JP6580826B2 - Automatic driving device - Google Patents

Description

  The present invention relates to an automatic driving apparatus that performs automatic driving.

  2. Description of the Related Art Conventionally, an apparatus that performs automatic operation under computer control is known. Automatic driving control is widely applied in various fields such as vehicles, toys, and robot cleaners.

  For example, in a new transportation system capable of unmanned operation, a guide route provided on a vehicle contacts a guide rail on both sides or in the center of the track to automatically drive a predetermined route. A steering system is known as an example of a new transportation system guidance system. FIG. 6 is a schematic diagram of a steering type steering mechanism. In the steering system, when the guide wheels 52 at both ends of the steering arm 51 provided at the lower part of the vehicle body 10 come into contact with the guide rails 53 on the ground, the steering arm 51 moves left and right with respect to the traveling direction. When the steering arm 51 moves to the left and right, the wheels (tires) 15 are steered by rotating around the king pins 12 to achieve traveling along the guide rails 53. In FIG. 6, only the front wheels are steered, but there is a configuration in which both the front and rear wheels are steered (for example, see Non-Patent Document 1).

  In general, in the new transportation system, the vehicle body 10 travels along the guide rail 53, but it is also conceivable that the vehicle 10 travels without contacting the guide rail 53 by being automatically steered by a computer and an actuator. In that case, the installation cost can be reduced by omitting the guide rail 53. However, when a computer or actuator for automatic steering breaks down, steering becomes impossible and traveling on a determined route becomes impossible, resulting in an accident in the worst case.

  Therefore, in the invention described in Patent Document 1, a protective track is provided on the ground, a protective wheel is provided on the vehicle, and when the control computer or the actuator fails, the protective wheel contacts the protective track and Deviation is prevented.

JP 2006-306334 A

Masakazu Iguchi, Yasuo Yamashita, "New Transportation System", Asakura Shoten, May 1985

  In a general new transportation system, the vehicle travels along the guide rail, so that it can travel only where the guide rail is installed. Moreover, although the method described in Patent Document 1 does not require a guide rail, it requires a protective track, and therefore can travel only in places where the protective track is present. In any case, it is necessary to provide a guide rail or a protective track on all the traveling routes, and when traveling on a new route, it is necessary to newly provide a guide rail or a protective track.

  Furthermore, when a guide rail or a protective track is provided, the guide rail or the protective track exists at the center or both sides of the track, and it is difficult for a general vehicle to travel. Therefore, these become exclusive tracks, and the traveling range is limited.

  On the other hand, when the vehicle travels only by fully automatic steering, when the control computer or the actuator breaks down, it may collide with an obstacle and lead to an accident.

  Some conventional automatic driving devices have a function of detecting an obstacle with a sensor. However, when a circuit including the sensor fails, the obstacle cannot be avoided.

  An object of the present invention made in view of such circumstances is an automatic operation capable of performing an automatic operation while avoiding an obstacle without providing a guide rail or a protective track and without using an obstacle detection sensor. To provide an apparatus.

In order to solve the above problems, an automatic driving device according to the present invention is an automatic driving device that performs automatic driving without using an obstacle detection sensor, and an arm protruding from the main body and only a link mechanism, or a link mechanism and A steering mechanism that mechanically couples the arm to a wheel by only a gear and steers the wheel, and the steering mechanism is in contact with an obstacle disposed in the vicinity of the automatic driving device. In this case, the automatic driving apparatus steers the wheel in a direction away from the obstacle.

The automatic operation system according to the present invention, the automatic driving apparatus which performs automatic operation without using a sensor for obstacle detection, an arm projecting from the body, a steering mechanism for steering the wheels have pneumatic actuator The steering mechanism steers a wheel in a direction in which the automatic driving device moves away from the obstacle when the arm contacts an obstacle arranged in the vicinity of the automatic driving device, and the arm When operated, the wheel is steered by directly opening the valve of the air circuit and operating the air actuator.

