JP6277681B2 - Compound traveling body - Google Patents

Description

  The present invention relates to a composite traveling body composed of a plurality of single traveling bodies.

  Wheels are used in various forms, for example, in a moving application in which an object is transported or moved. In recent years, for example, a so-called in-wheel motor in which a wheel and a motor for driving the wheel as in Patent Document 1 are integrated or arranged close to each other is being used.

JP 2013-14303 A

However, in general, the use form of a general in-wheel motor is limited in advance, for example, mounted in an automobile as in Patent Document 1 described above. Therefore, the in-wheel motor and the in-wheel motor mounting structure are dedicated, and it is difficult to apply to other uses. In addition, when viewed as an in-wheel motor alone, basically only movement in one direction corresponding to the rotation direction is considered, so a human operation (for example, steering wheel operation) or the like is required to change the movement direction. Therefore, the versatility for application to an automatic movement system was poor. However, when cooperative control is performed by combining a plurality of in-wheel motors, it is necessary to individually design a control method and a control circuit, which may increase the number of development man-hours and manufacturing man-hours.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a composite traveling body that has versatility and can be easily applied to different usage forms without causing an increase in development man-hours and manufacturing man-hours. There is.

  In the first aspect of the present invention, the composite traveling body includes a rotating body for traveling, and a plurality of single traveling bodies traveling by rotating the rotating body with respect to the traveling surface, and a plurality of single traveling bodies. And a connecting means that allows the positional relationship to be changed according to the application, and at least one of the plurality of single traveling bodies is a drive unit that drives the rotating body. The control part which controls the said drive part is comprised with the self-propelled traveling body which accommodated in the main body.

The figure which shows typically the external appearance of the composite traveling body by 1st Embodiment. The figure which shows typically the external appearance of the single-piece | unit traveling body (self-propelled traveling body) by 1st Embodiment. The figure which shows typically the electric constitution of the single-piece | unit traveling body (self-propelled traveling body) by 1st Embodiment. The disassembled perspective view which shows typically the internal structure of the single-piece | unit traveling body (self-propelled traveling body) by 1st Embodiment by 1st Embodiment. The figure which shows typically the structural example in the case of making the single-piece | unit traveling body by 1st Embodiment into a 2-axis structure. The figure which shows typically the external appearance of the connection member by 1st Embodiment, and the connection aspect of a single-piece | unit traveling body and a connection member. The figure which shows typically an example of the connection structure between the connection members by 1st Embodiment. The figure 1 which shows typically the state which connected the connection member by 1st Embodiment. The figure which shows the state which connected the connection member by 1st Embodiment typically 2 The figure which shows typically the external appearance and internal structure of the ball caster (other traveling type traveling body) by 1st Embodiment. The figure which shows typically the example of a combination of the self-propelled traveling body and other traveling type traveling body by 1st Embodiment. The figure which shows typically the instruction | indication path | route to the composite traveling body by 1st Embodiment. The figure which shows typically the external appearance and electrical structure of the operating terminal by 1st Embodiment. The figure which shows typically the flow of control of the operating terminal by 1st Embodiment. The figure which shows typically an example of the screen display of the operating terminal by 1st Embodiment. The figure which shows typically the other connection member and other connection example by 1st Embodiment. The figure which shows the structural example of the connection means by 2nd Embodiment typically. The figure which shows typically the structure of the single-piece | unit traveling body (self-propelled traveling body) by 3rd Embodiment. The figure which shows typically an example of the application which employ | adopted the single-piece | unit traveling body by 3rd Embodiment.

Hereinafter, a plurality of embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the site | part substantially common in each embodiment, and the detailed description is abbreviate | omitted.
(First embodiment)
Hereinafter, a first embodiment will be described with reference to FIGS. 1 to 16.
As shown in FIG. 1, the composite traveling body 10 corresponds to a plurality of single traveling bodies 11 and a connecting member 12 (a connecting piece, connecting means) that connects the plurality of single traveling bodies 11 so as to maintain a mutual positional relationship. ). In the case of this embodiment, three single traveling bodies 11 are provided (however, only two are shown in FIG. 1), and each single traveling body 11 is attached to a connecting member 12A. Each connecting member 12A is connected to a connecting member 12B to which the single traveling body 11 is not connected. Thereby, the composite traveling body 10 which moves integrally as a whole is configured. In addition, although the connection member 12A and the connection member 12B were distinguished for convenience according to whether the single-piece | unit traveling body 11 is attached, in this embodiment, both use the same thing. This composite traveling body 10 is operated by the operation terminal 13 as will be described later.

As shown in FIG. 2, the single traveling body 11 includes a main body 14 that is formed in a substantially spherical shape, and a traveling wheel 16 that is housed in the main body 14 and a part of which is in contact with the traveling surface 15 (corresponding to a rotating body). ), And an auxiliary connecting member 17 for connecting the single traveling body 11 and the connecting member 12 to each other. The main body 14 is composed of a first main body portion 14a and a second main body portion 14b, and the first main body portion 14a and the second main body portion 14b can be divided into two parts from each other's contact surface. Yes. Therefore, it is easy to store various circuit components (see FIG. 4).
The first body portion 14a and the second body portion 14b are provided with a lid member 18a and a lid member 18b, respectively. The lid members 18a and 18b are bowl-shaped, and circuit components (see FIG. 4) are arranged in the internal space. In the case of this embodiment, the lid members 18a and 18b are detachably provided from the first main body portion 14a and the second main body portion 14b.

  The lid members 18a and 18b may have a structure in which one end is fixed to the first main body 14a or the second main body 14b and the opening is opened or closed by a hinge structure or the like. The lid members 18a and 18b may be configured to open and close the opening in a sliding manner. Further, it is not always necessary to provide two lid members. For example, only the lid member 18a may be provided as long as the opening on at least one side surface of the main body 14 can be opened and closed. Moreover, it is good also as a structure which provides a large opening in the 1st main-body part 14a and the 2nd main-body part 14b, and block | closes the opening with the cover members 18a and 18b. Accordingly, by removing the lid members 18a and 18b, it is possible to attach components to the main body 14 and to exchange and adjust components.

  Circuit components as shown in FIG. 3 are accommodated in the main body 14 of each single traveling body 11. Specifically, in the main body 14, a controller 20 (corresponding to a control unit), a motor 21 (corresponding to a driving unit), a motor driver 22, a battery 23, a power receiving module 23a, a wireless module 24, an antenna 24a, a running state A detection sensor 25 (corresponding to the traveling state detection means), an environmental state detection sensor 26 (corresponding to the environmental state detection means), and the like are accommodated. Each part is supplied with electric power from the battery 23 (path indicated by a broken line in FIG. 3). The battery 23 is wirelessly or wiredly powered from the outside via the power receiving module 23a.

  For this reason, the single traveling body 11 can travel alone without the need to connect an external power cable. The single traveling body 11 is controlled by the controller 20 (each route indicated by a solid line in FIG. 3). That is, in the case of this embodiment, each single traveling body 11 receives operations from a drive unit (motor 21) that drives the wheels 16, a control unit (controller 20) that controls the drive unit, and external devices. This is a self-propelled traveling body in which the communication means (wireless module 24) is accommodated in the main body 14.

  The controller 20 is composed of a microcomputer having a CPU, a ROM, a RAM (corresponding to a storage means) and the like (not shown). For example, the controller 20 is configured to control the entire single traveling body 11 based on a computer program stored in the ROM. Control. Specifically, although details will be described later, the controller 20 performs traveling control in accordance with an instruction from an external device (operation terminal 13) acquired via the wireless module 24. The RAM is configured by a nonvolatile memory that can store various types of information and can be read and written. Information (learning information) detected by the running state detecting means and the environmental state detecting means, and as described later, At least one of the information related to the planned travel route (prediction information) and the information related to the traveled route (repetition information).

In this embodiment, the wireless module 24 adopts Bluetooth (registered trademark), which is one of the wireless communication standards. The wireless module 24 employs a wireless communication module capable of wireless LAN (Local Area Network) communication and wireless WAN (Wide Area Network) communication as well as wireless PAN (Personal Area Network) communication such as Bluetooth. May be.
The single traveling body 11 receives an instruction from an external device, transmits its traveling state and environmental state, etc. via the wireless module 24. The wireless module 24 is not only capable of communicating with external devices, but also capable of communicating with other single traveling bodies 11 that are located in the vicinity and that constitute the composite traveling body 10. . At this time, as another single traveling body 11, not only the above-described self-running traveling body but also another traveling traveling body including sensors such as the traveling state detection sensor 25 and the environmental state detection sensor 26 may be used. Good. The other traveling type traveling body is not provided with a drive unit, and is a single traveling body 11 (a ball to be described later) that travels by being pulled directly or indirectly via a connecting means. This corresponds to the caster 50 (see FIG. 10).

