiment.
  • D section of FIG. In the autonomous mobile device 1 which concerns on 5th Embodiment, it is an enlarged view of D section of FIG.
  • the autonomous mobile device 1 which concerns on 5th Embodiment it is an enlarged view of E part of FIG.
  • FIG. 23 is a cross-sectional view taken along the line F-F ′ in FIG.
  • FIG. 23 is a perspective sectional view taken along the line F-F ′ of FIG. 22 in the autonomous traveling device 1 according to an application example.
  • FIG. 23 is a cross-sectional view taken along the line G-G ′ of FIG. 22 in the autonomous mobile device 1 according to an application example.
  • FIG. 1 is a side view of the autonomous traveling device 1 according to the first embodiment
  • FIG. 2 is a top sectional view of the autonomous traveling device 1 according to the first embodiment.
  • the autonomous mobile device 1 includes a device main body 2, a drive device 10, and four wheels 3.
  • the four wheels 3 are divided into left and right front wheels 3-1 and left and right rear wheels 3-2.
  • the direction from the back surface (rear) of the apparatus main body 2 to the front surface (front) of the apparatus main body 2 is referred to as an X direction.
  • a direction from the right side surface of the apparatus body 2 to the left side surface of the apparatus body 2 and perpendicular to the X direction is referred to as a Y direction.
  • a direction from the bottom surface to the top surface of the apparatus main body 2 and perpendicular to the X direction and the Y direction is referred to as a Z direction.
  • the driving device 10 drives the wheel 3.
  • the drive device 10 includes left and right electric motors 11, left and right transmissions 12, four axles 13, left and right front wheel sprockets 14-1, left and right rear wheel sprockets 14-2, and left and right belts 15. And left and right bearings 16.
  • the four axles 13 are divided into left and right front wheel shafts 13-1 and left and right rear wheel shafts 13-2.
  • heavy mechanical portions such as the left and right electric motors 11 are provided on one end side of the device main body 2 in the device main body 2.
  • the power source the left and right electric motors 11 and the like
  • the left and right front wheels 3-1 are referred to as drive wheels
  • the left and right rear wheels 3-2 are referred to as driven wheels.
  • Each of the left and right front wheel shafts 13-1 has one end connected to the left and right front wheels 3-1, and the other end connected to the left and right transmissions 12.
  • the left and right transmissions 12 are connected to the left and right electric motors 11, respectively.
  • the left and right electric motors 11 are controlled by a control device 20 (see FIG. 3) described later.
  • Each of the left and right rear wheel shafts 13-2 has one end connected to the left and right rear wheels 3-2 and the other end connected to the left and right bearings 16.
  • a left front wheel shaft 13-1 and a left rear wheel shaft 13-2 are provided, respectively.
  • the left belt 15 is provided on the outer periphery of the left front wheel sprocket 14-1 and the left rear wheel sprocket 14-2, and the left front wheel 3-1 (drive wheel) and the left rear wheel 3-2 ( The driven belt is connected to the belt 15 on the left side.
  • the left front wheel 3-1 (drive wheel) receives the power of the left electric motor 11 via the left transmission 12, and based on the power, the left front wheel shaft 13-1 and the left front wheel sprocket. Rotates with 14-1.
  • the left rear wheel 3-2 (driven wheel) receives the rotational motion of the left front wheel 3-1 (drive wheel) by the left belt 15, and based on the rotational motion, the left rear wheel shaft 13- 2 and the left rear sprocket 14-2.
  • a right front wheel shaft 13-1 and a right rear wheel shaft 13-2 are provided, respectively.
  • the right belt 15 is provided on the outer periphery of the right front wheel sprocket 14-1 and the right rear wheel sprocket 14-2, and the right front wheel 3-1 (drive wheel) and the right rear wheel 3-2 ( The right belt 15 is connected to the driven wheel.
  • the right front wheel 3-1 (drive wheel) receives the power of the right electric motor 11 via the right transmission 12, and based on the power, the right front wheel shaft 13-1 and the right front wheel sprocket. Rotates with 14-1.
  • the right rear wheel 3-2 (driven wheel) receives the rotational motion of the right front wheel 3-1 (drive wheel) by the right belt 15, and based on the rotational motion, the right rear wheel shaft 13- 2 and the right rear sprocket 14-2.
  • the transmission 12 includes, for example, a clutch and a gear box.