The automatic operation system according to the present invention, the automatic driving apparatus which performs automatic operation without using a sensor for obstacle detection, an arm projecting from the body, a steering mechanism for steering the wheels has an electrical actuator The steering mechanism steers a wheel in a direction in which the automatic driving device moves away from the obstacle when the arm contacts an obstacle arranged in the vicinity of the automatic driving device, and the arm In operation, the wheel is steered by switching on an electric circuit and operating the electric actuator directly .

The automatic driving apparatus according to the present invention further includes a permanent magnet synchronous motor that drives the wheel, and an inverter that controls the permanent magnet synchronous motor that is connected in parallel with a power source of the electric circuit. Alternatively, when the power supply fails, the electric actuator is driven by using a voltage obtained by rectifying the induced voltage of the permanent magnet synchronous motor by a return diode of the inverter. Furthermore, in the automatic driving apparatus according to the present invention, the arm has a curved shape.

  According to the present invention, automatic operation can be performed while avoiding an obstacle without providing a guide rail or a protective track and without using an obstacle detection sensor.

It is a figure showing an example of composition of an automatic operation device concerning a 1st embodiment of the present invention. It is a figure which shows the other structural example of the automatic driving apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the structural example of the automatic driving apparatus which concerns on the 2nd Embodiment of this invention. It is a figure which shows the structural example of the automatic driving apparatus which concerns on the 3rd Embodiment of this invention. It is a figure which shows the structural example of the electric circuit of the automatic driving | operation apparatus which concerns on the 4th Embodiment of this invention. It is a schematic diagram of a steering mechanism of a steering system of a conventional new traffic system.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following embodiment, a case where the automatic driving device is a vehicle will be described. However, the automatic driving device may be a moving body, and may be a movable toy, a robot cleaner, an electronic device, or the like.

(First embodiment)
FIG. 1 is a diagram illustrating a configuration example of an automatic driving apparatus according to the first embodiment of the present invention. In the example shown in FIG. 1, the automatic driving apparatus 1 includes a vehicle body (main body) 10 and an arm 11 protruding from the vehicle body 10. The vehicle body 10 includes a king pin 12, a gear 13, a link 14, and wheels 15.

  The king pin 12, the gear 13, and the link 14 constitute a steering mechanism. The steering mechanism steers the wheel 15 in accordance with the direction of the arm 11. When the arm 11 comes into contact with the obstacle 50 arranged in the vicinity of the automatic driving device 1, the automatic driving device 1 makes the obstacle 50. The wheel 15 is steered in a direction away from the vehicle.

  In the example shown in FIG. 1, the arms 11 protrude from the vehicle body 10 in the lateral direction with respect to the traveling direction of the automatic driving device 1, but the shape, position, direction, number, etc. of the arms 11 are various in addition to FIG. 1. Can be considered. Further, in FIG. 1, only the front wheels are steered, but the arm 11 and the steering mechanism may be similarly provided on the rear wheels.

  The arm 11 is mechanically coupled to the wheel 15. Here, mechanically coupled means a state of being connected via a gear, a link mechanism, a chain, or the like, or a state of being directly connected. Regardless of the operation of a control device or actuator that performs automatic operation control, The state in which the operation of the arm 11 and the steering operation of the wheel 15 are interlocked. As a result, with the operation of the arm 11, the wheel 15 can rotate in a horizontal plane around the kingpin 12. In FIG. 1, as an example, they are mechanically coupled via a gear 13, but it is obvious that a similar operation can be realized by using a link mechanism or a chain instead of the gear 13.

  When the automatic driving device 1 is a vehicle, it is automatically determined by acquiring advance travel route information and position sensor information and steering the wheel 15 with an actuator (not shown) by automatic control using a computer. Drive the route. However, if proper steering cannot be performed due to a failure of an automatically controlled computer or actuator, the vehicle deviates from a predetermined route.

