JP3219208U - Automatic travel device - Google Patents

Abstract

An automatic travel device that simultaneously transports support legs and a floor panel is provided. Therefore, it aims at improving work efficiency.
An automatic travel device (1) includes a travel mechanism (12), a loading platform (20) on which a floor panel (A) and a supporting leg (B) for supporting the floor panel (A) can be loaded, and a predetermined path connecting two spaced positions. And a travel control unit 111 that executes travel control by the travel mechanism 12.
[Selection] Figure 1

Description

  The present invention relates to a technology of an automatic traveling device that carries a vehicle.

  Conventionally, a double floor structure is used in the construction of a house. The double floor structure is constructed by installing a floor panel (double floor) on a floor slab via support legs. That is, as a work process for constructing a double floor structure, first, the support legs are placed on the floor slab, then the floor panel is transported to the place where the support legs are installed, and the floor panel is installed and fixed on the support legs. ing. In such a work process, the floor panel is transported after the support legs are arranged, and the work efficiency is poor.

  Therefore, an object of the present invention is to improve work efficiency by providing an automatic travel device that simultaneously transports support legs and a floor panel.

(1) The automatic traveling device according to the present invention travels by a traveling mechanism along a predetermined path that connects two traveling positions with a traveling mechanism, a cargo bed on which a floor panel and a support leg for supporting the floor panel can be loaded. And a travel control unit that executes control.

(2) In the above (1), the automatic traveling device is projected from the light projecting unit that projects light onto each of the plurality of reflecting members provided on the predetermined route, and reflected by the reflecting member. A sensor including a light receiving unit that receives light and outputs an electrical signal; and a sensor control unit that identifies a relative position of the reflecting member and the automatic travel device based on the electrical signal. The travel mechanism includes a wheel and a drive motor that drives the wheel, and the travel control unit executes travel control based on the relative position of the reflecting member and the automatic travel device.

(3) In the above (1), the traveling mechanism includes a pair of wheels and a caterpillar spanned between the pair of wheels, the crawler device extending in the first direction, and disposed inside the crawler device. A first drive motor to be driven; and a second drive motor that is disposed outside the crawler device and drives the crawler device. And a drive of a 1st drive motor rotates a caterpillar while a pair of wheels rotate centering around the 2nd rotating shaft extended in the 2nd direction orthogonal to a 1st direction. Furthermore, the crawler device rotates around the first rotation shaft extending in the first direction by driving the second drive motor.

(4) In any one of the above (1) to (3), one of the two positions is an accumulation place where the floor panel and the support legs are accumulated, and the other position is the floor panel. This is the place where the support legs are installed.

  According to the present invention, it is possible to improve work efficiency in the construction of a double floor structure by providing an automatic traveling device that simultaneously conveys support legs and a floor panel.

It is sectional drawing which shows the structure of the automatic traveling apparatus of 1st Embodiment. It is a figure which shows an example of the traveling control of the automatic traveling apparatus of 1st Embodiment. It is a figure which shows the modification of the traveling control of the automatic traveling apparatus of 1st Embodiment. It is a figure which shows another modification of the traveling control of the automatic traveling apparatus of 1st Embodiment. It is sectional drawing which shows the structure of the automatic traveling apparatus of 2nd Embodiment. FIG. 6 is a view when the traveling mechanism is viewed from the X direction in FIG. 5. It is sectional drawing which shows each part of a traveling mechanism when a part of automatic traveling device of 2nd Embodiment is seen from the bottom face.

(First embodiment)
1-4 is a figure which shows 1st Embodiment. FIG. 1 is a cross-sectional view showing the configuration of the automatic travel device of this embodiment. The automatic travel device 1 of the present embodiment includes a main body 10 having a travel mechanism and a loading platform 20 disposed on the main body 10. A floor panel A and support legs B are loaded on the loading platform 20. The main body 10 includes a control unit 11, a traveling mechanism 12, a sensor 13, and a storage unit 14 that stores various information (described later).

