JP5384031B2 - Step-crawler-type traveling vehicle device - Google Patents

Step-crawler-type traveling vehicle device Download PDF

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Publication number
JP5384031B2
JP5384031B2 JP2008137329A JP2008137329A JP5384031B2 JP 5384031 B2 JP5384031 B2 JP 5384031B2 JP 2008137329 A JP2008137329 A JP 2008137329A JP 2008137329 A JP2008137329 A JP 2008137329A JP 5384031 B2 JP5384031 B2 JP 5384031B2
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traveling vehicle
crawler
flipper
over
type traveling
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JP2009280180A (en
Inventor
豊亮 今井
禎章 北村
達浩 南川
愛 竹内
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大和ハウス工業株式会社
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Description

  The present invention relates to a crawler type traveling vehicle apparatus that exceeds a step.
The crawler type traveling vehicle main body is provided with a stepped crawler type traveling vehicle provided with a stepped flipper on the front and rear sides of the crawler type traveling vehicle main body, and an operation unit for operating the crawler type traveling vehicle. 2. Description of the Related Art A crawler type traveling vehicle apparatus over a step, which can be moved over a step under a floor or the like by being controlled, has been known.
JP 2005-111595 A JP-A-8-150966
  However, if the movement of the flipper for controlling the movement of the traveling vehicle over the level difference is performed manually, there is a problem that the operation requires skill and the burden on the operator is large.
  This invention makes it a subject to provide the level difference crawler type traveling vehicle apparatus which can make a traveling vehicle go over a level | step difference with a small operation burden in view of this problem.
The above-described problem is that the crawler type traveling crawler type traveling vehicle provided with the stepped crawler type traveling vehicle provided with the flippers for stepping over the front and back of the crawler type traveling vehicle main body and the operation unit for operating the crawler type traveling vehicle. In car equipment,
A storage unit storing a procedure for causing the crawler-type traveling vehicle to perform a series of uniform operations necessary to cross a step in a specific range;
And a control unit that controls the crawler type traveling vehicle over the step to perform a series of operations over the step based on the procedure stored in the storage unit. This is solved by the step-crawler-type traveling vehicle apparatus that starts the passage control and the crawler-type traveling vehicle that exceeds the step performs an operation that exceeds the step by the control (first invention).
  In this apparatus, it is only necessary to perform an operation for causing the control unit to start the step crossing control, and the control unit performs the step crossing control. Therefore, the traveling vehicle can be made to perform the step over the step with a small operation burden.
  In the first aspect of the present invention, the flipper for stepping in the crawler type traveling vehicle is a crawler type flipper, the crawler of the traveling vehicle main body and the crawler of the flipper are interlocked, and the direction and speed in which the crawler belt of the traveling vehicle main body rotates. It is preferable that the direction and speed of the crawler belt of the flipper are set to be the same (second invention).
  In this case, both the crawler of the traveling vehicle main body and the crawler of the flipper can be used for traveling of the traveling vehicle, and in particular, by setting the direction and speed of the crawler belt to be the same, It is possible to perform a step-over operation that is mechanically stable, and to simplify the control content for a series of operations over the step.
  In the second aspect of the present invention, the front and rear flippers can be set in an angled state in which the front ends protrude downward from the traveling vehicle main body, and the crawler type traveling vehicle main body is floated by the front and rear flippers. It is preferable that the vehicle can travel on the crawler of the flipper in the floating state, and the camera is mounted on the traveling vehicle main body (third invention).
  In this case, the traveling vehicle body can be driven at different height positions, and photographing from different height positions can be performed.
  In the first to third aspects of the invention, the front and rear flippers are configured to be in an angle state in which the front end portion of the front flipper is directed rearward and the front end portion of the rear flipper is directed frontward. Can be set as the standby angle of the front and rear flippers (fourth invention).
  In this case, despite the fact that the front and rear flippers are provided, by waiting in such an angle state, the size of the traveling vehicle in the front-rear direction can be reduced, and a small turn can be applied. The traveling vehicle can be made compact, yet the step difference can be achieved by the front and rear flippers.
  1st-4th invention WHEREIN: The angular position recognition mechanism which recognizes the rotation angle position of the said front-back flipper is provided, The control by the said control part is the rotation angle position of the front-back flipper recognized by this angle position recognition mechanism. It is good to be made based on information (5th invention). In this case, by the recognition by the angular position recognition mechanism, it is possible to cause the front and rear flippers to perform appropriate control operations linked to step over the steps.