  As shown in FIG. 1, when the predetermined path deviates to the left in the traveling direction, the arm 11 on the left in the traveling direction moves in contact with the obstacle 50. Since the steering of the arm 11 and the wheel 15 is mechanically coupled, when the arm 11 moves, the wheel 15 is steered accordingly. Here, as the movement of the arm 11 and the steering of the wheel 15, when the left arm 11 operates in contact with the obstacle 50, the wheel 15 is directed to the right side with respect to the traveling direction. As a result, the automatic driving device 1 changes the course to the right side in the traveling direction, prevents the vehicle body 10 from contacting the obstacle 50 arranged on the left side in the traveling direction, and can return to the determined path.

  Similarly, when the predetermined path deviates to the right in the traveling direction, the arm 11 on the right in the traveling direction moves in contact with the obstacle 50. In this case, the wheel 15 is directed to the left with respect to the traveling direction. As a result, the automatic driving device 1 can change the course to the left in the traveling direction, prevent the vehicle body 10 from contacting the obstacle 50 disposed on the right in the traveling direction, and return to the determined path.

  When the automatic driving apparatus 1 is a vehicle, the obstacle 50 is a structure on the ground, and is, for example, a fence, a pole, a curb, a wall, or a building. When the automatic driving device 1 is a moving body used indoors, an indoor wall or furniture becomes an obstacle 50. Since the size and the minimum turning radius of the automatic driving device 1 are limited, the obstacle 50 includes not only a continuously existing object but also an object that is intermittently arranged at a certain interval. .

  FIG. 2 is a diagram illustrating another configuration example of the automatic driving apparatus according to the first embodiment of the present invention. In the example shown in FIG. 2, the automatic driving apparatus 1 ′ includes a vehicle body 10 and an arm 11 connected to the vehicle body 10. The vehicle body 10 includes a kingpin 12, a link 14, and wheels 15. Further, the king pin 12 and the link 14 constitute a steering mechanism.

  The arm 11 of the automatic driving device 1 ′ has a curvilinear shape and can weaken an impact when contacting the obstacle 50. Further, as shown in FIG. 2, it is possible to connect the arm 11 directly to the king pin 12 and configure the steering mechanism with the king pin 12 and the link 14 without using the gear 13. In this case, the configuration is simpler and the cost can be reduced.

  As described above, the automatic driving device 1 (or 1 ′) includes the arm 11 protruding from the vehicle body (main body) 10 and the steering mechanism for steering the wheel 15. When the obstacle 50 arranged in the vicinity of (or 1 ′) comes into contact with the obstacle 50, the automatic driving device 1 (or 1 ′) steers the wheel 15 in a direction away from the obstacle 50. The arm 11 is mechanically coupled to the steering mechanism, and the wheel 15 is steered simultaneously with the movement of the arm 11.

  With this configuration, it is not necessary to provide a guide rail or a protective track, and it is not necessary to use an obstacle detection sensor, so that the cost can be reduced. When the automatic driving device 1 is a vehicle traveling on a predetermined route, even when a control computer or an actuator for steering the wheels 15 breaks down, the vehicle automatically recovers from the departure from the route by avoiding the obstacle 50. can do. Further, even when the automatic driving device 1 is not a vehicle but a moving body that travels freely regardless of a predetermined route, it can travel while avoiding the obstacle 50 in the same manner.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. In the first embodiment, the steering of the arm 11 and the wheel 15 is mechanically coupled. However, in this configuration, when the arm 11 comes into contact with the obstacle 50, the arm 11 generates a force for steering the wheel 15. Therefore, it is necessary to sufficiently ensure the strength of the arm 11. Therefore, in the second embodiment, the arm 11 and the steering mechanism are operated indirectly without being mechanically coupled.