  The traveling state detection sensor 25 includes, for example, a distance sensor that measures a traveling distance, a speed sensor that detects a speed, an acceleration sensor that detects acceleration, a gyro sensor that detects inclination, vibration, impact, and the like, and a direction sensor (geomagnetic) that detects a direction. Sensor), current position sensor (GPS, etc., corresponding to position detection means), torque sensor for detecting the torque of the motor 21, overcurrent sensor for detecting overcurrent, and the like for grasping the traveling state of the single traveling body 11. Sensors that can detect information. Further, as the running state detection sensor 25, a sensor for detecting the remaining amount of the battery 23, a weight sensor for detecting a weight applied to the wheel 16 (that is, the weight of the load), and a single traveling body performed by the controller 20 11 includes a process for detecting an error that occurs in 11, a process for detecting or estimating a consumption state of a consumable, a radio wave condition of wireless communication, and the like.

It is not always necessary to provide all the illustrated sensors, and other sensors may be provided. That is, the traveling state detection sensor 25 may adopt any device as long as it detects the traveling state. Moreover, you may consider that the periphery periphery of the composite traveling body 10 demonstrated below is one of the driving | running | working states.
The environmental state detection sensor 26 is a sensor that can detect information for grasping the surrounding environment of the single traveling body 11, such as a temperature sensor, a humidity sensor, an atmospheric pressure sensor, and an atmospheric component sensor. In addition, it is not always necessary to provide all of the exemplified sensors, or other sensors may be provided. That is, as long as the environmental condition detection sensor 26 can detect the environmental condition around the single traveling body 11, a sensor having any configuration such as being combined with the above-described traveling condition detection sensor 25 may be employed. Further, the environmental state detection sensor 26 may be a sensor for detecting and identifying other single traveling bodies 11 existing in the surroundings. For example, a laser radar that optically detects a distance and a position to an object such as an obstacle, an ultrasonic sensor that detects a sound wave, and the like can be considered.

  Further, a camera device as an imaging unit may be provided to detect an environmental state or a traveling state from an image. At this time, the camera device is not limited to visible light, and may capture images with invisible light such as infrared rays. Further, the field of view of the camera device may be variable. The environmental state detected by the environmental state detection sensor 26 is transmitted to the external device side. An image captured by the camera device may be used as information for autonomous traveling. In addition, the laser radar, the ultrasonic sensor, the camera device, and the like also function as a recognition unit that recognizes the positional relationship between the single traveling bodies 11.

  Moreover, it is good also as a structure which detects the above-mentioned driving | running | working state and cyclic | annular state as the composite traveling body 10 whole. For example, when it is necessary to grasp the temperature, it can be considered to be combined with the single traveling body 11 having a temperature sensor. Alternatively, when it is necessary to grasp a running image (either a still image or a moving image), it is conceivable to combine it with a single traveling body 11 provided with a camera device. At this time, it is preferable that the sensors are modularized and the mounting structure is made common so that the information acquired can be changed by exchanging the modules. Thereby, it becomes possible to obtain necessary information by selecting a module according to the application, and it is not necessary to prepare an unnecessary configuration that is unnecessary or not used in advance, and the cost of the single traveling body 11 is reduced. Can be reduced. Of course, two or more sensors may be modularized. Of course, a sensor may be provided in the other traveling type traveling body.

  The traveling state detection sensor 25 and the environmental state detection sensor 26, the controller 20, the battery 23, the wireless communication module 24, and the like correspond to circuit components that constitute a functional unit provided in the self-propelled traveling body. And the driving | running | working state of the single-piece | unit traveling body 11 is controlled by these each function parts based on the detected driving | running state and environmental condition, for example. That is, the single traveling body 11 can autonomously travel. The detected information is temporarily stored in the RAM or the like on the single traveling body 11 side and used for traveling control, and is also transmitted to the external device side as described later. In order to reduce power consumption related to wireless communication, a certain amount of information may be stored in a RAM or the like, and transmitted to an external device when a certain amount of information is accumulated.

  As shown in FIG. 4, the unit traveling body 11 has a main body 14 formed in a hollow shape. Inside the main body 14, the wheel 16 and the above-described circuit components are arranged so as to be sandwiched between the first main body portion 14a and the second main body portion 14b. The first main body portion 14a and the second main body portion 14b are fixed in a state where they are combined with each other by an engagement structure (not shown). A part of the circuit components is disposed in the internal space of the lid members 18a and 18b. In this embodiment, the main body 14 is made of a metal material and has a certain degree of strength. And since the wheel 16 is accommodated in the main body 14, it is prevented that force is applied to the wheel 16 from the side. Further, only the contact surface of the wheel 16 with the traveling surface 15 is exposed. In other words, since the wheels 16 are not exposed, the occurrence of axle misalignment or entrainment is suppressed. That is, in the single traveling body 11, robustness and safety are ensured. Further, since it is made of metal, it is possible to suppress noise from entering from the outside to some extent.

  Further, a convex portion 38 protruding from the main body 14 is provided on the upper portion of the main body 14. The main body 14 is attached to the connecting member 17 by the convex portion 38 and the concave portion 39 (see FIGS. 2 and 5) provided in the auxiliary connecting member 17. That is, the mounting portion 37 is configured by the convex portion 38 and the concave portion 39. In the case of this embodiment, the convex part 38 is formed in the substantially column shape. And this main part 14 and the auxiliary | assistant connection member 17 are mutually fixed by inserting this convex part 38 in the recessed part 39 currently formed in the annular | circular shape in this embodiment.

  In the case of the present embodiment, a magnet having a relatively large magnetic force, such as a neodymium magnet, is built in the auxiliary connecting member 17, and the metal main body 14 and the auxiliary connecting member 17 are firmly connected (adsorbed) by the magnetic force. Has been. For this reason, it can suppress that the main body 14 and the auxiliary | assistant connection member 17 rotate relatively to the circumferential direction, and the main body 14 can be attached or detached without using a special tool etc. Further, since the convex portion 38 formed in a cylindrical shape is inserted into the concave portion 39 formed in an annular shape, the horizontal direction relative between the main body 14 portion and the auxiliary connecting member 17 is determined. Movement is also restricted.

  The attachment mechanism that connects the main body 14 and the auxiliary connecting member 17 may be other than magnetic force. For example, it is possible to provide a screw-in type mounting structure by providing a thread and a groove in the convex portion 38 and the concave portion 39, respectively. Further, the convex portion 38 and the concave portion 39 may be formed in an elliptical shape or a rectangular shape. If it is formed in an elliptical shape or a rectangular shape, relative rotation in the circumferential direction between the convex portion 38 and the concave portion 39, that is, relative to the circumferential direction between the main body 14 and the auxiliary mounting member 17. Rotation can be prevented. Moreover, you may form the convex part 38 in a cylindrical shape, and, thereby, weight reduction of the main body 14 can be achieved. Further, the convex portion 38 may be shaped like a key, and the concave portion 39 may be shaped like a keyhole. Specifically, a hinge protruding radially outward is provided on the tip side of the convex portion 38, an irregularly shaped portion into which the hinge can be inserted is provided in a part of the concave portion 39, and, for example, 90 degrees from the state where the convex portion 38 is inserted. You may employ | adopt the structure locked by rotating. Thereby, the relative movement to the up-down direction of the convex part 38 and the recessed part 39 can also be controlled.

  Thus, by fixing the main body 14 and the auxiliary connecting member 17 to each other by insertion, fitting or engagement, etc., it is possible to prevent the main body 14 and the auxiliary connecting member 17 from being unintentionally detached, It is possible to further improve the robustness and safety. At this time, an impact reducing mechanism may be provided in the auxiliary connecting member 17 so as to reduce the impact from the main body 14. Further, a structure corresponding to the recess 39 may be provided in the connecting member 12 and the auxiliary connecting member 17 may not be used.

  In addition, when the main body 14 is formed of a resin material, a noise prevention coating or the like may be applied to the surface or the inner surface thereof. In addition, when the main body 14 is formed of a metal material, wireless communication may be hindered. Therefore, the antenna 24 a of the wireless module 24 may be provided so as to be exposed on the surface of the main body 14. Alternatively, only the lid members 18a and 18b or only one of them may be formed of a resin material and attached to the main body 14 formed of a metal material. Thereby, it can suppress that radio | wireless communication is inhibited or radio field intensity falls.

  The wheel 16 is supported so as to be rotatable relative to the support portion 30. In addition, a sliding mechanism is provided between the support unit 30 and the wheel 16, and the load applied to the wheel 16 (the weight of the connecting member 12 and the load placed thereon) is supported by the support unit 30. It is configured to accept the whole. The wheel 16 may be entirely formed of an elastic resin such as rubber (integrated wheel and tire). In this case, the effect of the impact mitigation mechanism for mitigating the impact becomes more prominent.

  In the present embodiment, the wheel 16 includes a wheel 16a and a tire 16b attached to the wheel 16a. In this case, the tire 16b becomes a cushion, so that the push-up from the running surface 15 is suppressed. That is, in the single traveling body 11, the wheel 16 functions as an impact mitigation mechanism for mitigating an external impact. The wheel 16 is supported from the direction of the rotation axis by a pair of support portions 30 formed integrally with the main body 14. In the present embodiment, the rotating shaft (axle) of the wheel 16 is provided so as to be horizontal to the traveling surface 15. This axle corresponds to the first axis J1 that is a rotating shaft for traveling.