  • the gear box includes a shaft 12A having one end connected to the electric motor 11, a gear (not shown) provided on the outer periphery of the shaft 12A, and the like. , Change the direction of rotation and transmit. Therefore, the transmission 12, the front wheel shaft 13-1, the rear wheel shaft 13-2, the front wheel sprocket 14-1, the rear wheel sprocket 14-2, and the belt 15 are configured as power transmission members.
  • the left and right electric motors 11 drive and stop the apparatus body 2 by driving the four wheels 3 by transmitting power to the left and right power transmission members, respectively. That is, the autonomous traveling device 1 has a structure in which the front wheel 3-1 (driving wheel) and the rear wheel 3-2 (driven wheel) are rotated at the same speed by one electric motor 11.
  • the transmission 12 may not be included as a power transmission member.
  • the electric motor 11 and the left and right front wheel shafts 13-1 are coupled by a gear (fixed ratio) to control the rotation speed and rotation direction of the electric motor 11.
  • the device main body 2 of the autonomous mobile device 1 further includes a battery 30, a storage unit 40, a door 50, and a lock mechanism (not shown).
  • an opening hole is formed as a storage portion 40 from the other end side of the apparatus main body 2 to the central portion of the apparatus main body 2 in the apparatus main body 2.
  • the apparatus main body 2 is the front side (front side) of the apparatus main body 2
  • the other end of the apparatus main body 2 is the back side (rear side) of the apparatus main body 2.
  • the storage unit 40 is a space for the operator to store the battery 30 from the back side (rear side) of the apparatus main body 2 to the central portion of the apparatus main body 2 in the apparatus main body 2.
  • the door 50 is provided to cover the storage unit 40 and is provided on the back side (rear side) of the apparatus main body 2 so as to be openable and closable.
  • the lock mechanism is provided on the back side (rear side) of the apparatus body 2 in order to lock the closed door 50 to the apparatus body 2.
  • the lock mechanism is not particularly limited as long as it can lock the door 50 to the apparatus main body 2.
  • FIG. 3 is a block diagram showing an electrical configuration of the autonomous mobile device 1 according to the first embodiment.
  • FIG. 4 is an enlarged view of a portion A in FIG.
  • the device main body 2 of the autonomous mobile device 1 further includes a control device 20 and a control device-side electrode 62.
  • the battery 30 is provided with an electrode 32.
  • the control device 20 is connected to a control device side electrode 62 provided on the inner wall portion of the storage portion 40 via a wiring (not shown).
  • a control device side electrode 62 provided on the inner wall portion of the storage portion 40 via a wiring (not shown).
  • the control device 20 controls the driving device 10 with the power of the battery 30.
  • the control device 20 is provided in the device main body 2 and includes a control unit 21 and a storage unit 22.
  • the control unit 21 is a CPU (Central Processing Unit).
  • the storage unit 22 stores a computer program executable by the computer, and the control unit 21 reads and executes the computer program.
  • the control unit 21 includes a travel control unit 23.
  • the traveling control unit 23 controls the driving device 10 to drive the wheels 3. Specifically, the traveling control unit 23 controls the driving device 10 to cause the apparatus main body 2 to autonomously travel on a preset monitoring route at a preset speed. That is, the autonomous traveling device 1 travels autonomously by driving the wheels 3.
  • the traveling control unit 23 When the autonomous traveling device 1 goes straight, the left and right electric motors 11 of the drive device 10 are controlled so that the left and right front wheels 3-1 (drive wheels) rotate at the same rotational speed. Further, when the traveling direction of the autonomous traveling device 1 is changed, the traveling control unit 23 controls the left and right electric motors 11 of the driving device 10 so that a difference occurs in the rotational speed between the left and right front wheels 3-1 (driving wheels). To do. Furthermore, when the autonomous traveling device 1 is turned, so-called stationary rotation, the traveling control unit 23 controls the left and right electric motors of the driving device 10 so that the rotation directions of the left and right front wheels 3-1 (drive wheels) are reversed. The motor 11 is controlled.
  • the control unit 21 further includes a power supply control unit 24.
  • a power supply control unit 24 When the control device side electrode 62 is connected to the electrode 32 of the battery 30 in the storage unit 40, the power supply control unit 24 supplies the power of the battery 30 to a power source (such as the left and right electric motors 11).
  • FIG. 5 is a cross-sectional view taken along the line B-B ′ of FIG.
  • FIG. 6 is an enlarged view of a portion C in FIG.
  • FIG. 7 is a schematic diagram illustrating the top surface of the autonomous traveling device 1 according to the first embodiment and illustrating the detaching operation of the battery 30 in the autonomous traveling device 1 according to the first embodiment.