  FIG. 3 is a diagram illustrating a configuration example of an automatic driving apparatus according to the second embodiment of the present invention. In the example shown in FIG. 3, the automatic driving device 2 includes a vehicle body 10 and an arm 11 protruding from the vehicle body 10. The vehicle body 10 includes a king pin 12, a link 14, a wheel 15, an air actuator 21, a valve 22, and a compressed air supply unit 23. The king pin 12, the link 14, the air actuator 21, the valve 22, and the compressed air supply unit 23 constitute a steering mechanism.

  The air actuator 21 is provided to steer the wheel 15 and steers the wheel 15 by the pressure of air. The air actuator 21 is connected to the compressed air supply unit 23 via the valve 22.

  The valve 22 is a pneumatic circuit valve and is coupled to the arm 11. The valve 22 is normally in a closed state. When the arm 11 operates in contact with the obstacle 50, the valve 22 is opened, and the compressed air from the compressed air supply unit 23 is sent to the air actuator 21 to steer the wheel 15. To do.

  For example, as shown in FIG. 3, when the automatic driving device 2 deviates from the path in the left direction in the traveling direction and the arm 11 on the left side in the traveling direction comes into contact with the obstacle 50, the air actuator 21 is arranged so that the wheel 15 faces the right side. Shall work.

  As described above, the automatic driving device 2 includes the arm 11 protruding from the vehicle body (main body) 10 and the steering mechanism that steers the wheel 15. The steering mechanism is arranged in the vicinity of the automatic driving device 2. When the vehicle 50 comes into contact with the obstacle 50, the automatic driving device 2 steers the wheel 15 in a direction away from the obstacle 50. The steering mechanism has an air actuator 21. When the arm 11 operates, the valve 22 of the air circuit is opened and the air actuator 21 operates to steer the wheel 15.

  With this configuration, the same effect as that of the first embodiment can be obtained, and furthermore, the arm 11 of the automatic driving device 2 only needs to open the valve 22 when the wheel 15 is steered. It becomes unnecessary to secure.

(Third embodiment)
Next, a third embodiment of the present invention will be described. In 2nd Embodiment, although the compressed air supply part 23 was used, the compressor for making compressed air is required. Some vehicles have a compressor for the air brake, but for vehicles without a compressor, an additional compressor must be added. Further, since the compressed air supply unit 23 is also used for an air brake, it may not be desirable to increase the use of compressed air. Therefore, in the third embodiment, an electric actuator is used instead of the air actuator.

  FIG. 4 is a diagram illustrating a configuration example of an automatic driving apparatus according to the third embodiment of the present invention. In the example shown in FIG. 4, the automatic driving device 3 includes a vehicle body 10 and an arm 11 protruding from the vehicle body 10. The vehicle body 10 includes a king pin 12, a link 14, a wheel 15, an electric actuator 31, a switch 32, and a power source 33. The king pin 12, the link 14, the electric actuator 31, the switch 32, and the power source 33 constitute a steering mechanism.

  The electric actuator 31 does not require a control circuit and operates only when a voltage is applied, like a DC motor. The circuit of the electric actuator 31 is connected to the power source 33 via the switch 32.

  The switch 32 is an electric circuit switch and is connected to the arm 11. The switch 32 is normally in a disconnected state, and when the arm 11 operates in contact with the obstacle 50, the switch 32 is turned on and the electric actuator 31 operates to steer the wheel 15.

  For example, as shown in FIG. 4, when the automatic driving device 3 deviates from the path in the left direction in the traveling direction and the arm 11 on the left side in the traveling direction comes into contact with the obstacle 50, the wheel 15 connected to the drive mechanism faces the right side. Thus, it is assumed that the electric actuator 31 operates.

  As described above, the automatic driving device 3 includes the arm 11 protruding from the vehicle body (main body) 10 and the steering mechanism for steering the wheels 15. The steering mechanism is arranged in the vicinity of the automatic driving device 3. When the vehicle 50 comes into contact with the obstacle 50, the automatic driving device 3 steers the wheel 15 in a direction away from the obstacle 50. The steering mechanism includes an electric actuator 31. When the arm 11 operates, the switch 15 of the electric circuit is turned on and the electric actuator 31 operates to steer the wheel 15.