In a fifth aspect of the invention, the angular position recognition mechanism includes an incremental encoder that detects the relative rotational position of each flipper, and a limit switch that detects that the flipper has reached a specific angle, and is detected by the limit switch. With reference to the specific rotational angle position of each flipper, the rotational angle positions of the front and rear flippers may be recognized on the basis of information on the relative rotational position detected by the incremental encoder (the sixth invention). ). In this case, it is not necessary to use an expensive encoder such as an absolute encoder, the apparatus can be configured at low cost, and it is possible to cope with a small number of I / Os.
  Since the present invention is as described above, it is possible to cause the traveling vehicle to perform the step over the step with a small operation burden.
  Next, the best mode for carrying out the present invention will be described with reference to the drawings.
  The crawler type traveling vehicle device of the embodiment shown in FIG. 1 and FIG. 2 is a device configured for under-floor inspection of a building, 1 is an operation unit composed of a crawler type traveling vehicle, 2 is a personal computer, etc. The unit 2 and the crawler type traveling vehicle 1 are connected by wireless such as wired or wireless LAN, and the crawler type traveling vehicle 1 is driven based on a command signal from the operation unit 2. .
  The crawler type traveling vehicle 1 has a traveling vehicle main body 3 provided with crawlers 4 and 4 on the left and right. The traveling vehicle main body 3 is equipped with a camera 5, and an image is viewed on a monitor 6 provided in the operation unit 2. In addition, a total of four crawler-type flippers 7 for stepping over the front and rear of the traveling vehicle main body 3 are adjacent to the outside of the crawlers 4 and 4 on the left and right of the traveling vehicle main body 3. It is provided as such.
  The crawler 4 of the traveling vehicle body 3 and the crawler 8 of the flipper 7 are such that the belts 9 and 10 are hung on the same drive pulley 11 as shown in FIG. The crawler 8 of the flipper 7 is also driven in conjunction with the driving of the first motor 12 for driving 4, and the crawler belt 9 on the traveling vehicle body 3 side and the crawler belt 10 on the flipper 7 side circulate and The lap is performed at the same speed.
A power transmission belt 13 transmits the rotational driving force of the first motor 12 to the driving pulley 11. The first motor 12 is provided One not a one for the left and right crawler 4,4 of vehicle body 3, by controlling the driving of the first motor 12, the traveling vehicle 1 is cornering and reorientation It can be operated.
  Further, the flipper 7 is provided with side plates 14 and 15 that sandwich the crawler 8 from the left and right directions, and extends to the base end side of the outer side plate 14 from the traveling vehicle body 3 side through the drive pulley 11. The front end of the extended shaft 16 is connected, and the inner side plate 15 is supported by the drive pulley 11 via a bearing 17, and the side plates 14, 15 are idle pulleys 18 at their front ends. By driving the second motor 19 connected to the base end portion of the shaft 16 on the traveling vehicle main body 3 side, the flipper 7 uses the rotating shaft of the driving pulley 11 as the rotating shaft. It is designed to be able to rotate 360 °.
The second motor 19 is provided One not a two back and forth, or are made to be able to individually control the left and right four flipper 7 ... rotation around, or, the same rotation in front of the two flipper 7 If operating only to perform, in two flipper 7 of the rear does not take place only same rotational operation, the second motor 19 may be provided one not a single back and forth.
  Since each flipper 7 in the traveling vehicle 1 can be rotated 360 ° as described above, the front end of the front flipper 7 is directed rearward as shown in FIG. The tip of the rear flipper 7 can be angled forward and the angular state is set as the standby angle of the front and rear flippers 7, 7.
  Further, the apparatus is provided with an angular position recognition mechanism that recognizes the rotational angular positions of the front and rear flippers 7. The angular position recognition mechanism includes an incremental encoder 20 that detects the relative rotational position of each flipper 7, and a limit switch 21 that detects that the flippers 7 are at a specific angle. As shown in FIG. 1 (a), the incremental encoder 20 is provided in each second motor 19, and as shown in FIG. 1 (b), the limit switch 21 is provided on the side surface of the traveling vehicle main body 3. Yes.
  As shown in FIG. 3 (a), when the apparatus is started in a state where each flipper 7 is positioned at the standby position, the recognition operation of the angular position of each flipper 7 is performed by control. .
  As shown in FIG. 3 (b), the recognition operation is controlled by rotating each flipper 7 upward by the second motor. If the limit switch 21 is opened during this process, this time, As shown in 3 (c), when the flipper 7 is rotated in the reverse direction and the limit switch 21 is closed, counting by the incremental encoder 20 is started. By starting the counting, the apparatus is in a state where the rotational angle positions of the flippers 7 are accurately recognized. The count number from when the limit switch 21 is closed until the standby angle state is set is set in advance. When the count number of the incremental encoder 20 reaches this set count number, the rotation of the flipper 7 is stopped. Thus, each flipper 7 can be in an accurate standby angle state.