  The control unit 11 includes a travel control unit 111 and a sensor control unit 112. The travel mechanism 12 includes a drive motor 121 and wheels 122. The sensor 13 includes a light projecting unit 131 and a light receiving unit 132. The travel control unit 111 is connected to the drive motor 121 and controls the travel of the automatic travel device 1. Specifically, the travel control unit 111 controls the drive of the drive motor 121, and the power of the drive motor 121 is transmitted to the wheels 122. The sensor control unit 112 is connected to the sensor 13 and executes detection control by the light projecting unit 131 and the light receiving unit 132.

  The light projecting unit 131 projects light within a predetermined range. The light projecting unit 131 includes a light emitting element, and projects visible light or invisible light corresponding to the light emitting element. For example, an LED or a laser can be used as the light emitting element of the light projecting unit 131. The light receiving unit 132 detects light projected from the light projecting unit 131. The light receiving unit 132 includes a light receiving element that outputs an electrical signal in response to light reception. For example, when light projected from the light projecting unit 131 is reflected by the detection target and enters the light receiving unit 132, the light receiving unit 132 outputs an electrical signal.

  In addition, the light receiving unit 132 can change an electric signal to be output according to a light receiving position and a light receiving amount (light intensity) in the light receiving element. The sensor control unit 112 performs arithmetic processing based on the light receiving position and the amount of light received based on the electrical signal from the light receiving unit 132, and automatically detects the direction in which the detection target is located with respect to the automatic traveling device 1, and The distance between the traveling device 1 and the detection target can be specified. In this way, according to the sensor 13 and the sensor control unit 112, the relative position between the detection target object existing within the predetermined range (detection range) from the automatic travel device 1 and the automatic travel device 1, that is, the automatic detection for the detection target object. The position of the traveling device 1 can be specified. The travel control unit 111 executes travel control based on the calculation result output from the sensor control unit 112.

  In addition to the above, the automatic traveling device 1 may be provided with a sensor rotation mechanism (not shown) that rotates the light projecting unit 131 and the light receiving unit 132 (that is, the sensor 13) with a rotation axis orthogonal to the road surface. The sensor rotation mechanism can rotate the sensor 13 at a rotation angle within a predetermined range and at a predetermined angular velocity. When the sensor rotation mechanism is provided, the sensor control unit 112 can detect the direction in which the detection target is located based on the rotation angle when the electrical signal is output by light reception by the light receiving unit 132.

  Examples of the detection target include a pole 300 including the reflection plate R (reflection member) shown in FIG. In the present embodiment, a plurality of poles 300 are installed in advance at predetermined positions, and travel control is executed based on the relative positions of the respective poles 300 and the automatic travel device 1. The light projected from the light projecting unit 131 is reflected by the reflection plate R of the pole 300, and the reflected light is received by the light receiving unit 132, whereby the above-described arithmetic processing can be executed. Thereby, the relative position of the automatic travel device 1 and the pole 300 is specified as a calculation result. The travel control unit 111 executes travel control based on the specified relative position. Note that the arithmetic processing and the traveling control can be executed simultaneously in parallel, and the traveling control unit 111 can execute the traveling control in real time according to the operation result output from the sensor control unit 112.

  The storage unit 14 stores various types of information for executing travel control. The traveling control unit 111 refers to information stored in the storage unit 14 as necessary, and executes traveling control based on the information.

  FIG. 2 is a diagram illustrating an example of travel control of the automatic travel device 1. As shown in FIG. 2, the pole 300 is previously arranged at a predetermined position between the collection place and the installation place. The stacking place is a place where the floor panel A and the supporting legs B are loaded on the automatic travel device 1, and corresponds to a starting place. The installation location is a location where the floor panel A and the support legs B are unloaded from the automatic travel device 1 and the floor panel A and the support legs B are installed, and corresponds to a destination for transportation by the automatic travel device 1.