  With this configuration, the same effect as that of the first embodiment can be obtained, and the arm 11 of the automatic driving device 3 only needs to turn on the switch 32 when the wheel 15 is steered. It becomes unnecessary to secure.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described. In the third embodiment, the power supply 33 is required for the drive mechanism. However, if the power supply 33 fails, the drive mechanism will not operate. Therefore, in the fourth embodiment, a voltage type inverter is connected in parallel to the power supply 33 so that the drive mechanism operates even when the power supply 33 fails. When the power supply 33 is operating normally, the drive mechanism performs the same operation as in the third embodiment.

  FIG. 5 is a diagram illustrating a configuration example of an electric circuit of the automatic driving apparatus according to the fourth embodiment of the present invention. In the example shown in FIG. 5, the automatic driving device 4 includes a vehicle body 10 and an arm 11 protruding from the vehicle body 10. The vehicle body 10 includes a king pin 12 (not shown), a link 14 (not shown), a wheel 15 (not shown), an electric actuator 31, a switch 32 of an electric circuit, a power source 33, and a voltage source inverter. 41 and a permanent magnet synchronous motor 42.

  When the power source 33 is operating normally, the king pin 12 (not shown), the link 14 (not shown), the electric actuator 31, the switch 32, and the power source 33 constitute a steering mechanism, When the power source 33 fails, the king pin 12 (not shown), the link 14 (not shown), the electric actuator 31, the switch 32, and the voltage source inverter 41 constitute a steering mechanism.

  The voltage source inverter 41 is connected in parallel to the power source 33, generates a three-phase AC voltage by an arm in which a switching element 411 and a free wheel diode (freewheel diode) 412 are connected in antiparallel, and controls the permanent magnet synchronous motor 42. To do. A capacitor 413 is provided on the input side of the voltage source inverter 41 in parallel with the power supply 33.

  The permanent magnet synchronous motor 42 receives the AC voltage generated by the voltage source inverter 41 and drives the wheels 15 (not shown). A permanent magnet synchronous motor 42 may be provided for each wheel 15, or a plurality of wheels 15 may be driven by one permanent magnet synchronous motor 42.

  Next, consider a case where the power supply 33 fails. When the power source 33 fails, the voltage source inverter 41 stops operating. However, when the permanent magnet synchronous motor 42 is rotating, an induced voltage is generated. Even when the switching element 411 of the voltage source inverter 41 stops the switching operation, the freewheeling diode 412 constitutes a rectifier circuit. For this reason, even when the power supply 33 is out of order, the induced voltage of the permanent magnet synchronous motor 42 is rectified to generate a voltage. That is, when the arm 11 comes into contact and the switch 32 is turned on, the electric actuator 31 can be operated. It is obvious that the same operation is performed when the voltage source inverter 41 fails.

  It is known that the induced voltage of the permanent magnet synchronous motor 42 is proportional to the rotational speed. Therefore, the higher the speed, the larger the voltage applied to the electric actuator 31 when the arm 11 comes into contact. The higher the speed, the higher the risk of deviating from the route. Therefore, a more reliable operation can be realized when the risk is high.

  When the speed is reduced, the induced voltage of the permanent magnet synchronous motor 42 is reduced, but the voltage is not immediately reduced by the capacitor 413. In general, emergency braking is applied so that an emergency stop occurs when a vehicle that operates automatically is abnormal. Therefore, it is sufficient if the recovery operation from the control deviation according to the present invention is effective only during the braking time of the emergency brake. It is.