  • left and right ribs 31 (projections) formed along the length direction (X direction) of the side surface of the battery 30 are provided on the bottom surface of the battery 30.
  • the battery 30 is arranged on the bottom surface (floor surface) of the storage unit 40 in the apparatus main body 2 so as to guide the movement of the battery 30 in the X direction in the storage unit 40.
  • Left and right groove portions 41 (battery guide members) respectively formed in portions corresponding to the left and right ribs 31 are provided. That is, the groove portion 41 is a rail for sliding the rib 31.
  • the operator When the operator installs the battery 30 in the apparatus main body 2, first, the operator orients the battery 30 so that the electrode 32 of the battery 30 faces the control device side electrode 62 in the storage unit 40 (see FIG. 3 and 4). Next, as shown in FIGS. 5 to 7, the operator aligns the rib 31 of the battery 30 with the groove 41 of the storage unit 40. Next, as shown in FIGS. 7 and 2, the operator moves the battery 30 from the other end of the apparatus main body 2 (the back of the apparatus main body 2) to the central portion of the apparatus main body 2 in the apparatus main body 2. Slide in the X direction. That is, as shown in FIG. 2, the operator stores the battery 30 in the apparatus main body 2. In this case, as shown in FIGS.
  • the electrode 32 of the battery 30 is connected to the control device side electrode 62 in the housing portion 40.
  • the operator closes the door 50.
  • the operator locks the door 50 by the above-described locking mechanism (not shown) so that the door 50 does not open unexpectedly.
  • the operator When the operator removes the battery 30 from the apparatus main body 2, the operator first unlocks the lock mechanism. Next, the operator opens the door 50. Next, as shown in FIGS. 2 and 7, the operator moves the battery 30 from the central portion of the device body 2 in the device body 2 to the other end of the device body 2 (the back of the device body 2). Slide in the direction opposite to the X direction. At this time, the connection between the control device side electrode 62 and the electrode 32 of the battery 30 is released in the storage unit 40. Next, the operator removes the battery 30 from the other end of the apparatus main body 2 (the back surface of the apparatus main body 2).
  • the device main body 2 is provided on one end side of the device main body 2 in the device main body 2, and the wheels 3 (front wheel 3-1, rear wheel 3- 2) to drive the device main body 2 autonomously by driving the power source (left and right electric motors 11 and the like), a battery 30 for supplying power to the power source (left and right electric motors 11 and the like), A storage portion 40 for storing the battery 30 is provided in the central portion of the apparatus main body 2 in the apparatus main body 2 from the other end (the back surface of the apparatus main body 2).
  • the device body 2 is accommodated from the other end side (the back side of the device body 2) to the central portion of the device body 2 in the device body 2. Since the part 40 is provided, the battery 30 can be easily replaced from the other end of the apparatus main body 2 (the back of the apparatus main body 2).
  • the battery 30 is provided from the other end of the device main body 2 (the back of the device main body 2) to the central portion of the device main body 2 in the device main body 2. Therefore, by providing a power source (such as the left and right electric motors 11) on one end portion side of the apparatus main body 2 in the apparatus main body 2, stable autonomous traveling is achieved by the arrangement of the battery 30 in consideration of the center of gravity of the apparatus main body 2. Can be done.
  • a power source such as the left and right electric motors 11
  • the battery 30 can be easily replaced, and stable autonomous traveling can be performed by the arrangement of the battery 30 in consideration of the center of gravity of the device body 2. .
  • the battery 30 is provided with a protrusion (rib 31) formed along the length direction (X direction) of the side surface of the battery 30.
  • a battery guide member (groove portion) formed in a portion corresponding to the protrusion (rib 31) of the battery 30 so as to guide the movement (movement in the X direction) of the battery 30 within the storage portion 40. 41).
  • an openable / closable door 50 is provided to cover the storage unit 40 in which the battery 30 is stored.
  • the operator aligns the rib 31 of the battery 30 with the groove 41 of the storage unit 40, and moves the battery 30 in the length direction of the side surface of the battery 30.
  • the battery 30 can be easily attached and detached as replacement of the battery 30.
  • FIG. 8 is a cross-sectional view taken along the line BB ′ of FIG. 2 in the autonomous mobile device 1 according to the second embodiment.
  • changes from the first embodiment will be described.
  • the ground contact surface of the wheel 3 (rear wheel 3-2 in the case of FIG. 8) is referred to as a ground contact surface Ho.