  The wheel 16 has a fixed plate 100 that is fixed to the support portion 30 provided in the second main body portion 14b on the right side in the figure. The fixed plate 100 is fixed by fitting, press-fitting, or screwing a fixed shaft 101 coaxial with the rotation shaft of the wheel 16 (motor output shaft 21a) into a hole 30a provided in the support portion 30. The A plurality of large gears 34 that mesh with small gears 21 a provided on the output shaft of the motor 21 are provided on the fixed plate 100 so as to be relatively rotatable. Each large gear 34 is arranged so as to mesh with an inner peripheral tooth portion 33 provided on the inner peripheral side of the wheel 16a at the outermost edge. Therefore, when the motor 21 is driven, the rotation of the output shaft 21 a is decelerated by passing through the small gear 32 and the large gear 34 and transmitted to the wheel 16. Thereby, the wheel 16 rotates and the single traveling body 11 can travel. That is, the small gear 21 a, the large gear 34, and the inner peripheral tooth portion 33 constitute a reduction mechanism 31 that reduces the output of the motor 21 and transmits it to the wheels 16.

  A bearing 102 is provided on the outer peripheral side of the fixed shaft 101 of the fixed plate 100. A wheel plate 103 is attached to the bearing 102 to close the opening 16a1 on the right side of the wheel 16a. As a result, the wheel plate 103 can rotate relative to the fixed plate 100 when attached to the wheel 16a. The wheel plate 103 rotates together with the wheel 16a, that is, the wheel 16.

  On the other hand, the wheel 16 is provided with a motor case 104 that houses the motor 21 and the control board 35 on the left side in the figure. The motor case 104 is formed in a bottomed cylindrical shape that is substantially the same size as the outer shape of the motor 21, and a fixed shaft 104 a that is coaxial with the rotating shaft of the wheel 16 is provided on the bottom thereof. The motor case 104 is fixed to the first body portion 14a by press-fitting or fitting the fixed shaft 104a into the hole 30a of the support portion 30 on the first body portion 14a side. Further, on the outer peripheral side of the fixed shaft 104, a wheel plate 103 for closing the bearing 102 and the opening 16a1 on the left side of the wheel 16a is attached in the same manner as the fixed shaft 101 described above. That is, the wheel 16 is supported so as to be rotatable relative to the motor case 21 fixed to the main body 14 also on the left side in the figure.

  As described above, the wheel 16 of the single traveling body 11 is rotatably supported from both sides thereof, and thus rotates relative to the main body 14. The motor 21 and the speed reduction mechanism 31 are arranged on the radially inner side of the wheel 16 in a state where the single traveling body 11 is assembled. That is, the single traveling body 11 of the present embodiment has a configuration common to a so-called in-wheel motor. Note that the configuration of the speed reduction mechanism 31 described above is an example, and other configurations such as a different number of gears or different arrangements may be used. The motor 21 is a low-cost DC motor with a brush, or a brushless motor (permanent magnet synchronous motor, induction motor, reluctance motor, stepping motor, etc.) having high durability with no brush wear. Various motors may be employed. Further, the motor 21 is not limited to the inner rotation type (so-called inner rotor type), and may employ an outer rotation type (so-called outer rotor type) in order to secure a large torque.

  Further, the motor 21 may be controlled without using a rotation angle detection sensor that detects the rotation angle (mechanical angle, electrical angle) of the motor 21, or in order to accurately control the rotation angle of the motor 21, for example, Control may be performed using a rotation angle detection sensor such as an encoder, resolver, or hall sensor. In addition, when using a rotation angle detection sensor, it is good to arrange | position a rotation angle detection sensor in the motor case 104. FIG.

  The controller 20 and the motor driver 22 are mounted on a control board 35 disposed in the vicinity of the motor 21. On the other hand, the wireless module 24, the traveling state detection sensor 25, and the environmental state detection sensor 26 are mounted on the sensor substrate 36 disposed inside the lid member 18, that is, at a position close to the outer edge of the main body 14. The antenna 24 a of the wireless module 24 is also provided on the sensor substrate 36. By arranging the wireless module 24 at a position close to the outer edge of the main body 14 in this manner, the possibility that the wireless communication is hindered by the metal main body 14 is reduced. Further, since it is close to the outer edge of the main body 14, the environmental state detection sensor 26 can more accurately detect the environmental state such as the external temperature. In addition, it is possible to easily adjust and replace the sensors as described above. Further, the control board 35 and the sensor board 36 are arranged at a separated position, and a part of the main body 14 is interposed therebetween. That is, the sensor substrate 36 is disposed in a space isolated from the motor 21 or the like that can be a noise source. For this reason, for example, noise generated from the motor 21 or the like is suppressed from propagating to the sensor substrate 36 side.

Further, the battery 23 is accommodated in an internal space on the upper side of the main body 14 and on the attachment portion 37 side which is an attachment structure to the auxiliary connecting member 17. For this reason, even if the battery 23 is relatively large, it does not interfere with rotation mechanisms such as the wheels 16 and the speed reduction mechanism 31. Moreover, since the attachment part 37 is located in the center of the main body 14, the battery 23 is accommodated therein so that it is easy to balance the front, rear, left and right.
From the battery 23, power is supplied to the controller 20, each sensor, and the like by the wiring cable 105. The battery 23 is also connected to the power receiving module 23 a by the wiring cable 105. Therefore, by moving or installing the single traveling body 11 in the vicinity of a power transmission module (not shown) for power supply, wireless power can be supplied from the power transmission module and the battery 23 can be charged.

  By the way, the single traveling body 11 described above has the rotating shaft of the wheel 16 provided horizontally with the traveling surface 15, and can travel the single traveling body 11. In this case, although the single traveling body 11 can be easily moved in one direction, it is assumed that it is difficult to perform a turning operation or a direction change. Therefore, in addition to the first axis J1 described above, a second axis J2 is provided that is provided perpendicular to the traveling surface 15 and changes the orientation of the single traveling body 11, more specifically the orientation of the wheels 16. Also good. The second axis J2 serves as a rotation axis for changing the traveling direction, such as a direction change.

  Therefore, a second axis J2 that is perpendicular to the traveling surface 15 may be provided. For example, as shown in FIG. 5, the motor 110 corresponding to the second drive unit is fixedly disposed in the internal space of the attachment unit 37, and the output shaft 111 of the motor 110 is connected to the convex portion 38. In this case, a reduction mechanism or the like may be used. The convex portion 38 is supported by the bearing 112 so as to be rotatable relative to the main body 14. Accordingly, when the motor 110 is driven by the motor driver 113, the auxiliary connecting member 17 can be rotated by rotating the convex portion 38. In other words, if the auxiliary connecting member 17 side is fixed, the main body 14 side rotates, and the direction of the wheels 16, that is, the traveling direction of the single traveling body 11 can be changed. At this time, a slight gap may be provided between the upper surface of the main body 14 and the auxiliary connecting member 17. Thereby, friction does not arise when the main body 14 rotates, and it can be rotated smoothly.

  As a result, the composite traveling body can easily change the traveling direction such as a direction change even if the self-propelled traveling body is constituted by one, and can turn on the spot without traveling. Can also be performed. In other words, since the direction of the wheel 16 can be changed to all directions, the movement performance of the composite traveling body 10 can be improved and the application application thereof can be expanded.

  The configuration of the second axis J2 shown in FIG. 5 is an example, and a motor 110 for changing the direction of the wheel 16 may be provided in the main body 14. Further, the motor 110 or the like may be disposed on the auxiliary connecting member 17 side, or the motor 110 may be provided on the connecting member 12 side to rotate the main body 14 together with the auxiliary connecting member 17. Moreover, you may construct | assemble the self-propelled traveling body which uses the ball | bowl 52 used with the ball caster 50 instead of the wheel 16 as a rotary body. Further, when the composite traveling body 10 is constituted by a plurality of self-propelled traveling bodies, all of them may be composed of self-propelled traveling bodies provided with the second axis J2, or one of them is the second axis J2. May be configured as a self-propelled traveling body provided only with the first axis J1. Of course, if it is the composite traveling body 10 in which only a straight movement is assumed, it may be composed of only a self-propelled traveling body that is not provided with the second axis J2.