  In the example of FIG. 2, the storage unit 14 stores guidance position information for guiding the traveling of the automatic traveling device 1. The guide position information includes pole position information indicating the position of each pole 300, departure position information indicating the position of the accumulation place, and target position information indicating the position of the installation place. The traveling control unit 111 refers to the pole position information, the departure position information, and the destination position information, thereby grasping the relative positions of the poles 300, the departure place (collection place), and the destination (installation place). Can do.

  When the automatic traveling device 1 starts from the stacking site and the pole 300 within a predetermined range is detected from the automatic traveling device 1 based on each process described above, the sensor control unit 112 detects the detected pole 300 and the automatic traveling device 1. Specify the relative position. The traveling control unit 111 can execute traveling control toward the destination while grasping the current location by referring to the pole position information and the destination position information based on the specified position of the automatic traveling device 1. In the travel control shown in the example of FIG. 2, the automatic travel device 1 goes straight until the second pole 300 is detected, and when the second pole 300 is detected, the automatic travel device 1 turns right and is installed. I will head to the place. The travel control unit 111 determines that the vehicle travel device 1 has arrived at the installation location when the grasped current location matches the destination indicated by the target position information, and stops driving of the drive motor 121.

  Similarly, when the automatic traveling device 1 starts from the installation location and a pole 300 within a predetermined range is detected from the automatic traveling device 1 based on the above-described processes, the sensor control unit 112 automatically detects the detected pole 300 and The relative position with the traveling device 1 is specified. The traveling control unit 111 can execute traveling control toward the departure place while grasping the current location by referring to the pole position information and the departure position information based on the specified position of the automatic traveling device 1. In the travel control shown in the example of FIG. 2, the automatic travel device 1 goes straight until the first pole 300 is detected, and when the first pole 300 is detected, the automatic travel device 1 turns left and accumulates. I will head to the place. The traveling control unit 111 determines that the vehicle traveling device 1 has arrived at the depot when the grasped current location matches the departure location indicated by the departure position information, and stops driving of the drive motor 121. In this way, the automatic traveling device 1 can reciprocate between the collection place and the installation place.

  FIG. 3 is a diagram illustrating a modified example of the traveling control of the automatic traveling device 1. As shown in FIG. 3, a plurality of poles 300 are previously arranged in a predetermined number at a predetermined position between the collection place and the installation place. In the modified example of FIG. 3, the storage unit 14 stores travel instruction information. The travel instruction information is information in which a travel instruction according to the detected identification information of the pole 300 (for example, how many are counted from the collection point) is set in advance. The traveling control unit 111 grasps the identification information of the detected pole 300 and refers to the traveling instruction information. Then, a travel instruction set according to the detected identification information of the pole 300 is extracted, and travel control is executed based on the extracted travel instruction.

  For example, as shown in FIG. 3, when the first pole 300 is detected, the traveling control unit 111 refers to the traveling instruction information, and the “straight ahead” traveling instruction preset according to the first pole 300 is obtained. To extract. The traveling control unit 111 executes traveling control according to the traveling instruction until the next pole 300 is detected. When the second pole 300 is detected, the traveling control is executed in the same manner.

  When the third pole 300 is detected, the travel control unit 111 refers to the travel instruction information, and extracts a “right turn” travel instruction that is preset according to the third pole 300. A right turn angle can also be set. The angle can be set in the same manner when another direction change such as “left turn” is executed. The travel control unit 111 executes straight travel control until the next pole 300 is detected after the right turn according to the travel instruction is finished. When the fourth pole is detected, the travel control unit 111 refers to the travel instruction information and extracts a “stop” travel instruction that is preset according to the fourth pole 300. The travel control unit 111 stops the driving of the drive motor 121 in accordance with the “stop” travel instruction. In this manner, the automatic traveling apparatus 1 can be installed at the installation location by setting the travel instruction of “stop” to a predetermined pole 300, for example, the last pole 300 in advance, and arranging the last pole 300 at the installation location. Can travel up to. Similarly, when the traveling control from the installation location to the collection location is performed, the traveling instruction information may be set in advance.