  The operation unit 2 of the above-described apparatus includes a storage unit 22 that stores a procedure for causing a crawler type traveling vehicle that exceeds a step to perform a series of uniform operations necessary to cross a step within a specific range, and the storage unit 22 is provided with a control unit 23 that controls the crawler type traveling vehicle 1 across the steps to perform a series of operations over the steps based on the procedure stored in the step 22. Step crossing control is started, and the crawler type traveling vehicle 1 over the step performs an operation over the step by the control.
  Specifically, a series of uniform operations as shown in FIGS. 4A to 5 N are performed under the control of the control unit 23. That is, the figure shows a case where the height dimension exceeds the step 24 of 150 mm. As shown in FIGS. 4A and 4B, the control is such that the distance a from the crawler type traveling vehicle 1 to the step 24 is 50 mm. After being brought close to each other, it is started when a control start operation is performed on the operation unit 2, and the uniform operation over the steps as shown in FIG. 4 (c) to FIG. The crawler type traveling vehicle 1 goes over the step 24. It goes without saying that this series of steps over the steps is performed based on the recognition of the angular position of each flipper 7 by the angular position recognition mechanism.
  In addition, when there are a plurality of differences in the height dimension and the front-rear direction dimension in the crossing direction in the step that must be exceeded, the storage unit 22 has a plurality of types for stepping over so as to be able to cope with these steps. It is advisable to memorize the uniform operation of the above-mentioned so that the step-over operation can be selected.
  As described above, in the above-described apparatus, if only the operation for causing the control unit 23 to start the step crossing control is performed on the operation unit 2, the control unit 23 performs the step crossing control thereby, and the control is performed. Therefore, the crawler type traveling vehicle 1 over the step is configured to perform the operation over the step, so that the traveling vehicle 1 can perform the step over the step with a small operation burden.
  Further, in the above apparatus, each flipper 7 is a crawler type flipper, and the crawler belt 9 on the traveling vehicle body 3 side and the crawler belt 10 on the flipper 7 side circulate with the same direction and speed. Therefore, both the crawler 4 of the traveling vehicle body 3 and the crawler 8 of the flipper 7 can be used for traveling of the traveling vehicle 1, and the traveling vehicle 1 has a mechanically stable step-over operation. In addition, the control contents for a series of operations over the steps can be simplified.
  Further, in the above apparatus, the front and rear flippers 7 and 7 can be rotated 360 °, and as shown in FIG. The crawler type traveling vehicle main body 3 is floated by the front and rear flippers 7 and 7, and the crawlers 8 and 8 of the flippers 7 and 7 are lifted in the floating state. So that the traveling vehicle main body 3 can be driven at different height positions, and photography by the camera 5 can be performed from different height positions. It has become.
  In addition, the front and rear flippers 7 are configured so that the front end of the front flipper 7 faces the rear and the front end of the rear flipper 7 faces the front. Since the standby angle of the flippers 7 and 7 is set, the size of the traveling vehicle 1 in the front-rear direction can be reduced and the small turn can be effected even though the flippers 7 and 7 are provided at the front and rear. The traveling vehicle 1 can be made compact, and yet the steps can be stepped by the front and rear flippers 7, 7.
  Although the embodiment of the present invention has been described above, the present invention is not limited to this, and various modifications can be made without departing from the spirit of the invention. For example, in the above-described embodiment, the level difference that exceeds is made of a specific form, but the level difference of other forms can also be set as an object to be exceeded, and the apparatus of the present invention is limited to inspection for under the floor. It can be used for various purposes.
The crawler type traveling vehicle of an embodiment device is shown, and Drawing (a) is a sectional top view showing a flipper and a crawler drive mechanism part enlarged, and Drawing (b) is an outline whole top view of a traveling vehicle. FIG. 1A is an explanatory view showing the configuration of the apparatus, and FIG. 2B is a side view showing an example of the operation of the traveling vehicle. FIGS. 1A to 1D are side views of a traveling vehicle that sequentially show control operations and the like for angle position recognition. FIGS. 5 (a) to 5 (e) are side views sequentially showing an example of a uniform operation of the traveling vehicle for stepping over the steps, together with FIGS. FIGS. 4F to 4E are side views sequentially showing an example of a uniform operation of the traveling vehicle for stepping over the steps together with FIGS.
Explanation of symbols
DESCRIPTION OF SYMBOLS 1 ... Crawler type traveling vehicle 2 ... Operation part 3 ... Traveling vehicle main body 4 ... Crawler 5 ... Camera 7 ... Flipper 8 ... Crawler 9 ... Crawler belt 10 ... Crawler belt 20 ... Incremental encoder 21 ... Limit switch 22 ... Memory | storage part 23 ... Control Part 24 ... Step