Next, the connecting member 12 will be described.
In the case of this embodiment, as shown in FIG. 6A, the outer shape of the connecting member 12 (corresponding to a connecting piece) is generally hexagonal when viewed from above. In this case, the size of the hexagon is formed larger than the projected dimension of the main body 14 of the single traveling body 11. Further, as shown in FIG. 6B, the connecting member 12 is formed with a certain thickness and the upper surface thereof is formed flat. Then, an article to be conveyed is placed on the flat upper surface. That is, the connecting member 12 for connecting the plurality of single traveling bodies 11 also functions as a mounting table for mounting the article itself. That is, in the case of this embodiment, the single traveling body 11 is indirectly attached to the article that is a placement object via the connecting member 12 and the auxiliary connecting member 17.
The single traveling body 11 is attached to the lower surface side of the connecting member 12 via an auxiliary connecting member 17. The connection between the connecting member 12 and the auxiliary connecting member 17 may be, for example, screwing, or may be configured such that the auxiliary connecting member 17 itself is screwed into the connecting member 12.

As shown in FIG. 7A, the connecting member 12 has a connecting mechanism 40 for connecting to another connecting member 12 on its side surface. In the case of this embodiment, as shown in FIG. 7B, one connecting member 12 includes a base 41 protruding from the substantially center of the side surface, and a thickness direction of the connecting member 12 on the distal end side of the base 41. A substantially T-shaped engaging convex portion 43 is provided which includes a projecting portion 42 projecting from the front. In addition, the other connecting member 12 is provided with an engaging recess 44 that is formed to be recessed in the side surface and into which the engaging protrusion 43 is inserted. The engaging convex portion 43 and the engaging concave portion 44 are formed over substantially the entire length of one side of the connecting member 12. Therefore, the connecting members 12 are connected to each other by inserting the engaging convex portion 43 while sliding it into the engaging concave portion 44. In addition, this connection mechanism part 40 is an example, and another structure may be sufficient as it. The connecting member 12 may be a metal material or a resin material, but an insert-molded connecting member 12 that injects a resin material around the metal material to integrate the two is used. This is desirable in terms of strength and weight reduction. Moreover, you may provide the some connection mechanism part 40 in one connection member, such as providing the engagement convex part 43 in one side of the connection member 12, and providing the engagement recessed part 44 in the other side.
Thereby, for example, as shown in FIGS. 8 and 9, the composite traveling body 10 constituted by the four connecting members 12 is formed. At this time, as shown in FIG. 9, the upper surface side of each connecting member 12 is a flat surface and functions as a mounting table. In the present embodiment, as shown in FIG. 1, in the composite traveling body 10, three single traveling bodies 11 are physically connected by four connecting members 12.

  By the way, it is not always necessary that the single traveling bodies 11 constituting the composite traveling body 10 are self-propelled traveling bodies. That is, as long as the composite traveling body includes one or more self-propelled traveling bodies, the others may be other traveling traveling bodies. In this case, for example, a ball caster 50 as shown in FIG. The ball caster 50 is provided with a spherical ball 52 (corresponding to a rotating body) in place of the wheel 16 in a main body 51 having the same outer shape as the main body 14 of the single traveling body 11. The lower side of the ball 52 is supported by the receiving member 150 in the main body 51. Further, the upper side of the ball 52 is held down by the holding member 151. The restraining member 151 is provided with, for example, six small free casters 152 in the circumferential direction. The ball 52 abuts against the universal caster 152 so that the ball 52 can rotate relative to the holding member 151 in all directions.

  The holding member 151 is in contact with the auxiliary connecting member 17 via the plate member 153. The plate member 153 is urged downward in the figure by a spring member 154 provided on the auxiliary connecting member 17 side. That is, the entire holding member 151 is elastically pressed to the lower side in the drawing, so that the free caster 152 on the holding member 151 side and the ball 52 are in close contact with each other with an equal force in the circumferential direction. It becomes like this. Then, the free caster 152 and the ball 52 are in uniform contact with each other, so that it is prevented from being caught during rotation. As a result, the rotation of the ball 52 becomes smooth and it is possible to prevent the traveling from being adversely affected. Further, two pins 155 are provided on the upper surface of the auxiliary connecting member 17, that is, on the contact surface with the connecting member 12. The pin 155 is inserted into a hole provided in the connecting member 12. Thereby, the relative rotation between the auxiliary connecting member 17 and the connecting member 12 is restricted.

  The ball caster 50 is not provided with a drive unit for driving the ball 52. Therefore, the ball caster 50 is pulled by being physically connected to the self-propelled traveling body and travels according to the traveling of the self-propelled traveling body. By partially using such a ball caster 50, the motor 21, the control circuit, and the like become unnecessary, and the cost of the composite traveling body 10 as a whole can be reduced. The rotating body may be a wheel. In that case, it is preferable to have a configuration that includes an axle and a second axis that is perpendicular to the axle and can travel in all directions of 360 °. In this case, the second shaft does not necessarily need to be provided with the second motor 110 and the like as long as it can be relatively rotated between the main body 51 and the auxiliary connecting member 17 by a bearing mechanism or the like.

  The number and arrangement of the ball casters 50 may be set as needed and according to the purpose. For example, when the composite traveling body 10 is freely movable in all directions with respect to the traveling surface 15 and is desired to be moved while precisely controlling the moving route and direction, the present embodiment is implemented as shown in FIG. Similar to the embodiment, all the single traveling bodies 11 may be constituted by self-propelled traveling bodies 11A (indicated by a solid line Δ). In addition, when it is desired to perform a certain degree of control but the movement route and the direction need not be so precise, for example, as shown in FIG. What is necessary is just to comprise by other traveling type traveling bodies 11B (indicated by a broken line Δ) such as 50. Further, when it is only necessary to be able to autonomously travel, as shown in FIG. 11C, for example, two of the three traveling bodies 11 may be constituted by other traveling traveling bodies 11B. Note that the configuration shown in FIG. 11 is an example. For example, in the case of the composite traveling body 10 in which three single traveling bodies 11 are arranged on a straight line and arranged in two rows, the linear traveling body 10 is arranged on the straight line. The ball caster 50 may be provided as appropriate according to the configuration of the composite traveling body 10, such as the central single traveling body 11 disposed as a ball caster 50.

Next, control of the composite traveling body 10 will be described.
The composite traveling body 10 travels based on an instruction from an external device. In this case, in the composite traveling body 10 constituted by three self-propelled traveling bodies as in the present embodiment, as shown in FIG. A configuration in which the traveling body 11A performs traveling control can be considered. Further, as shown in FIG. 12B, an instruction is given to one self-propelled traveling body (referred to as a master traveling body 11M for convenience) constituting the composite traveling body 10, and another self-propelled traveling body ( For convenience, the slave traveling body 11S) may be configured to perform traveling control based on an instruction from the master traveling body 11M. However, in any configuration, there is no change in that a plurality of self-propelled traveling bodies travel in cooperation. Therefore, in the following, a basic control flow applied to both configurations will be described.

First, an example of the operation terminal 13 will be described.
The operation terminal 13 of this embodiment is a terminal for operating the composite traveling body 10, and has the following functions.
Configuration detection function: Detection of the single traveling body 11 located in the vicinity of the operation terminal 13. Setting of the number and arrangement of the single traveling bodies 11 constituting the composite traveling body 10. Setting of the number and arrangement of other traveling type traveling bodies included in the combined traveling body 10.
Traveling state display function: a function for displaying the traveling state of the composite traveling body 10. As the running state, information such as the remaining amount of the battery 23, the speed, the acceleration, the travel distance, the radio wave status of wireless communication, the tire air pressure, the wear status of the consumables, and the like are displayed. Note that the speed and acceleration may be displayed not only as current values but also as average values and transitions.

  Environmental state display function: A function for displaying the environmental state of the composite traveling body 10. Environmental conditions include images captured by the camera device and surrounding conditions detected by the laser radar, current travel position, traveled route up to the current time or future travel planned route, map showing each route, status of the travel surface 15, Temperature, humidity, atmospheric pressure, atmospheric component information, etc. are displayed. In addition, about temperature, humidity, etc., you may display not only a present value but an average value and transition. Further, the traveled route, temperature, and the like may be displayed superimposed on the above-described map. In addition, it is not always necessary to display all the information for displaying the driving state and the environmental state, and the information selected by the user may be displayed.

  -Operation system functions: Manual operation and auto operation are set as the operation mode. In manual operation, the user inputs the moving direction, speed, etc. to the operation terminal 13 each time while visually observing the composite traveling body 10 or grasping the traveling state and environmental state from a remote place. This is the mode to operate. The auto operation is a mode for causing the composite traveling body 10 to autonomously travel. In this automatic operation, for example, the route set in advance on the operation terminal 13 side or the programmed travel planned route is downloaded to the composite traveling body 10 so that the composite traveling body 10 travels fully or semi-autonomously. As an example of fully autonomous traveling, for example, a target position coordinate is set from the operation terminal 13, and the composite traveling body 10 itself detects the traveling state and the environmental state up to the target position coordinate, and avoids an obstacle on the shortest route. However, it may be possible to run autonomously in a fully automatic manner. As an example of semi-autonomous driving, route data is learned / registered in advance by manual operation or the like, a start instruction for driving along the route data is given from the operation terminal 13, and the combined vehicle 10 It can be considered to travel according to route data.

