JP2018073188A - 自律走行車両 - Google Patents
自律走行車両 Download PDFInfo
- Publication number
- JP2018073188A JP2018073188A JP2016213434A JP2016213434A JP2018073188A JP 2018073188 A JP2018073188 A JP 2018073188A JP 2016213434 A JP2016213434 A JP 2016213434A JP 2016213434 A JP2016213434 A JP 2016213434A JP 2018073188 A JP2018073188 A JP 2018073188A
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- shaft body
- cover
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- traveling vehicle
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- 239000000725 suspension Substances 0.000 claims abstract description 34
- 238000006243 chemical reaction Methods 0.000 claims abstract description 33
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 22
- 239000000463 material Substances 0.000 claims abstract description 16
- 239000011347 resin Substances 0.000 claims abstract description 16
- 229920005989 resin Polymers 0.000 claims abstract description 16
- 230000005484 gravity Effects 0.000 claims description 25
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000005291 magnetic effect Effects 0.000 description 12
- 238000001514 detection method Methods 0.000 description 10
- 238000005452 bending Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 230000005355 Hall effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/81—Casings; Housings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/76—Driving mechanisms for the cutters
- A01D34/78—Driving mechanisms for the cutters electric
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
- A01D34/828—Safety devices
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
- Harvester Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
【解決手段】シャシ12aとカバー12bの間に重力軸方向に延びるように配置され、一端でカバー12bに取り付けられると共に、他端でシャシ12bに取り付けられる少なくとも1個の樹脂材からなる軸体80と、軸体80に設けられて軸体80に作用する力を重力軸方向に直交する水平方向への移動に変換する変換具82とからなるカバー用サスペンション76を備えた自律走行車両10において、カバー用サスペンション76は軸体80の軸芯に剛性を有する補強部材94を挿入されてなると共に、補強部材94は重力軸方向において一方の端部94aが前記変換具82の取り付け位置より下方に突出するように構成する。
【選択図】図4
Description
Claims (6)
- シャシと前記シャシに取り付けられるカバーとを備え、前記シャシに取り付けられた駆動輪で自律走行すると共に、
前記シャシとカバーの間に重力軸方向に延びるように配置され、一端で前記カバーに取り付けられると共に、他端で前記シャシに取り付けられる少なくとも1個の樹脂材からなる軸体と、
前記軸体に設けられて前記軸体に作用する力を前記重力軸方向に直交する水平方向への移動に変換する変換具と、
からなるカバー用サスペンションを備えた自律走行車両において、
前記カバー用サスペンションは前記軸体の軸芯に剛性を有する補強部材を挿入されてなると共に、前記補強部材は前記重力軸方向において一方の端部が前記変換具の取り付け位置より下方に突出するように構成されることを特徴とする自律走行車両。 - 前記補強部材は、前記重力軸方向において他方の端部が前記軸体の一端より突出するように構成されることを特徴とする請求項1記載の自律走行車両。
- 前記補強部材は、前記変換具の取り付け位置にフランジが形成されてなることを特徴とする請求項1または2記載の自律走行車両。
- 前記変換具が前記軸体に取り付けられる板体からなると共に、前記フランジが前記板体の上面より前記重力軸方向において下方に形成されることを特徴とする請求項3記載の自律走行車両。
- 前記カバー用サスペンションは、前記軸体の付近に配置され、前記軸体の前記水平方向への移動に基づいて前記カバーと前記シャシの間の変位を検知して障害物との接触を検出する検出部を備えることを特徴とする請求項1から4のいずれかに記載の自律走行車両。
- 前記変換具は樹脂材からなると共に、樹脂材からなる複数個のガイドで形成される空間をスライドするように配置されることを特徴とする請求項1から5のいずれかに記載の自律走行車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016213434A JP6373930B2 (ja) | 2016-10-31 | 2016-10-31 | 自律走行車両 |
EP17198801.7A EP3315000B1 (en) | 2016-10-31 | 2017-10-27 | Utility robotic vehicle with suspended cover for contact detection |
US15/796,428 US10499564B2 (en) | 2016-10-31 | 2017-10-27 | Utility vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016213434A JP6373930B2 (ja) | 2016-10-31 | 2016-10-31 | 自律走行車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018073188A true JP2018073188A (ja) | 2018-05-10 |
JP6373930B2 JP6373930B2 (ja) | 2018-08-15 |
Family
ID=60190707
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016213434A Expired - Fee Related JP6373930B2 (ja) | 2016-10-31 | 2016-10-31 | 自律走行車両 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10499564B2 (ja) |
EP (1) | EP3315000B1 (ja) |
JP (1) | JP6373930B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110741799A (zh) * | 2019-09-25 | 2020-02-04 | 南京浦口科学城建设发展有限公司 | 一种智能除草机器人及其应用方法 |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3133911A1 (en) * | 2014-04-25 | 2017-03-01 | Husqvarna AB | Improved robotic work tool |