Claims (5)

  1. A crawler-type traveling vehicle having a step-over chopper provided on both sides of the crawler-type traveling vehicle main body and an operation unit for operating the crawler-type traveling vehicle are provided. The flipper is a crawler type flipper, the crawler of the traveling vehicle body and the crawler of the flipper are interlocked, and the direction and speed of the crawler belt of the traveling vehicle body and the direction and speed of rotation of the crawler belt of the flipper are the same. In the crawler type traveling vehicle device over the step,
    A storage unit storing a procedure for causing the crawler-type traveling vehicle to perform a series of uniform operations necessary to cross a step in a specific range;
    And a control unit that performs control for causing the crawler type traveling vehicle over the step to perform a series of operations over the step based on the procedure stored in the storage unit. The control unit starts control over the step, and the control causes the crawler type traveling vehicle over the step to perform the operation over the step , and
    The storage unit stores a plurality of types of uniform movements for crossing the steps corresponding to a plurality of steps having different heights in the front-rear direction in the height direction and depending on the step to be crossed. A crawler-type traveling vehicle device that is capable of selecting which one of these operations is to be performed .
  2. The front and rear flippers are designed so that the tip end of the front and rear flippers protrudes downward from the traveling vehicle body, and the crawler traveling vehicle body is lifted by the front and rear flippers. The crawler type traveling vehicle apparatus over a step according to claim 1 , wherein the traveling vehicle apparatus is configured to be able to travel on a crawler of a flipper, and a camera is mounted on the traveling vehicle body.
  3. The front and rear flippers are configured to be in an angle state in which the front end of the front flipper is directed rearward and the front end of the rear flipper is directed frontward, and the angular state is defined as a standby angle of the front and rear flippers. The crawler type traveling vehicle device over a level difference according to claim 1 or 2 , wherein the stepped crawler type traveling vehicle device is configured to be able to perform.
  4. An angular position recognition mechanism for recognizing the rotation angle positions of the front and rear flippers is provided, and the control by the control unit is performed based on the rotation angle position information of the front and rear flippers recognized by the angular position recognition mechanism. The step-over-crawler traveling vehicle apparatus according to any one of claims 1 to 3 .
  5. The angular position recognition mechanism includes an incremental encoder that detects the relative rotational position of each flipper, and a limit switch that detects that the flipper has reached a specific angle, and the identification of each flipper detected by the limit switch. 5. The crawler type traveling beyond a step according to claim 4 , wherein the rotational angle positions of the front and rear flippers are recognized based on information on a relative rotational position detected by the incremental encoder with reference to the rotational angle position of Car equipment.
JP2008137329A 2008-05-26 2008-05-26 Step-crawler-type traveling vehicle device Active JP5384031B2 (en)

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JP5975860B2 (en) * 2011-12-01 2016-08-23 株式会社Ihiエアロスペース Crawler type traveling vehicle
JP6021221B2 (en) * 2011-12-01 2016-11-09 株式会社Ihiエアロスペース Crawler type traveling vehicle and flipper origin detection method for crawler type traveling vehicle

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JPS6226292Y2 (en) * 1981-11-27 1987-07-06
JPH0228152Y2 (en) * 1985-05-01 1990-07-27
JPH0228153Y2 (en) * 1985-08-20 1990-07-27
JPH023754B2 (en) * 1987-02-18 1990-01-24 Shingijutsu Kaihatsu Jigyodan
JPS6412222A (en) * 1987-07-07 1989-01-17 Kobe Steel Ltd Absolute angle of rotation detector for industrial robot
JPH04176786A (en) * 1989-11-21 1992-06-24 Quest Technol Inc Electronic control system for stair climbing vehicle
JPH0476710A (en) * 1990-07-19 1992-03-11 Kobe Steel Ltd Position detector for industrial robot
JP2678813B2 (en) * 1990-08-08 1997-11-19 株式会社小松製作所 Disaster relief robot
JP2580542B2 (en) * 1994-11-14 1997-02-12 防衛庁技術研究本部長 Flexible crawler with rice ball mechanism
JPH09225772A (en) * 1996-02-23 1997-09-02 Brother Ind Ltd Origin and overrun detecting device in machine tool
JP3834651B2 (en) * 2003-09-04 2006-10-18 防衛庁技術研究本部長 Traveling robot
JP4635259B2 (en) * 2006-03-10 2011-02-23 独立行政法人産業技術総合研究所 Crawler robot

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