  ・ Maintenance function: A function to perform maintenance and pre-registration of the complex self-propelled vehicle. As the pre-registration function, for example, programming that causes the composite traveling body 10 to run semi-fully autonomously and downloading it to the composite traveling body can be considered. For example, the configuration information may be uploaded to the cloud server instead of the operation terminal 13, and the composite traveling body 10 communicates with the cloud server to acquire the setting information and perform autonomous traveling. Good. As the maintenance function, it is conceivable to adjust the parameters such as the starting torque and maximum speed of the motor 21, the camera focus and the laser intensity, list up worn and aged parts, and present their inspection / replacement timing. The operation terminal 13 can also perform firmware update of the single traveling body 11.

  As shown in FIGS. 13A and 13B, the operation terminal 13 having such a function includes a display unit 60 (corresponding to display means) and a touch panel provided corresponding to the display unit 60. 61 (corresponding to the operation input means) and a so-called tablet PC that can be carried by the user is employed. This is because in the present embodiment, it is assumed that the user moves with the composite traveling body 10. As shown in FIG. 13, in addition to the display unit 60 and the touch panel 61, the operation terminal 13 includes a control unit 62, a wireless module 63 for communicating with the single traveling body 11, an antenna 63a, a battery 64, and the like. Yes. Note that the operation terminal 13 may be a so-called smart phone. Moreover, when performing remote operation from a remote place, the personal computer etc. which were fixedly provided may be sufficient. In the case of a personal computer, a mouse or a keyboard can be used as an operation input means, but a touch panel 61, a pen input tablet, or the like may be provided. Of course, it is not necessary to realize all of the above-described configuration detection function, running state display function, environmental state display function, operation system function, and maintenance function with the operation terminal 13. For example, only the operation system function is separated from the operation terminal 13. You may make it operate the composite traveling body 10 using the operation input means. In this case, as a separate operation input means, for example, a controller for a game machine or the like can be considered.

When the control process shown in FIG. 14 is started, the operation terminal 13 identifies the nearby single traveling body 11 (S1). When activated, the single vehicle 11 waits until there is a pairing request from the operation terminal 13 after executing initialization processing and its own system diagnosis processing. Note that the pairing is the same process as the pairing in Bluetooth, and is a process for enabling communication by recognizing each other. At this time, if the configuration is such that a command is simultaneously given to each single traveling body 11 as shown in FIG. On the other hand, in the configuration including the master traveling body 11M and the slave traveling body 11S as shown in FIG. 12B, pairing is first performed with the master traveling body 11M.
At this time, the single vehicle 11 returns a response when it receives a pairing request. Thereby, communication between the operation terminal 13 and the single traveling body 11 becomes possible. At this time, for example, as shown in FIG. 15A, the display unit 60 of the operation terminal 13 includes a message “Pairing” as well as a single vehicle 11 in the vicinity (single vehicle 11 that can communicate). ) Is displayed together with the traveling body icon M1 indicating the number (three in the case of FIG. 15A).

  Subsequently, the operation terminal 13 receives an operation of selecting the single traveling body 11 constituting the composite traveling body 10 (S2). In this case, for example, the user selects the single traveling body 11 to be incorporated into the composite traveling body 10 from the displayed single traveling body 11 on the setting screen shown in FIG. When the selection operation is input, the operation terminal 13 recognizes and registers the configuration of the composite traveling body 10 (S3). Here, the configuration of the composite traveling body 10 includes, for example, the number of the single traveling bodies 11 as shown in FIG. 15B, the shape of the connecting member 12, and how the single traveling bodies 11 are arranged. Information, set by the user. In addition, the single traveling body 11 serving as the slave traveling body 11S is notified to the master traveling body 11M, and the master traveling body 11M performs processing for establishing communication with the slave and grasping the positional relationship.

  When performing these operations, for example, the shape icon M2 schematically showing the shape of the connecting member 12 is displayed on the display unit 60 of the operation terminal 13, and the shape object M2 is selected as the traveling body of the single traveling body 11 selected in step S2. The selection operation of the single traveling body 11 can be performed by dragging the icons so as to overlap the icon M1, or the connection between the coupling members 12 is set by dragging the shape icon M2 of the coupling member 12 between the selected single traveling bodies 11. It is preferable to provide a GUI (Graphical User Interface) that can be used. As a result, the selection operation and the registration operation can be easily performed. In addition, an operation mode in which a standard configuration of the composite traveling body 10, a configuration used in the past, or the like is registered or stored, and the configuration is presented may be used.

  When the configuration of the composite traveling body 10 is recognized and registered, the operation terminal 13 sets the operation mode (S4). In the present embodiment, one of the above-described manual operation mode and auto operation mode is set as the operation mode. And the operating terminal 13 controls the driving | running | working of the composite traveling body 10 (S5). In step S5, in the case of the automatic operation mode, an instruction to start traveling is given. On the other hand, in the case of manual operation, for example, an operation screen shown in FIG. 15C is displayed, and the user inputs the moving direction of the composite traveling body 10 from the touch panel 61. FIG. 15C assumes a mode in which the user holds the operation terminal 13 with both hands. The left operation area M3L for inputting an operation with the left hand and the right operation area for inputting an operation with the right hand. M3Rs are provided on the left and right sides of the screen. Further, a composite traveling body icon M4 schematically showing the composite traveling body 10, a display area M5 for displaying traveling information and environmental information, and the like are also provided.

When the operation is started, the operation terminal 13 waits while repeatedly determining whether an error has been detected (S7) or whether a user operation has been accepted (S9) while acquiring the traveling state (S6). At this time, the operation terminal 13 displays the acquired traveling state in the above-described display area M5 in real time. In step S6, the environmental state may be acquired in addition to the traveling state, and the environmental state is also displayed in real time in the display area M5. The operation terminal 13 can set the type of information to be displayed in the display area M5, the update timing, and the like, and can display information desired by the user.
And if the operation terminal 13 receives user operation (S9: YES) and it is not completion | finish operation (S10: NO), it will notify the received operation to the composite traveling body 10 (or master traveling body 11M). Thus, the traveling of the composite traveling body 10 is controlled (S5).

  For example, when the user traces the left operation icon M6L displayed in the left operation area M3L forward (upward in the figure), the operation terminal 13 notifies the composite traveling body 10 of an instruction to turn right. Then, the composite traveling body 10 that has received the notification controls the motor 21 of each single traveling body 11 so as to turn right on the spot. Alternatively, when the user traces the right operation icon M6R provided in the right operation area M3R forward (upward in the figure), the operation terminal 13 notifies the composite traveling body 10 of an instruction to turn left. And the composite traveling body 10 which received the notification controls the motor 21 of each single traveling body 11 so as to turn left on the spot. Further, when the user traces forward the left operation icon M6L and the right operation icon M6R simultaneously, the operation terminal 13 notifies the composite traveling body 10 of an instruction to move forward in the traveling direction. In addition, if it is the composite traveling body 10 which has the above-mentioned 2nd axis | shaft J2 (refer FIG. 5), the direction which drive | works can be changed by controlling the 2nd axis | shaft J2.

Then, the composite traveling body 10 that has received the notification controls the motor 21 of each single traveling body 11 so as to advance in the traveling direction. Note that the traveling direction of the composite traveling body 10 is displayed on the screen by an arrow icon M7 or the like. Moreover, the direction of the traveling body icon displayed on the screen changes with the user's operation. Although illustration is omitted, the direction is also displayed on the screen at the same time, so that the traveling direction and the rotation angle of the composite traveling body 10 can be grasped. At this time, information selected by the user as described above, such as an image captured by the camera device, the speed of the composite traveling body 10, the temperature of the surrounding environment, and the like is displayed in the display area M5. Note that the setting screens and operation screens shown in FIGS. 15A to 15C are examples, and the layout, operation mode, and the like of each region and icon are not limited thereto.
In this way, the operation terminal 13 notifies the composite traveling body 10 of an instruction according to a user operation while waiting for a user operation. Then, if the received user operation is an end operation (S10: YES), the operation terminal 13 notifies the composite traveling body 10 of a stop / process end instruction from the operation terminal 13, and the composite traveling body 10 is shut down, or Transition to the standby state (sleep state).

  On the other hand, when the operation terminal 13 detects an error (S7), it executes an error process (S8). This error process is a process for notifying the abnormality of the composite traveling body 10 when, for example, an overcurrent or an overload occurs in the motor 21 or an abnormality occurs in the sensors. In addition, the error process includes a process for notifying a difference in abnormality in the running state or the environmental state, for example, the ambient temperature is excessively higher than expected or the composite traveling body 10 is excessively shocked. It is. The error also includes that the composite traveling body 10 autonomously determines that there is an obstacle in traveling, such as an obstacle in the traveling direction, and notifies the operation terminal 13 to that effect. After execution of this error processing, the process may return to step S5 if the error can be dealt with, or the travel control may be terminated (stopped) if the error cannot be dealt with. When the process is completed, the user takes measures such as inspecting the composite traveling body 10.