EP3470311B1 (en) * | 2016-11-30 | 2021-01-06 | Honda Motor Co., Ltd. | Autonomously travelling vehicle |
KR101984926B1 (ko) * | 2018-01-19 | 2019-05-31 | 엘지전자 주식회사 | 잔디깎기 로봇 |
EP3549426B1 (en) | 2018-04-06 | 2021-09-08 | LG Electronics Inc. | Lawn mower robot |
EP3549427B1 (en) | 2018-04-06 | 2021-09-01 | LG Electronics Inc. | Lawn mower robot |
US11166409B2 (en) | 2018-04-06 | 2021-11-09 | Lg Electronics Inc. | Lawn mower robot |
EP3549429B1 (en) | 2018-04-06 | 2021-10-27 | LG Electronics Inc. | Lawn mower robot |
EP3560312B1 (en) | 2018-04-06 | 2021-10-20 | LG Electronics Inc. | Lawn mower robot |
EP3549423B1 (en) * | 2018-04-06 | 2021-06-16 | Lg Electronics Inc. | Lawn mower robot |
EP3549424B1 (en) * | 2018-04-06 | 2022-01-05 | Lg Electronics Inc. | Lawn mower robot |
EP3549425B1 (en) | 2018-04-06 | 2021-08-04 | LG Electronics Inc. | Lawn mower robot |
JP7033782B2 (ja) | 2018-04-10 | 2022-03-11 | 学校法人帝京大学 | 検眼装置 |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS532836A (en) * | 1976-03-29 | 1978-01-12 | Budd Co | Bumper spring |
JPS5765260U (ja) * | 1980-10-03 | 1982-04-19 | ||
JPS6020439U (ja) * | 1983-07-21 | 1985-02-13 | 日産自動車株式会社 | バンパ−マウント |
JPS63115644U (ja) * | 1987-01-23 | 1988-07-26 | ||
US20100306932A1 (en) * | 2008-02-01 | 2010-12-09 | Koninklijke Philips Electronics N.V. | Device comprising at least a body and a bumper, and robot cleaner comprising such a device |
CN102523841A (zh) * | 2010-12-29 | 2012-07-04 | 苏州宝时得电动工具有限公司 | 割草机 |
WO2014007728A1 (en) * | 2012-07-05 | 2014-01-09 | Husqvarna Ab | Displacement sensor for a robotic vehicle detecting a lift event and a collision event |
EP2687077A2 (de) * | 2012-07-17 | 2014-01-22 | AL-KO Kober SE | Mähroboter |
JP2016148937A (ja) * | 2015-02-10 | 2016-08-18 | 本田技研工業株式会社 | 自律走行作業車の制御装置 |
JP2016161003A (ja) * | 2015-02-27 | 2016-09-05 | 住友理工株式会社 | 筒形防振装置 |
WO2017109879A1 (ja) * | 2015-12-24 | 2017-06-29 | 本田技研工業株式会社 | 自動走行式芝刈機 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5163273A (en) * | 1991-04-01 | 1992-11-17 | Wojtkowski David J | Automatic lawn mower vehicle |
EP2816886B1 (en) * | 2012-02-22 | 2017-11-22 | Husqvarna Ab | Robotic lawnmower |
-
2016
- 2016-10-31 JP JP2016213434A patent/JP6373930B2/ja not_active Expired - Fee Related
-
2017
- 2017-10-27 EP EP17198801.7A patent/EP3315000B1/en not_active Not-in-force
- 2017-10-27 US US15/796,428 patent/US10499564B2/en not_active Expired - Fee Related
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS532836A (en) * | 1976-03-29 | 1978-01-12 | Budd Co | Bumper spring |
JPS5765260U (ja) * | 1980-10-03 | 1982-04-19 | ||
JPS6020439U (ja) * | 1983-07-21 | 1985-02-13 | 日産自動車株式会社 | バンパ−マウント |
JPS63115644U (ja) * | 1987-01-23 | 1988-07-26 | ||
US20100306932A1 (en) * | 2008-02-01 | 2010-12-09 | Koninklijke Philips Electronics N.V. | Device comprising at least a body and a bumper, and robot cleaner comprising such a device |
CN102523841A (zh) * | 2010-12-29 | 2012-07-04 | 苏州宝时得电动工具有限公司 | 割草机 |
WO2014007728A1 (en) * | 2012-07-05 | 2014-01-09 | Husqvarna Ab | Displacement sensor for a robotic vehicle detecting a lift event and a collision event |
EP2687077A2 (de) * | 2012-07-17 | 2014-01-22 | AL-KO Kober SE | Mähroboter |
JP2016148937A (ja) * | 2015-02-10 | 2016-08-18 | 本田技研工業株式会社 | 自律走行作業車の制御装置 |
JP2016161003A (ja) * | 2015-02-27 | 2016-09-05 | 住友理工株式会社 | 筒形防振装置 |
WO2017109879A1 (ja) * | 2015-12-24 | 2017-06-29 | 本田技研工業株式会社 | 自動走行式芝刈機 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110741799A (zh) * | 2019-09-25 | 2020-02-04 | 南京浦口科学城建设发展有限公司 | 一种智能除草机器人及其应用方法 |
Also Published As
Publication number | Publication date |
---|---|
JP6373930B2 (ja) | 2018-08-15 |
US20180116109A1 (en) | 2018-05-03 |
EP3315000A1 (en) | 2018-05-02 |
EP3315000B1 (en) | 2019-07-24 |
US10499564B2 (en) | 2019-12-10 |
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