  FIG. 4 is a diagram illustrating another modification of the travel control of the automatic travel device 1. In the modification of FIG. 4, the above-described departure position information, the above-described target position information, and travel route information are stored in the storage unit 14. The travel route information is information indicating a predetermined route connecting the accumulation point of the departure place and the installation location of the destination. The travel control unit 111 can execute travel control from the departure place to the destination by referring to the departure position information, the destination position information, and the travel route information. Specifically, the traveling control unit 111 can calculate the traveling distance from the departure place based on the control of the drive motor 121, and can make a right turn after traveling straight a predetermined distance. Then, the travel control unit 111 calculates the travel distance from the right turn, determines that the automatic travel device 1 has reached the destination when the vehicle travels straight ahead by a predetermined distance, and stops driving the drive motor 121. The driving control from the destination to the departure point can also be executed by the same method. For this reason, in the modification shown in FIG. 4, the pole 300, the sensor 13 of the automatic travel device 1, and the sensor control unit 112 can be omitted.

  In the present embodiment, the storage unit 14 is provided inside the main body 10 (the automatic traveling device 1). However, the storage unit 14 is not limited thereto, and may be provided as an external device separately from the automatic traveling device 1. In this case, various types of information stored in the storage unit 14 are provided to the control unit 11 (travel control unit 111) via a communication unit (not shown) newly provided in the automatic travel device 1.

  In addition, although the light projection part 131 and the light-receiving part 122 which are shown in FIG. 1 are each provided in the automatic traveling apparatus 1, the number and position may be changed as needed. In this embodiment, the reflecting member is the reflecting plate R provided on the pole 300. However, the reflecting member can be installed by wrapping, pasting or locking on a tool such as a pole, a building such as a building wall, or clothes. It is good also as a simple reflective sheet seal. More specifically, for example, a plurality of people (or robots, scarecrows, etc.) clothes (or outer parts) in which the longitudinal ends of the belt-like reflection sheet are locked with a fastener such as a hook-and-loop fastener. It is installed (mounted) on the surface), and the plurality of persons can be arranged at a plurality of predetermined positions on the route of the travel route.

(Second Embodiment)
5-7 is a figure which shows 2nd Embodiment. In the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted as the same configuration as that of the first embodiment unless otherwise specified. That is, below, the structure different from the automatic traveling apparatus of 1st Embodiment is demonstrated. As shown below, the configuration of the traveling mechanism 12 is different between the first embodiment and the second embodiment. 5 to 7, an X direction (first direction) and a Y direction (second direction) that are orthogonal to each other in a horizontal plane are defined.

  FIG. 5 is a cross-sectional view showing the configuration of the automatic travel device of this embodiment. FIG. 5 shows a simplified configuration of the traveling mechanism 12, and a detailed configuration is shown in FIGS. The traveling mechanism 12 includes a first drive motor 121A, a second drive motor 121B, and a crawler device 122 '. The crawler device 122 'is formed in a shape extending in the X direction. The travel control unit 111 is connected to the first drive motor 121A and the second drive motor 121B, and controls the travel of the automatic travel device 1.

  The travel control unit 111 controls the driving of the first drive motor 121A, and the power of the first drive motor 121A is transmitted to the crawler device 122 '. As will be described later, when the caterpillar 401C of the crawler device 122 'is driven, the automatic traveling device 1 can advance in the X direction. Similarly, the travel control unit 111 controls the driving of the second drive motor 121B, and the power of the second drive motor 121B is transmitted to the crawler device 122 '. As will be described later, when the crawler device 122 ′ is driven, the automatic traveling device 1 can advance in the Y direction.