  As described above, the automatic driving device 4 includes the arm 11 that protrudes from the vehicle body (main body) 10 and the steering mechanism that steers the wheel 15. The steering mechanism is arranged in the vicinity of the automatic driving device 4. When the vehicle 50 comes into contact with the obstacle 50, the automatic driving device 4 steers the wheel 15 in a direction away from the obstacle 50. Moreover, the permanent magnet synchronous motor 42 which drives the wheel 15 and the voltage source inverter 41 which controls the permanent magnet synchronous motor 42 connected in parallel with the power source 33 of the electric circuit are provided, and the voltage source inverter 41 or the electric circuit When the power source 33 fails, the electric actuator 31 is driven using a voltage obtained by rectifying the induced voltage of the permanent magnet synchronous motor 42 by the freewheeling diode 412 of the voltage source inverter 41.

  With this configuration, the same effect as that of the third embodiment can be obtained, and the wheel 15 can be steered using the induced voltage of the permanent magnet synchronous motor 42 even when the power supply 33 is broken. . Similarly, when the voltage source inverter 41 fails, the wheel 15 can be steered using the induced voltage of the permanent magnet synchronous motor 42.

  Although the above embodiment has been described as a representative example, it will be apparent to those skilled in the art that many changes and substitutions can be made within the spirit and scope of the invention. Therefore, the present invention should not be construed as being limited by the above-described embodiments, and various modifications and changes can be made without departing from the scope of the claims. For example, a plurality of constituent blocks described in the embodiments can be combined into one, or one constituent block can be divided.

  As described above, according to the present invention, an automatic driving device that can be operated safely even when a control abnormality occurs without the need for a guide rail, a protective rail, and an obstacle detection sensor can be realized. .

1, 2, 3, 4 Automatic driving device 10 Body (main body)
DESCRIPTION OF SYMBOLS 11 Arm 12 Kingpin 13 Gear 14 Link 15 Wheel 21 Air actuator 22 Valve 23 Compressed air supply part 31 Electric actuator 32 Switch 33 Power supply 41 Voltage type inverter 42 Permanent magnet synchronous motor 50 Obstacle 411 Switching element 412 Reflux diode 413 Capacitor

Claims (5)

In an automatic driving device that performs automatic driving without using an obstacle detection sensor,
An arm protruding from the main body,
A steering mechanism that mechanically couples the arm to a wheel by only a link mechanism or a link mechanism and a gear and steers the wheel;
The automatic driving device, wherein the steering mechanism steers a wheel in a direction away from the obstacle when the arm contacts an obstacle arranged in the vicinity of the automatic driving device. . In an automatic driving device that performs automatic driving without using an obstacle detection sensor,
An arm protruding from the main body,
A steering mechanism having a pneumatic actuator to steer the wheels,
The steering mechanism steers a wheel in a direction in which the automatic driving apparatus moves away from the obstacle when the arm contacts an obstacle arranged in the vicinity of the automatic driving apparatus,
When the arm is operated, an automatic driving device is characterized in that the wheel is steered by directly opening a valve of an air circuit and operating the air actuator. In an automatic driving device that performs automatic driving without using an obstacle detection sensor,
An arm protruding from the main body,
A steering mechanism having an electric actuator to steer the wheel,
The steering mechanism steers a wheel in a direction in which the automatic driving apparatus moves away from the obstacle when the arm contacts an obstacle arranged in the vicinity of the automatic driving apparatus,
When the arm is operated by direct the electrical actuator is operated switch of the electric circuit is turned on, automatic operation system you characterized in that the wheel is steered. A permanent magnet synchronous motor for driving the wheel;
An inverter for controlling the permanent magnet synchronous motor, connected in parallel with the power source of the electric circuit,
4. The electric actuator is driven by using a voltage obtained by rectifying an induced voltage of the permanent magnet synchronous motor by a return diode of the inverter when the inverter or the power source fails. The automatic driving device described in 1. The automatic driving device according to any one of claims 1 to 4, wherein the arm has a curved shape.

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