  • the middle point of the height (the length in the Z direction) of the battery 30 is referred to as a battery middle point Mp
  • the distance in the Z direction from the ground plane Ho to the battery middle point Mp is referred to as a battery middle point height Hb.
  • the distance from the ground contact surface Ho to the axle 13 of the wheel 3 (in this case, the rear wheel 3-2) (in this case, the rear wheel shaft 13-2) is referred to as the axle height H.
  • the battery midpoint height Hb is set lower than the axle height H.
  • the distance from the ground plane Ho of the wheel 3 to the midpoint Mb of the height of the battery 30 (battery midpoint height Hb) is from the ground plane Ho. It is lower than the distance (axle height H) to the axis of the axle 13 of the wheel 3.
  • the autonomous traveling device 1 since the center of gravity of the device body 2 is set lower than that in the first embodiment, the autonomous traveling more stable than in the first embodiment. Can be done.
  • FIG. 9 is a top sectional view of the autonomous traveling device 1 according to the third embodiment.
  • changes from the first and second embodiments will be described.
  • the length of the side surface (X direction) of the battery 30 is referred to as a battery side surface length Lb.
  • the distance from the axis 13 of the front wheel 3-1 of the wheel 3 (front wheel shaft 13-1) to the axis of the axle 13 (rear wheel shaft 13-2) of the rear wheel 3-2 of the wheel 3 is determined. This is referred to as the inter-axis distance L.
  • the battery side surface length Lb is set to be longer than half (1 / 2L) of the inter-axis distance L.
  • the side length of the battery 30 (battery side length Lb) is the axle 13 of the front wheel 3-1 of the wheel 3 (front wheel shaft 13-1). Is longer than a half (1/2 L) of the distance (distance L between the axes) from the axis of the wheel 3 to the axis of the axle 13 (rear wheel shaft 13-2) of the rear wheel 3-2 of the wheel 3.
  • the arrangement of the battery 30 and the length of the side surface of the battery 30 are determined in consideration of the center of gravity of the device body 2. Therefore, it is possible to perform more stable autonomous traveling as compared with the first and second embodiments.
  • FIG. 10 is a block diagram showing an electrical configuration of the autonomous mobile device 1 according to the fourth embodiment.
  • FIG. 11 is a block diagram illustrating an electrical configuration of the autonomous traveling device 1 according to the fourth embodiment, and is a diagram for explaining an opening / closing operation of the door 50 in the autonomous traveling device 1 according to the fourth embodiment.
  • changes from the first to third embodiments will be described.
  • the device body 2 of the autonomous traveling device 1 further includes an open / close detection unit 52.
  • the open / close detection unit 52 detects the opening / closing of the door 50 and outputs a detection result indicating that to the control device 20.
  • the open / close detection unit 52 is a contact type, detects that the door 50 is closed when it is in contact with the door 50, and detects that the door 50 is open when it is not in contact with the door 50. Detect.
  • the open / close detection unit 52 is not limited to the contact type as described above, and may be a non-contact type using a magnet, infrared rays, or the like.
  • the control unit 21 of the control device 20 in the device main body 2 of the autonomous mobile device 1 further includes an opening / closing control unit 25.
  • the open / close control unit 25 supplies power from the battery 30 to the power source (such as the left and right electric motors 11).
  • the control unit 24 is permitted.
  • the open / close detection unit 52 When the door 50 is closed, the open / close detection unit 52 is in contact with the door 50. In this case, the open / close detection unit 52 detects that the door 50 is closed, and outputs a closed state detection result to the control device 20 as a detection result indicating that.
  • the open / close control unit 25 of the control device 20 generates a power supply permission signal indicating that power supply from the battery 30 to the power source (such as the left and right electric motors 11) is permitted according to the closed state detection result. Output to.
  • the power supply control unit 24 supplies the power of the battery 30 according to the power supply permission signal. It is supplied to a power source (left and right electric motors 11 and the like).
  • the open / close detection unit 52 When the door 50 is not closed, the open / close detection unit 52 is not in contact with the door 50. In this case, the open / close detection unit 52 detects that the door 50 is open, and outputs an open state detection result to the control device 20 as a detection result indicating that.
  • the open / close control unit 25 of the control device 20 generates a power supply prohibition signal indicating that power supply from the battery 30 to the power source (such as the left and right electric motors 11) is prohibited in accordance with the detection result of the open state. Output to.