  FIG. 5 shows the second rotation axis L2, and the second rotation axis L2 extends in the Y direction. When a pair of wheels 401A and 401B (described later) included in the crawler device 122 'rotate (roll) about the second rotation axis L2, the automatic travel device 1 can advance in the X direction. FIG. 6 is a front view of the traveling mechanism 12 viewed from the X direction. FIG. 6 shows the first rotation axis L1, and the first rotation axis L1 extends in the X direction. When the crawler device 122 ′ rotates (rolls) about the first rotation axis L <b> 1, the automatic traveling device 1 can advance in the Y direction.

  FIG. 7 is a cross-sectional view showing each part of the traveling mechanism 12 when a part of the automatic traveling device 1 is viewed from the bottom surface. The traveling mechanism 12 includes the first drive motor 121A, the second drive motor 121B, the crawler device 122 ', and other units shown in FIG. Hereinafter, each part of the traveling mechanism 12 will be described.

  The crawler device 122 ′ includes a pair of wheels 401A and 401B, a caterpillar 401C, a first torque transmission mechanism 402, a plurality of ground plates 403, and a pair of first shafts extending in the Y direction and having the second rotation axis L2 as an axis. 1 shaft 410A, 410B. The plurality of ground plates 403 are provided at predetermined intervals in the X direction. The outer surface of the ground plate 403 is formed in an arc shape along a virtual cylindrical surface with the first rotation axis L1 as the center. Here, the first drive motor 121A is provided inside the crawler device 122 '.

  The pair of wheels 401A and 401B are rotatably supported by the first shafts 410A and 410B, respectively. That is, the pair of wheels 401A and 401B can rotate about the second rotation axis L2. Further, since a chain (not shown) is spanned between the pair of wheels 401A and 401B, when the wheel 401A rotates, the wheel 401B also rotates in conjunction with it. The chain is provided with a plurality of grounding members at predetermined intervals in the X direction, thereby forming a caterpillar 401C.

  The first torque transmission mechanism 402 transmits the rotational torque of the first drive motor 121A to the wheel 401A. The first torque transmission mechanism 402 includes bevel gears 402A and 402B. The bevel gear 402A is fixed to the output shaft of the first drive motor 121A and rotates around the first rotation axis L1. The bevel gear 402B meshes with the bevel gear 402A, is fixed to the wheel 401A, and rotates around the second rotation axis L2.

  When the first drive motor 121A is driven, the rotational torque of the first drive motor 121A is transmitted to the wheel 401A via the first torque transmission mechanism 402 (that is, the bevel gears 402A and 402B), and the wheel 401A is transmitted to the second rotation shaft. Rotate around L2. At this time, power is transmitted to the wheel 401B via the chain, and the wheel 401B also rotates around the second rotation axis L2 in conjunction with it. When the wheel 401A rotates, the caterpillar 401C also rotates in conjunction with it. In this way, the automatic traveling device 1 can travel in the X direction while the caterpillar 401C is in contact with the road surface.

  The second torque transmission mechanism 420 includes timing pulleys 421 and 422 and a timing belt 423 laid over the timing pulleys 421 and 422. The timing pulley 421 is fixed to the output shaft of the second drive motor 121B, and rotates around this output shaft. The timing pulley 422 is fixed to the second shaft 430A and rotates around the first rotation axis L1. Here, the second shaft 430A extends in the X direction with the first rotation axis L1 as an axis, and is coupled to the inside of the crawler device 122 'via the first shaft 410A. A second shaft 430B is connected to the wheel 401B of the crawler device 122 'via a first shaft 410B, and the second shaft 430B is supported so as to be rotatable around the first rotation axis L1. When the second shaft 430B rotates around the first rotation axis L1, the entire crawler device 122 'rotates around the first rotation axis L1 via the first shaft 410B.