Thus, the composite traveling body 10 performs traveling control while being operated by the operation terminal 13.
Now, as shown to FIG. 16 (A), you may combine the above-mentioned connection member 12 in the aspect from which the external shape as a whole differs. For example, five connecting members 12 may be combined so that the mounting surface is substantially rectangular. Alternatively, the six connecting members 12 may be combined in a ring shape so that a space is formed at the center. In this case, the single traveling bodies 11 may be attached to all the connecting members 12, the ball casters 50 may be attached to some of the connecting members 12, or the connecting members 12 to which the single traveling bodies 11 are not attached are combined. Also good.

  Further, as shown in FIG. 16B, a quadrangular connecting member 12C having a linear outer shape may be employed. In this case, it is assumed that the size of the upper surface is approximately larger than the projected outer shape of the single traveling body 11. For example, a large mounting surface may be formed by combining four or sixteen connecting members 12C formed in a square shape. Moreover, it is good also as an aspect which employ | adopts the connecting member 12D whose outer shape is a rectangle, the square connecting member 12E larger than the connecting member 12C, or forms a larger mounting surface by combining them. For example, in the case of the connecting member 12E having a large upper surface, a plurality of single traveling bodies 11 such as two may be attached.

Further, as shown in FIG. 12C, a connecting member 12F having a triangular outer shape may be adopted, and for example, four or six may be combined. Further, as shown in FIG. 12D, a connecting member 12G having an arc shape (curved shape) and a connecting member 12H having an elongated outer shape are employed, and they are combined to form an annular shape or an ellipse shape. May be provided with a substantially cross-shaped mounting frame.
Thus, the connection member 12 can be formed in various shapes. And by combining them, it is possible to change the positional relationship according to the application while maintaining the positional relationship (distance between each other) of the single traveling bodies 11. Of course, the connecting members 12 having different shapes such as a triangle and a quadrangle may be combined.

According to this embodiment described above, the following effects are obtained.
The composite traveling body 10 includes a traveling rotator (wheel 16, ball 52), and a plurality of single traveling bodies 11 that travel when the rotating body rotates with respect to the traveling surface 15, and a plurality of single travelings. And connecting means (connecting member 12) that connect the bodies 11 so as to maintain the positional relationship with each other and change the positional relationship according to the application, and at least one of the single traveling bodies 11 rotates. It is comprised by the self-propelled traveling body which accommodated in the main body 14 the drive part (motor 21) which drives a body, and the control part (controller 20) which controls the said drive part.

  Thereby, it is possible to construct a self-propelled body in which the user can change the outer shape according to an arbitrary specification, that is, the purpose and application. That is, the versatility in constructing a self-propelled body can be improved. Moreover, since the arbitrary composite traveling body 10 can be comprised by changing the combination of the connection member 12 of the same shape, it becomes unnecessary to make an attachment structure exclusive. And since the at least 1 single-piece | unit traveling body 11 is a self-propelled traveling body, it can respond also to application to an automatic movement system etc. Since the basic configuration is common, it is not necessary to design a dedicated control method and control circuit, and the development man-hours and manufacturing man-hours are not increased.

In this case, at least one of the single traveling bodies 11 may be an other traveling body (such as a ball caster 50) that travels by being pulled by the self-propelled traveling body. In this case, since the driving unit and the control unit are not required for the other traveling type traveling body, the composite traveling body 10 can be constructed at a low cost.
The self-propelled traveling body of the single traveling body 11 includes traveling state detection means (traveling state detection sensor 25) for detecting its own traveling state. Thereby, the composite traveling body 10 can be autonomously traveled.
The self-propelled traveling body of the single traveling body 11 further includes environmental state detecting means (environmental state detecting sensor 26) for detecting an environmental state around itself. Thereby, the environmental condition around the composite traveling body 10 can be acquired even from a remote place. For this reason, it is possible to grasp the environment such as a place where a person cannot enter or a place where entry is restricted. Of course, the environmental information may be reflected in the travel control.

  The self-propelled traveling body of the single traveling body 11 includes communication means (wireless module 24) that communicates with an external device (such as the operation terminal 13) by a wireless communication method. And as for the communication means, as the external device, the operation terminal 13, the other self-propelled traveling body constituting the composite traveling body 10 together with the self-propelled traveling body, and the other traveling type traveling body, the traveling state and Wireless communication is performed with other traveling type traveling bodies having detection means (traveling state detection sensor 25 and environmental state detection sensor 26) for detecting at least one of the environmental states. Thereby, while being able to operate a composite traveling body from the outside, the freedom degree of the combination at the time of comprising a composite traveling body can be improved. For example, by appropriately combining other traveling type traveling bodies having only sensors, it is possible to achieve both reduction in manufacturing cost of the single traveling body 11 and enhancement of functions as a combined traveling body.

  Information related to the planned travel route on which the vehicle travels, information regarding the traveled route on which the vehicle has traveled, and information detected by the travel state detection unit and the environmental state detection unit are stored in a storage unit such as a RAM. Thereby, the composite traveling body 10 can be made to perform fully autonomous or semi-autonomous traveling control. In addition, when there is a failure in wireless communication, information can be prevented from being lost by temporarily storing the information.

  Since the self-propelled traveling body of the single traveling body 11 includes the power receiving module 23 a that is a power feeding means for wirelessly feeding the battery 23, power can be supplied by moving the power traveling module near the power feeding coil. Therefore, it is not necessary to remove the lid member 18b, and usability and maintainability can be improved. Further, since the power receiving module 23a is arranged on the side of the main body 14, even if it is in a state of constituting the composite traveling body 10, that is, even when attached to the connecting member 12, Power can be supplied by moving the traveling body 10 so as to be close to the power supply coil. When power is supplied by wire, the power receiving module 23a may be configured with a connector. In that case, for example, by providing the connector on the lower side of the main body 14, that is, on the lower side of the center of the main body 14, entry of dust or the like can be prevented. Further, the connector may be provided so as to be exposed to the side, or may be provided inside the lid member. Alternatively, the power receiving module 23a may be provided in the lower portion, and power may be supplied by moving a self-propelled traveling body (including the composite traveling body 10) above the power feeding coil. In any case, the power receiving module 23a can adopt a part / configuration that facilitates power feeding.

Since the self-propelled traveling body among the single traveling bodies 11 has the main body 14 made of metal, the main body 14 functions as noise countermeasure means. Thereby, the noise which invades from the outside and the noise emitted to the outside can be reduced. In the present embodiment, the internal structure of the main body 14 is in a state in which the sensor substrate 36 is isolated from the motor 21 that is a source of internal noise. Thereby, the influence which internal noise has on wireless communication and the influence on the sensor can be reduced.
The connecting means is formed by combining a plurality of connecting pieces having the same external shape (the connecting member 12 in the present embodiment) or a plurality of connecting pieces having the same external shape, and changing the combination of the connecting pieces. Since the mutual positional relationship of the single traveling bodies 11 can be set, the outer shape of the composite traveling body 10, that is, the size of the placement surface can be arbitrarily set.

The single traveling body 11 is provided with an attachment structure (mounting portion 37) for attaching the connecting member 12 that physically connects the single traveling body 11 as a connecting means on the upper portion of the main body 14 of the single traveling body 11. As a result, the weight when the article is placed is applied from directly above, and the contact between the connecting member 12 and the main body 14 can be kept tight and the possibility of coming off can be reduced.
The mounting structure is configured to insert the convex portion 38 into the concave portion 39. Thereby, the single body traveling body 11 can be detached from the connecting member 12 (including the auxiliary connecting member 17) without using a special tool. Therefore, the type of the connecting member 12 can be easily exchanged. Moreover, the shift | offset | difference to the left-right direction can be suppressed.
Since the single traveling body 11 is provided with the tire 16a (impact mitigation mechanism, impact mitigation structure) on the wheel 16, the impact from the outside can be mitigated. Thereby, the impact to the circuit in the main body 14 and a mounting object is relieved, and a possibility of failure or damage can be reduced. The wheel 16 may be formed of a hard and elastic material, and the wheel 16 itself may be a tire.

(Second Embodiment)
Hereinafter, the second embodiment will be described with reference to FIG. In 2nd Embodiment, the structure of a connection means differs from 1st Embodiment.
In the first embodiment, the connection means for physically connecting the single traveling bodies 11 has been described so far, but the connection means may not be physical. That is, the single traveling bodies 11 are all configured as self-propelled traveling bodies, and each single traveling body 11 is logically controlled between the single traveling bodies 11 by performing control to travel in a coordinated manner while maintaining the mutual positional relationship. May be connected.

  For example, as shown in FIGS. 17A and 17B, it is conceivable to attach the single traveling body 11 to the transfer object 80 via the connecting member 12I. For example, when assuming a corrugated cardboard box or the like, the connecting member 12I has L-shaped mounting portions in a cross-sectional view so as to hold the four corners of the cardboard box, and is arranged at the four corners of the transfer object 80, respectively. The And each single traveling body 11 is travel-controlled from the operation terminal. At this time, each single traveling body 11 is controlled to perform cooperative traveling in the same direction under the same traveling condition. Thereby, the four independent traveling bodies 11 function as one composite traveling body as a whole.