  • the power supply control unit 24 since the door 50 is open even if the control device side electrode 62 is connected to the electrode 32 of the battery 30 in the storage unit 40, the power supply control unit 24 responds to the power supply prohibition signal. Is not supplied to a power source (such as the left and right electric motors 11).
  • the open / close detection unit 52 that detects the opening / closing of the door 50 and the power of the battery 30 as the power source when the door 50 is closed as a detection result.
  • a control device 20 in this case, a power supply control unit 24 and an opening / closing control unit 25 for supplying to (such as the electric motor 11).
  • the door 50 is not closed when the operator installs the battery 30 in the apparatus main body 2 as replacement of the battery 30 by the operator.
  • the control device 20 in this case, the power supply control unit 24 and the open / close control unit 25
  • the power source such as the electric motor 11
  • the door 50 is not closed, a phenomenon in which the battery 30 falls from the apparatus main body 2 or a spark between the electrode 32 of the battery 30 and the control device side electrode 62 in the storage unit 40 is caused. Can be prevented. Therefore, safety is improved.
  • FIG. 12 is a top cross-sectional view of the autonomous mobile device 1 according to the fifth embodiment.
  • FIG. 13 is an enlarged view of a portion D in FIG.
  • FIG. 14 is a top cross-sectional view of the autonomous traveling device 1 according to the fifth embodiment, and is a diagram for explaining the detaching operation of the battery 30 in the autonomous traveling device 1 according to the fifth embodiment.
  • FIG. 15 is an enlarged view of a portion E in FIG. In the fifth embodiment, changes from the first to fourth embodiments will be described.
  • the device main body 2 of the autonomous mobile device 1 further includes a spring 60 (battery moving unit). As shown in FIGS. 13 and 15, the spring 60 is provided between the inner wall portion of the storage portion 40 and the control device side electrode 62.
  • the spring 60 is made of a conductive material.
  • the operator When the operator installs the battery 30 in the apparatus main body 2, first, the operator aligns the battery 30 so that the electrode 32 of the battery 30 faces the control device side electrode 62 in the storage unit 40. Next, as shown in FIG. 14, the operator aligns the rib 31 of the battery 30 with the groove 41 of the storage unit 40. Next, as shown in FIGS. 14 and 12, the operator moves the battery 30 from the other end of the apparatus main body 2 (the back of the apparatus main body 2) to the central portion of the apparatus main body 2 in the apparatus main body 2. Slide in the X direction. That is, as shown in FIG. 12, the operator stores the battery 30 in the apparatus main body 2. In this case, as shown in FIG.
  • the electrode 32 of the battery 30 is connected to the control device side electrode 62 in the storage unit 40, and the battery 30 is pushed in the X direction, thereby causing a spring in the storage unit 40. 60 shrinks.
  • one end (electrode 32) of the battery 30 is disposed at the power feeding position Q1.
  • the power feeding position Q1 is a position for supplying electric power from the battery 30 to the power source (electric motor 11).
  • the operator closes the door 50.
  • the operator locks the door 50 by the above-described locking mechanism (not shown) so that the door 50 is not opened by the urging force of the spring 60.
  • the operator When the operator removes the battery 30 from the apparatus main body 2, the operator first unlocks the lock mechanism. Next, the operator opens the door 50.
  • the door 50 When the door 50 is opened, as shown in FIG. 15, the battery 30 is pushed in the direction opposite to the X direction by the urging force of the spring 60, and the spring 60 extends in the storage unit 40.
  • the battery 30 is in the X direction from the central portion of the apparatus main body 2 in the apparatus main body 2 to the other end of the apparatus main body 2 (the back of the apparatus main body 2). Slide in the opposite direction. At this time, one end (electrode 32) of the battery 30 moves from the power feeding position Q1 to the take-out position Q2.
  • the take-out position Q2 is a position for taking out the battery 30 from the apparatus main body 2.
  • the operator removes the battery 30 from the other end of the apparatus main body 2 (the back of the apparatus main body 2) in order to release the connection between the control device side electrode 62 and the electrode 32 of the battery 30 in the storage unit 40. Remove.
  • the power feeding position Q1 for supplying power from the battery 30 to the power source (electric motor 11) when the door 50 is opened.
  • a battery moving part (spring 60) for moving the battery 30 to the taking-out position Q2 for taking out the battery 30 from the apparatus main body 2.