  When the second drive motor 121B is driven, the rotational torque of the second drive motor 121B is transmitted to the second shaft 430A via the second torque transmission mechanism 420 (that is, the timing pulley 421, the timing belt 423, and the timing pulley 422). The second shaft 430A rotates around the first rotation axis L1. At this time, power is also transmitted to the crawler device 122 'fixed to the second shaft 430A via the first shaft 410A, and the entire crawler device 122' rotates around the first rotation axis L1. Here, one end of the crawler device 122 'in the X direction is rotatably supported by the second shaft 430A, and the other end of the crawler device 122' in the X direction is rotatably supported by the second shaft 430B. In this way, the automatic traveling device 1 can travel in the Y direction while bringing the plurality of ground plates 403 rotating around the first rotation axis L1 into contact with the road surface.

  The first drive motor 121A and the second drive motor 121B can rotate forward and backward. If the first drive motor 121A rotates in the forward direction, the automatic travel device 1 can be advanced in one direction of the X direction, and if the first drive motor 121A rotates in the reverse direction, it automatically moves in the other direction of the X direction. The traveling device 1 can be advanced. Further, if the second drive motor 121B rotates forward, the automatic travel device 1 can be advanced in one direction of the Y direction, and if the second drive motor 121B rotates reversely, the other direction of the Y direction. The automatic travel device 1 can be advanced.

  Note that the traveling direction can be changed to a right angle without turning the automatic traveling device 1 on the spot by switching from one drive to the other drive of the first drive motor 121A and the second drive motor 121B. In addition, by driving both the first drive motor 121A and the second drive motor 121B at the same time and controlling the rotation speed and the rotation direction thereof, the automatic travel device 1 is inclined (directions inclined in the X direction and the Y direction). You can also go straight ahead.

  In addition, the traveling control shown in FIGS. 2 to 4 of the first embodiment can be performed by the traveling mechanism 12 of the present embodiment.

DESCRIPTION OF SYMBOLS 1 Automatic travel apparatus 10 Main body 11 Control part 111 Travel control part 112 Sensor control part 12 Travel mechanism 121 Drive motor 121A 1st drive motor 121B 2nd drive motor 122 Wheel 122 'Crawler apparatus 13 Sensor 131 Light projection part 132 Light reception part 14 Memory | storage Part 20 Loading platform 300 Pole 401A, 401B Wheel 401C Caterpillar 402 First torque transmission mechanism 403 Ground plate 410A, 410B First shaft 420 Second torque transmission mechanism 430A, 430B Second shaft A Floor panel (double floor)
B Support leg R Reflector (reflective member)
L1 First rotation axis L2 Second rotation axis

Claims (4)

A traveling mechanism;
A loading platform capable of loading a floor panel and supporting legs for supporting the floor panel;
A travel control unit that executes travel control by the travel mechanism along a predetermined path that connects two spaced positions;
An automatic travel device comprising: A light projecting unit that projects light onto each of a plurality of reflecting members provided on the predetermined path, and a light receiving unit that receives light projected from the light projecting unit and reflected by the reflecting member, and outputs an electrical signal. A sensor including a portion,
A sensor control unit that identifies a relative position of the reflecting member and the automatic travel device based on the electrical signal;
The travel mechanism includes a wheel and a drive motor that drives the wheel,
The automatic travel device according to claim 1, wherein the travel control unit executes the travel control based on a relative position between the reflection member and the automatic travel device. The traveling mechanism is
A crawler device comprising a pair of wheels and a caterpillar spanned between the pair of wheels, and extending in a first direction;
A first drive motor that is disposed inside the crawler device and drives the caterpillar;
A second drive motor disposed outside the crawler device and driving the crawler device;
By driving the first drive motor, the pair of wheels rotate about a second rotation axis extending in a second direction orthogonal to the first direction, and the caterpillar rotates to drive the second drive motor. The automatic traveling device according to claim 1, wherein the crawler device rotates about a first rotation shaft extending in the first direction.   One of the two positions is an accumulation place where the floor panel and the support legs are accumulated, and the other position is an installation place where the floor panel and the support legs are installed. The automatic travel device according to any one of claims 1 to 3.