As described above, by performing at least two or more single traveling bodies 11 as self-propelled traveling bodies and performing coordinated control such that the two or more self-propelled traveling bodies travel while maintaining mutual positional relationships, A complex traveling body can be constructed regardless of a typical connecting means. In this case, since the cooperative control functions as a logical connection means, the composite traveling body can be configured at low cost.
In this case, the positional relationship may be set in advance from the operation terminal 13, or the composite traveling body side while confirming whether the set positional relationship is maintained by using the distance measuring means such as the laser radar described above. Autonomous control may be performed with.

Alternatively, two sets of self-propelled traveling bodies and other traveling-type traveling bodies that are physically connected by a frame or the like may be prepared, and each of the self-propelled traveling bodies may perform the above-described cooperative traveling. That is, one composite traveling body that is the minimum unit may be prepared, and a plurality of composite traveling bodies may be cooperatively traveled. In this case, an instruction may be given from the operation terminal 13 to a plurality of composite traveling bodies. Alternatively, any one of them is a master composite traveling body and the other composite traveling body is a slave composite traveling body, and the master composite traveling body performs cooperative control with the slave composite traveling body as in the first embodiment described above. May be.
In addition, when the transfer object 80 is a structure that is somewhat robust, such as a container, the single traveling body 11 may be attached to the container itself. That is, the transfer object 80 itself may be used as a connection means for connecting the single traveling bodies. Thereby, an arbitrary object can be self-propelled.

(Third embodiment)
Hereinafter, the third embodiment will be described with reference to FIGS. 18 and 19. In 3rd Embodiment, the attachment aspect of a single-piece | unit traveling body differs from 1st Embodiment.
As shown in FIG. 18A, the single traveling body 70 of this embodiment includes a main body 71 and wheels 72 that rotate relative to the main body 71. As shown in FIG. 18B, the single traveling body 70 includes a motor 201, a battery 23, a wireless module 24, a traveling state detection sensor 25, and an environmental state detection sensor 26 in the main body 71 and the inner peripheral side of the wheel 72. The control board 35 and the like are accommodated.

  An attachment portion 73 is provided on the side surface of the main body 71. The attachment portion 73 is formed to be recessed from the side surface, and is formed to be further recessed from the first insertion hole 74 that is coaxial with the axle, and the bottom of the first insertion hole 74 (inside the main body 71). And a second insertion hole 75 that is coaxial. For example, the single traveling body 70 is attached by providing a screw groove in the second insertion hole 75, inserting an attachment screw, and supporting the screw with an auxiliary member substantially equal to the inner diameter of the first insertion hole 74.

  More specifically, as shown in FIG. 18C, the main body 71 includes a base 200 and a cover member 210. The base portion 200 is provided with a first body portion 200a that protrudes toward the cover member 210 and is coaxial with the axle. The first body 200 constitutes the outer shell of the attachment portion 73. A second body part 200b, a third body part 200c, and a fourth body part 200d that are gradually reduced in diameter are provided on the distal end side of the first body part 200. A bearing 205 is fixed to the second body 200b by a C-ring 204. The 2nd trunk | drum 200b supports the wheel 72 rotatably by attaching the wheel 72 to the outer peripheral surface of this bearing 205. As shown in FIG.

  The third body 200c is fixed with a stator 202 (details of the tooth shape are not described) constituting the motor 201. Further, the fourth body portion 200d is fixed to an attachment portion 210a provided on the cover 210. Thereby, the wheel 72 is rotatably disposed between the base portion 200 and the cover member 210. Further, as shown in FIG. 18B, the base portion 200 is provided with a wiring space 200e, in which a power supply line from the battery 23, a control line for the motor 201, a signal line from each sensor, and the like are arranged. It is installed.

  In the case of this embodiment, the wheel 72 is comprised by the tire 72a and the wheel 72b. As shown in FIG. 18B, the wheel 72b includes a substantially disc-shaped main body 72b1 having a hole to which the bearing 205 is attached, and both sides in the thickness direction of the main body 72b1 on the outer peripheral side of the main body 72b1. And a protruding yoke portion 72b2. Permanent magnets 203 are provided in the entire circumferential direction on the inner peripheral surface of the yoke member 72b2 that is substantially T-shaped in a cross-sectional view on the cover member 210 side. The permanent magnets 203 are arranged such that their magnetic poles have opposite polarities between adjacent permanent magnets 203. A stator 202 (stator) of the motor 201 is disposed on the inner peripheral side of the permanent magnet 203. And the wheel 72b provided with the permanent magnet 203 functions as a rotor (rotor). That is, the motor 201 is an outer rotation type (outer rotor type). The single traveling body 70 having such a configuration corresponds to a so-called in-wheel motor.

  The single traveling body 70 is attached to another object by inserting the attached member 300 into the first insertion hole 74 and inserting the convex portion 301 of the attached member 300 into the second insertion hole 75. For example, the single traveling body 70 can be attached to a skateboard 400 as shown in FIG. The skateboard 400 includes a deck 401, a track 402, and a single traveling body 70 attached to the track 402. Specifically, the single traveling bodies 70 are respectively provided at both ends of each track 402 as shown in FIG. In this case, as shown in FIG. 19C, the track 402 is provided with a mounted portion 300 and a convex portion 301. The attached portion 300 and the convex portion 301 are attached to the attachment portion 73 of the single traveling body 70 by press-fitting, fitting, screwing, screwing, or the like. Note that the above-described attachment structure is an example, and a so-called push-pull attachment mechanism that is locked when the attached portion 300 is pushed in and released when it is pushed again may be employed.

Thus, by providing the mounting structure on the side surface side of the single traveling body 70, the height when the single traveling body 70 is provided can be reduced. In addition, it becomes easy to replace an existing caster or the like with the single traveling body 70.
Even in the case of the skate boat 400 described above, for example, the single traveling body 70 which is a self-propelled traveling body is attached only to the front side which is the left side in FIG. Another traveling type traveling body may be attached to the rear side. The reverse may also be applied.

(Other embodiments)
The present invention is not limited to those exemplified in the above-described embodiments, and can be arbitrarily modified or expanded without departing from the scope thereof.
In each embodiment, as shown in FIG. 4 and the like, all of the circuit components constituting the functional unit provided in the self-propelled traveling body are accommodated in the main body 14, but part or all of the circuit components are contained in the single traveling body 11. You may provide in the housing | casing (inside the connection member 12 said by embodiment) of the connection means to connect physically. As the circuit components provided in the casing of the connection means, the above-described control unit and drive unit, battery 23, running state detection unit, environmental state detection unit, and communication unit can be considered. In this case, all the circuit components for realizing each means may be provided in the casing of the connecting means, or a part thereof may be provided in the casing of the connecting means. Specifically, circuit parts for realizing functions indispensable for the control of speed sensors and the like are provided in the main body 14, and connection means for circuit parts for realizing functions that can be handled as options such as current position sensors are provided. It can be considered to be provided in the housing. In this case, for example, a part of the circuit components constituting the functional unit may be provided on the connection means side, for example, the sensor main body is provided in the main body 14 and the signal processing circuit is provided on the connection means side.

  Thereby, the components accommodated in the main body 14 can be reduced, and the main body can be reduced in size. Further, for example, if the battery is configured to be provided in the casing of the connecting member 12, the connecting member 12 is assumed to be larger than the internal space of the main body 14, so that a large-capacity battery can be provided and the operation time can be reduced. Can be long. In addition, if the connecting member 12 is provided with a battery, charging can be easily performed, and the unit traveling body 11 itself can be used continuously by replacing the connecting member 12, thus eliminating the need for resetting and the like. Can do. Furthermore, it is possible to balance by appropriately distributing the weight. Further, when changing / adding options such as the current position sensor, it is only necessary to replace / add the connecting means, and the usability can be improved.

The main body 14 may be used as a communication antenna. In this case, an antenna line may be formed on the surface of the main body 14, or an antenna line may be formed inside the lid member 14a. In the case of the composite traveling body 10 using the connecting member 12, since the connecting member 12 is larger than the main body 14 as described above, even if an obstacle exists, before the main body 14 contacts the obstacle. It is assumed that the connecting member 12 contacts. Therefore, even if an antenna wire is formed on the surface of the main body, the risk of breakage can be reduced.
The upper surface of the connecting member 12 may be a rubber material, or may be provided with unevenness so that the frictional resistance is increased. Thereby, a possibility that the mounted object may be shifted or dropped during traveling can be reduced.