  • the autonomous mobile device 1 when the operator opens the door 50 in order to remove the battery 30 from the device main body 2 as the replacement of the battery 30 by the operator, the battery 30 moves from the feeding position Q1 to the take-out position Q2. For this reason, the operator can easily remove the battery 30 from the apparatus main body 2 by opening the door 50. Therefore, convenience is improved.
  • the wheel 3 has a four-wheel configuration including the left and right front wheels 3-1 and the left and right rear wheels 3-2, but is not limited thereto.
  • the wheel 3 may have a three-wheel configuration as long as the above-described effects can be realized.
  • the wheel 3 may include a single front wheel 3-1 and left and right rear wheels 3-2.
  • the wheel 3 may include only one electric motor 11, transmission 12, shaft 12A, and front wheel shaft 13-1 are required, and the front wheel sprocket 14-1, the rear wheel sprocket 14-2, and the left and right belts 15 are unnecessary.
  • the width of one front wheel 3-1 may be larger than the width of the left and right rear wheels 3-2.
  • the shape of the apparatus main body 2 is such that when the apparatus main body 2 is viewed from above, the other end of the apparatus main body 2 (the back of the apparatus main body 2) is directed toward one end of the apparatus main body 2 (the front of the apparatus main body 2). That is, it may be tapered toward the X direction.
  • the number of the batteries 30 is one.
  • the present invention is not limited to this, and the number of the batteries 30 may be two as long as the above effects can be realized.
  • the left and right belts 15 exist.
  • the front wheel sprocket 14-1 and the rear wheel sprocket 14-2 are provided.
  • the left and right belts 15 may not be provided.
  • [Application example] 16 to 18 are a front view, a left side view, and a rear view of the battery 30L in the autonomous traveling device 1 according to the application example, respectively.
  • FIGS. 19 to 21 are a front view, a right side view, and a rear view, respectively, of the battery 30R in the autonomous mobile device 1 according to the application example.
  • FIG. 22 is a top sectional view of the autonomous traveling device 1 according to the application example.
  • 23 is a cross-sectional view taken along the line FF ′ of FIG. 24 is a perspective sectional view taken along line FF ′ of FIG. 25 is a cross-sectional view taken along the line GG ′ of FIG.
  • the two batteries 30 are designated as batteries 30L and 30R as shown in FIGS.
  • Projections (rails 131L and 131R) formed along the length direction (X direction) of the side surfaces of the batteries 30L and 30R are provided on the side surfaces of the batteries 30L and 30R, respectively.
  • a rail 131L is provided on the left side surface portion of the battery 30L as a protrusion formed along the length direction (X direction) of the side surface of the battery 30L.
  • a rail 131R is provided on the right side surface portion of the battery 30R as a protrusion formed along the length direction (X direction) of the side surface of the battery 30R.
  • a handle 132L is provided on the front surface of the battery 30L.
  • a handle 132R is provided on the front surface of the battery 30R.
  • an electrode 32L is provided on the back surface of the battery 30L as the electrode 32 described above.
  • the electrode 32L is connected to the control device side electrode 62L (FIGS. 23 and 24) as the control device side electrode 62 described above when the battery 30L is stored in the storage portion 40 (FIGS. 2, 7, and 9).
  • the electrode 32L is connected to the control device side electrode 62L (FIGS. 23 and 24) when the door 50 (FIGS. 22 and 25) is closed after the battery 30L is stored in the storage unit 40 (FIGS. 2, 7, and 9). ).
  • an electrode 32R is provided on the back surface of the battery 30R as the electrode 32 described above.
  • the electrode 32R is connected to the control device side electrode 62R (FIGS. 23 and 24) as the control device side electrode 62 described above when the battery 30R is stored in the storage portion 40 (FIGS. 2, 7, and 9).
  • the electrode 32L is connected to the control device side electrode 62R (FIGS. 23 and 24) when the door 50 (FIGS. 22 and 25) is closed after the battery 30L is stored in the storage unit 40 (FIGS. 2, 7, and 9). ).
  • the door 50 (FIGS. 22 and 25) is provided at the other end of the apparatus main body 2 as in the first to fifth embodiments.
  • a tray 140 is provided in the storage unit 40 (FIGS. 2, 7, and 9). As shown in FIGS. 22 to 24, the tray 140 is composed of a bottom surface portion and a wall portion as a side surface portion, and storage areas 140L and 140R for storing the batteries 30L and 30R (FIGS. 16 to 21), respectively. have.
  • the open / close detector 52 detects the opening and closing of the door 50 (FIGS. 22 and 25), and the control device 20 (FIGS. 10 and 11) detects the detection result.