In the embodiment, the tire is used as an impact mitigation mechanism, but a suspension or the like may be provided. In this case, a suspension or the like may be provided in the main body 14, or an impact mitigating mechanism may be provided in the mounting structure, and the mounting structure itself may be used as the impact mitigating structure. Further, not only a self-propelled traveling body but also an other traveling body may be provided with an impact mitigation mechanism / impact mitigation structure.
Further, a so-called tread pattern may be provided on the tire. Moreover, in the single-piece | unit traveling body 70 of 3rd Embodiment, you may attach the auxiliary wheel which changes the shape of the wheel 72. FIG. As the auxiliary wheel, one that increases the diameter of the wheel 72 and improves the running performance can be considered. Further, the auxiliary wheel may be configured such that a plurality of single traveling bodies 70 are arranged on a straight line and each wheel 72 is connected like a caterpillar, for example. Thereby, the running performance on a rough road can be improved. In any case, it is possible to improve the running performance by making it possible to change the surface shape and outer shape of the tire and auxiliary wheels.

When the single traveling body 11 is not used (when the power is turned off, etc.), a lock mechanism that locks the rotation of the wheels 16 may be provided. Thereby, it is prevented that the single traveling body 11 moves carelessly, and safety can be improved.
Although the storage means is provided in the single traveling body 11, the operation terminal 13, a cloud server, or the like may be used as the storage means. Thereby, the size of the controller 20 of the single traveling body 11 can be reduced.
Moreover, the composite traveling body can be applied to various usage forms as follows.
For example, if a compound traveling body is provided in a vending machine such as a drive-through or a ticketing machine, and it is detected by a laser radar or a camera device that the vehicle is located at a distance, the vending machine or the ticketing machine automatically It can be applied to a system that approaches. Further, the present invention can be applied to a system in which a vending machine automatically moves away from a vehicle when it is predicted and detected that the vehicle collides with the vending machine. This can improve customer service and prevent car contact accidents.

It can be applied to a cane used by a visually impaired person and guided. In that case, for example, it is conceivable that information such as the signal state and the direction of the pedestrian crossing is acquired in conjunction with a traffic light at an intersection, and automatic guidance is performed based on the information. In addition, a camera device or the like can be provided and guided so as not to contact other pedestrians. It can also be applied to wheelchairs and hospital beds. Thereby, welfare / nursing care service can be improved.
It can be applied to baby strollers, supermarket shopping carts, trunk cases, etc., and for example, by performing control to follow a portable terminal carried by a user, child-raising, shopping, movement in an airport, etc. can be supported. Further, it can be applied to a cooler box for leisure, a golf caddy bag, and the like.

It can also be applied to sorting work such as a courier. In recent years, home deliveries are managed by bar codes or the like, and it is easy to exchange information such as delivery destinations by data communication. Therefore, it is possible to notify the composite traveling body of the position of the sorting destination, and to control to travel to the target position when the cardboard box or the like is placed. Of course, after the package is removed at the target position, it can be automatically returned to the original position. Thereby, the work efficiency can be improved and the sorting accuracy can be improved. It can also be applied to a restaurant serving table at a restaurant or a luggage carrier at a hotel.
A plurality of composite traveling bodies can be cooperatively controlled. For example, it is conceivable to provide composite traveling bodies on desks and chairs in event venues and conference rooms, and to perform integrated control of them using an operation terminal. Thereby, for example, if the layout is changed on the operation terminal, the layout of the event venue or conference room can be automatically changed so that the desk or chair does not collide with another desk or chair.

  In the drawings, 10 is a composite traveling body, 11 is a single traveling body, 11A and 11B are self-propelled traveling bodies, 12A to 12I are connecting members, 13 is an operation terminal, 14 is a main body, 15 is a traveling surface, and 16 is a wheel ( Rotating body), 17 is an auxiliary connecting member (connecting means), 20 is a controller (control section), 21 and 201 are motors (driving sections), 23 is a battery, 24 is a wireless module (communication means), and 25 is a running state detection. Sensor (running state detection means), 26 is an environmental state detection sensor (environmental state detection means), 37 is a mounting portion (mounting structure), 50 is a ball caster (another traveling type traveling body), 51 is a main body, 52 is a ball ( Rotating body), 70 is a single traveling body, 71 is a main body, 72 is a wheel (rotating body), 73 is an attachment part (attachment structure), 80 is an object to be transferred, 110 is a motor (second driving part), J1 is 1st axis, J2 It shows the axis.

Claims (15)

A plurality of single traveling bodies (11, 50, 70) in which a single rotating body (16, 52, 72) for traveling rotating with respect to the traveling surface (15) is housed in the main body (14 , 71);
Equipped with connecting the single traveling member of several of (11,50,70) so as to keep the mutual positional relationship, the connecting means (12) to be changed in accordance with the positional relationship on the application, and
At least one of the plurality of single traveling bodies (11, 50, 70) includes a driving unit (21, 201) for driving the rotating body (16, 52, 72) and the driving unit (21, 201). A self-propelled traveling body that houses a control unit (20) that controls the inside of the body (14, 71).   At least one of the plurality of single traveling bodies (11, 50, 70) is an other traveling body (50) that travels by being pulled by the self-propelled traveling body. Item 2. A traveling body according to Item 1. The self-propelled traveling body is:
A first axis (J1) that is a rotation axis of the rotating body (16, 72) and is provided horizontally with respect to the traveling surface (15), and is driven by the drive unit (21, 201);
A rotating shaft for changing the orientation of the rotating bodies (16, 72), which is provided perpendicular to the traveling surface (15) and driven by a second driving unit (110) ( J2)
The composite traveling body according to claim 1, further comprising: A plurality of single traveling bodies (11, 50, 70) in which a single rotating body (16, 52, 72) for traveling rotating with respect to the traveling surface (15) is accommodated in the main body (14, 71) ,
At least one of the plurality of single traveling bodies (11, 50, 70) includes a driving unit (21, 201) for driving the rotating body (16, 52, 72) and the driving unit (21, 201). Is a self-propelled traveling body that houses a control unit (20) for controlling the inside of the main body (14, 71),
The single traveling body (11, 70) can be directly or indirectly attached to a transfer object (80) to be transferred,
The composite traveling body, wherein the transfer object (80) is used for maintaining the positional relationship between the plurality of single traveling bodies (11, 70). At least two or more of the plurality of single traveling bodies (11, 50, 70) are the self-propelled traveling bodies,
Recognizing means (25, 26) for recognizing the mutual positional relationship between two or more of the self-propelled traveling bodies is provided, and control for traveling while maintaining the mutual positional relationship between the self-propelled traveling bodies is performed. The combined traveling body according to any one of claims 1 to 4, wherein the connecting means is realized.   The connecting means (12) is formed by combining a plurality of connecting pieces (12A to 12I) having the same outer shape, and the unit traveling body is changed by changing the combination of the connecting pieces (12A to 12I). The composite traveling body according to any one of claims 1 to 5, wherein the mutual positional relationship of (11, 50, 70) can be set.   An attachment structure (37, 73) for physically connecting the plurality of single traveling bodies (11, 50, 70) to the connecting means (12) has a main body (14, 71) of the single traveling body. The composite traveling body according to any one of claims 1 to 6, wherein the composite traveling body is provided at an upper portion or a side portion.   The composite traveling body according to any one of claims 1 to 7, wherein the single traveling body (11, 50, 70) is removable from the connecting means (12) without using a tool.   The said single-piece | unit traveling body (11,50,70) is provided with the driving | running state detection means (25) for detecting own driving | running | working state, The Claim 1 characterized by the above-mentioned. Composite traveling body.   The said single body traveling body (11, 50, 70) is provided with the environmental condition detection means (26) for detecting the environmental condition of its circumference | surroundings, The one of Claim 1 to 9 characterized by the above-mentioned. The composite traveling body described.   The single traveling body (11, 50, 70) houses the battery (23) and the power receiving module (23a) in the main body (14, 71), and is wirelessly or wiredly fed from the outside. The composite traveling body according to any one of claims 1 to 10, wherein:   A part or all of the circuit components constituting the functional unit provided in the self-propelled traveling body are arranged in the housing of the connecting means (12) for physically connecting the single traveling bodies (11, 50, 70). The composite traveling body according to any one of claims 1 to 11, wherein the composite traveling body is characterized.   Storage means (13, 20) for storing at least one of information on a scheduled travel route on which the vehicle travels, information on a traveled route on which the vehicle has traveled, and the environmental conditions of the vehicle and its surroundings. The composite traveling body according to any one of claims 1 to 12, further comprising: The self-propelled traveling body includes communication means (24) for communicating with external devices (11, 13, 50) by a wireless communication method,
The communication means (24) constitutes a composite traveling body together with the operation terminal (13) for performing remote operation on the self-propelled traveling body and receiving information from the self-propelled traveling body, and the self-propelled traveling body. Another self-propelled traveling body, and the other traveling-type traveling body (50) having detection means (24, 25) for detecting at least one of a traveling state and an environmental state, among the, at least any one as the external device, any one of claims 1 to 13, characterized in that the wireless communication with the external device (11,13,50) The composite traveling body described. The single traveling body (11, 50, 70) has a main body (14, 71) housing a speed reduction mechanism (31) that decelerates rotation with the drive unit (21, 201, 110). The composite traveling body according to any one of claims 1 to 14.

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