  • the control device 20 detects the detection result.
  • the electric power of the batteries 30L and 30R (FIGS. 16 to 21) stored in the storage areas 140L and 140R, respectively, is converted into the power source (the electric motor 11 (FIG. 2)). , 7, 9)).
  • the outer wall portion of the tray 140 is provided with projections (rails 142L and 142R) formed along the length direction (X direction) of the side surface of the tray 140.
  • a rail 142 ⁇ / b> L is provided on the outer wall portion of the tray 140 on the side of the storage area 140 ⁇ / b> L as a protrusion formed along the length direction (X direction) of the side surface of the tray 140.
  • a rail 142 ⁇ / b> R is provided on the outer wall portion of the tray 140 on the side of the storage area 140 ⁇ / b> R as a protrusion formed along the length direction (X direction) of the side surface of the tray 140.
  • the inner wall of the storage unit 40 (FIGS. 2, 7, and 9) is guided to move the tray 140 in the storage unit 40 (FIGS. 2, 7, and 9).
  • Tray guide members (tray guide rails 102L and 102R) formed at portions corresponding to the protrusions (rails 142L and 142R) of the tray 140 are provided.
  • the protrusions (rails 142L and 142R) and the tray guide members (tray guide rails 102L and 102R) constitute a slide rail.
  • the tray 140 supplies power from the batteries 30L and 30R (FIGS. 16 to 21) to the power source (the electric motor 11 (FIGS. 2, 7, and 9)).
  • the battery 30L, 30R (FIGS. 16 to 21) can be slid from the power supply position Q1 to the take-out position Q2 for taking out from the apparatus main body 2.
  • the take-out position Q2 is set by a stopper (not shown) of the tray guide member (tray guide rails 102L and 102R) shown in FIGS.
  • the batteries 30L and 30R are arranged on the inner wall portion of the tray 140 so as to guide the movement of the batteries 30L and 30R (FIGS. 16 to 21) in the tray 140.
  • Battery guide rails 141L and 141R are provided as battery guide members formed at portions corresponding to the protrusions (rails 131L and 131R (FIGS. 16 to 21)).
  • a battery guide rail 141L is provided as a battery guide member formed in a portion corresponding to the protrusions (rails 131L) of the battery 30L to 18-18.
  • a battery guide rail 141R is provided as a battery guide member formed in a portion corresponding to the protrusion (rail 131R).
  • a peak portion 143 is provided as a stopper portion at the end of the tray 140 on the door 50 (FIG. 25) side.
  • the stopper portion (mountain portion 143) is operated by the handle of the batteries 30L and 30R (FIGS. 16 to 21) (the handle 132 of FIGS. 16 and 17, FIGS. 19 and 20).
  • the batteries 30L and 30R (FIGS. 16 to 21) are pulled out together with the tray 140 by pulling the handle L132R), the batteries 30L and 30R (FIGS. 16 to 21) are prevented from dropping from the tray 140.
  • the apparatus main body 2 is provided with a top plate 110 as an upper surface portion thereof.
  • the top plate 110 is loaded with the batteries 30L and 30R (FIGS. 16 to 21) together with the tray 140. It is prevented from being lifted up to a predetermined height.
  • the top plate 110 may be provided with reinforcing members 111 and 112 that reinforce the top plate 110.
  • the reinforcing member 111 is provided at the end of the back surface of the top plate 110 (the surface facing the bottom surface of the tray 140) on the door 50 side.
  • the reinforcing material 112 is provided at the center of the back surface of the top plate 110.
  • buffer materials 121 and 122 are provided in the vicinity of the end of the top plate 110 on the door 50 side.
  • the shock absorbers 121 and 122 are used when the operator gets over the stopper portion (mountain portion 143) and pulls out the batteries 30L and 30R (FIGS. 16 to 21) from the tray 140. 21) shock.
  • the buffer material 121 is provided on the reinforcing material 111 on the back surface of the top plate 110 (the surface facing the bottom surface of the tray 140). Yes.
  • the buffer material 122 is provided between the reinforcing material 111 and the reinforcing material 112 on the back surface (the surface facing the bottom surface of the tray 140) of the top plate 110.
  • rubber such as ethylene-propylene-diene rubber (EPDM) is used.
  • the autonomous traveling device 1 can easily replace the batteries 30L and 30R, and can perform stable autonomous traveling by arranging the batteries 30L and 30R in consideration of the center of gravity of the device body 2. Can do.
  • the present invention is not limited to the above-described embodiment, and various modifications are possible. In other words, embodiments obtained by combining technical means appropriately changed are also included in the technical scope of the present invention.
  • Storage part 41 Groove (battery guide member) 50 ... Door 52 ... Opening / closing detection part 60 ... Spring (battery moving part) 62 ... Control device side electrode 62L ... Control device side electrode 62R ... Control device side electrode 102L ... Tray guide rail (tray guide member) 102R ... Tray guide rail (tray guide member) 110 ... Top plate 111, 112 ... Reinforcement material 121, 122 ... Buffer material 131L ... Rail (projection) 131R ... Rail (protrusion) 132L ... handle 132R ... handle 140 ... tray 140L ... storage area 140R ... storage area 141L ... rail for battery guide (battery guide member) 141R ...

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un dispositif de déplacement autonome qui comprend : des roues; un corps principal de dispositif; une source d'entraînement qui est prévue sur un côté d'extrémité du corps principal de dispositif dans le corps principal de dispositif, et fait tourner les roues de telle sorte que le corps principal de dispositif se déplace de manière autonome; une batterie pour alimenter en énergie la source d'entraînement; et une partie de logement pour loger la batterie dans le corps principal de dispositif au niveau de l'autre extrémité du corps principal de dispositif dans une partie centrale du corps principal de dispositif. Ainsi, la batterie peut être facilement chargée et un déplacement stable du dispositif de déplacement autonome est possible grâce au placement de la batterie qui tient compte du centre de gravité du corps principal de dispositif.
PCT/JP2016/052880 2015-02-02 2016-02-01 Dispositif de déplacement autonome Ceased WO2016125728A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680008445.1A CN107206880B (zh) 2015-02-02 2016-02-01 自主行驶装置
US15/543,592 US10466699B2 (en) 2015-02-02 2016-02-01 Autonomous travel device

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2015-018229 2015-02-02
JP2015018229 2015-02-02
JP2016-011479 2016-01-25
JP2016011479A JP6771895B2 (ja) 2015-02-02 2016-01-25 自律走行装置

Publications (1)

Publication Number Publication Date
WO2016125728A1 true WO2016125728A1 (fr) 2016-08-11

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Application Number Title Priority Date Filing Date
PCT/JP2016/052880 Ceased WO2016125728A1 (fr) 2015-02-02 2016-02-01 Dispositif de déplacement autonome

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WO (1) WO2016125728A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11897360B2 (en) 2018-03-08 2024-02-13 Sony Corporation Information processing device, information processing method, and program
GB2626528A (en) * 2023-01-19 2024-07-31 Caterpillar Sarl Electric excavator with power store housing

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58141604A (ja) * 1982-02-15 1983-08-23 Daifuku Co Ltd 搬送用電動台車のバツテリ−充電装置
JPH0476101U (fr) * 1990-11-08 1992-07-02
JP2004098728A (ja) * 2002-09-05 2004-04-02 Hitachi Constr Mach Co Ltd 作業車両
JP2006324955A (ja) * 2005-05-19 2006-11-30 Nippon Hoso Kyokai <Nhk> 遠隔走行撮影カメラ装置
WO2012085976A1 (fr) * 2010-12-24 2012-06-28 川崎重工業株式会社 Véhicule électrique à selle
JP2015047987A (ja) * 2013-09-02 2015-03-16 株式会社ジェイテクト 階段昇降機

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58141604A (ja) * 1982-02-15 1983-08-23 Daifuku Co Ltd 搬送用電動台車のバツテリ−充電装置
JPH0476101U (fr) * 1990-11-08 1992-07-02
JP2004098728A (ja) * 2002-09-05 2004-04-02 Hitachi Constr Mach Co Ltd 作業車両
JP2006324955A (ja) * 2005-05-19 2006-11-30 Nippon Hoso Kyokai <Nhk> 遠隔走行撮影カメラ装置
WO2012085976A1 (fr) * 2010-12-24 2012-06-28 川崎重工業株式会社 Véhicule électrique à selle
JP2015047987A (ja) * 2013-09-02 2015-03-16 株式会社ジェイテクト 階段昇降機

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11897360B2 (en) 2018-03-08 2024-02-13 Sony Corporation Information processing device, information processing method, and program
GB2626528A (en) * 2023-01-19 2024-07-31 Caterpillar Sarl Electric excavator with power store housing
GB2626528B (en) * 2023-01-19 2025-05-07 Caterpillar Sarl Electric excavator with power store housing

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