JP6706342B2 - 自律走行車両 - Google Patents
自律走行車両 Download PDFInfo
- Publication number
- JP6706342B2 JP6706342B2 JP2018553562A JP2018553562A JP6706342B2 JP 6706342 B2 JP6706342 B2 JP 6706342B2 JP 2018553562 A JP2018553562 A JP 2018553562A JP 2018553562 A JP2018553562 A JP 2018553562A JP 6706342 B2 JP6706342 B2 JP 6706342B2
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- mounting shaft
- shaft
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- mounting
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- 230000007246 mechanism Effects 0.000 claims description 32
- 239000000725 suspension Substances 0.000 claims description 28
- 238000001514 detection method Methods 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000005304 joining Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 description 31
- 230000005291 magnetic effect Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D27/00—Connections between superstructure or understructure sub-units
- B62D27/04—Connections between superstructure or understructure sub-units resilient
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/81—Casings; Housings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G99/00—Subject matter not provided for in other groups of this subclass
- B60G99/002—Suspension details of the suspension of the vehicle body on the vehicle chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D24/00—Connections between vehicle body and vehicle frame
- B62D24/04—Vehicle body mounted on resilient suspension for movement relative to the vehicle frame
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
- Body Structure For Vehicles (AREA)
Description
Claims (7)
- シャシと、カバーと、前記シャシとカバーの間において一端で前記カバーに係止部を介して取り付けられると共に、他端で前記シャシに取り付けられる少なくとも1個の取り付け軸を有するサスペンション機構とを備え、前記シャシに取り付けられた駆動輪で走行する自律走行車両であって、
前記サスペンション機構が、
前記取り付け軸に移動可能に取り付けられると共に、大略半球面形状の外周面を有する筒体と、
前記シャシに設けられると共に、内面を有し、前記筒体の外周面を前記内面に当接させて前記取り付け軸を揺動可能に保持する第1取り付け軸保持部と、
前記取り付け軸の最下部に設けられる軸下端部と、
前記第1取り付け軸保持部の下方で前記シャシに設けられると共に、頂点相当部と前記頂点相当部に連続する斜面相当部とからなる内面を有し、前記軸下端部を前記頂点相当部と斜面相当部のいずれかに当接させて前記取り付け軸を保持する第2取り付け軸保持部と、
前記筒体と前記軸下端部との間に弾装され、前記筒体と前記軸下端部とを相互に離間するように付勢する付勢部材
とを備えることを特徴とする自律走行車両。 - 前記取り付け軸の最上部に設けられる軸上端部と、前記カバーの係止部に設けられると共に、内面に前記軸上端部を当接させて前記取り付け軸を揺動自在に保持する第3取り付け軸保持部とを備えることを特徴とする請求項1記載の自律走行車両。
- 前記軸下端部は、大略半球面形状を呈することを特徴とする請求項1または2記載の自律走行車両。
- 前記第1取り付け軸保持部と前記第2取り付け軸保持部とは、接合部材を介して接合されることを特徴とする請求項1から3のいずれかに記載の自律走行車両。
- 前記取り付け軸の軸上端部と前記筒体の取り付け位置の間と、前記シャシとの間に防水性のブーツが架橋されることを特徴とする請求項2から4のいずれかに記載の自律走行車両。
- 前記取り付け軸の付近に配置され、前記取り付け軸の水平方向への移動に基づいて前記カバーと前記シャシの間の変位を検知して障害物との接触を検出する第1検出部を備えたことを特徴とする請求項1から5のいずれかに記載の自律走行車両。
- 前記取り付け軸の付近に配置され、前記取り付け軸の移動に基づいて前記カバーの上方へのリフトを検出する第2検出部を備えたことを特徴とする請求項1から6のいずれかに記載の自律走行車両。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/085506 WO2018100659A1 (ja) | 2016-11-30 | 2016-11-30 | 自律走行車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2018100659A1 JPWO2018100659A1 (ja) | 2019-10-17 |
JP6706342B2 true JP6706342B2 (ja) | 2020-06-03 |
Family
ID=62242503
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018553562A Active JP6706342B2 (ja) | 2016-11-30 | 2016-11-30 | 自律走行車両 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11009878B2 (ja) |
EP (1) | EP3470311B1 (ja) |
JP (1) | JP6706342B2 (ja) |
CN (1) | CN109070949B (ja) |
WO (1) | WO2018100659A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3470311B1 (en) * | 2016-11-30 | 2021-01-06 | Honda Motor Co., Ltd. | Autonomously travelling vehicle |
US10639540B2 (en) * | 2017-05-09 | 2020-05-05 | Google Llc | Augmented and/or virtual reality footwear |
KR101984926B1 (ko) * | 2018-01-19 | 2019-05-31 | 엘지전자 주식회사 | 잔디깎기 로봇 |
JP7309559B2 (ja) * | 2019-09-27 | 2023-07-18 | 株式会社やまびこ | 自動走行式のロボット作業機 |
US11279286B2 (en) * | 2020-04-15 | 2022-03-22 | Motherson Innovations Company Limited | Actuator assembly for mirror |
US20230166796A1 (en) | 2021-11-30 | 2023-06-01 | Honda Motor Co., Ltd. | Autonomously navigating vehicle |
SE2250268A1 (en) * | 2022-02-28 | 2023-08-29 | Husqvarna Ab | Self-propelled Robotic Work Tool |
EP4233515A1 (de) * | 2022-02-28 | 2023-08-30 | Andreas Stihl AG & Co. KG | Selbstfahrendes arbeitsgerät |
EP4292417A1 (de) * | 2022-06-13 | 2023-12-20 | Andreas Stihl AG & Co. KG | Verfahren und system zum betreiben eines autonomen mobilen grünflächenbearbeitungsroboters |
Family Cites Families (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2335054A (en) * | 1941-07-19 | 1943-11-23 | Hiram F Godwin | Lawn mower |
US5163273A (en) * | 1991-04-01 | 1992-11-17 | Wojtkowski David J | Automatic lawn mower vehicle |
JP3201208B2 (ja) | 1995-03-23 | 2001-08-20 | ミノルタ株式会社 | 自律走行車 |
IT1292644B1 (it) * | 1997-06-27 | 1999-02-08 | New Holland Italia Spa | Gruppo di sterzo per un automezzo da lavoro mobile su ruote. |
US5988306A (en) * | 1997-08-29 | 1999-11-23 | Yazaki Industrial Chemical Co., Ltd. | Automatically guided vehicle |
US6402169B1 (en) * | 2000-09-14 | 2002-06-11 | Deere & Company | Steering knuckle and ball joint assembly for tractor front axle |
JP2002318618A (ja) * | 2001-04-20 | 2002-10-31 | Matsushita Electric Ind Co Ltd | 自走式機器 |
JP2004267236A (ja) * | 2003-03-05 | 2004-09-30 | Hitachi Ltd | 自走式掃除機およびそれに用いる充電装置 |
WO2009095830A1 (en) * | 2008-02-01 | 2009-08-06 | Koninklijke Philips Electronics N.V. | Device comprising at least a body and a bumper, and robot cleaner comprising such a device |
JP5517422B2 (ja) * | 2008-08-22 | 2014-06-11 | 村田機械株式会社 | 自律移動装置 |
EP3342266A1 (en) * | 2012-02-22 | 2018-07-04 | Husqvarna AB | Robotic lawnmower |
DE202012102637U1 (de) * | 2012-07-17 | 2013-10-21 | Al-Ko Kober Se | Selbstfahrendes Bodenbearbeitungsgerät |
EP2692220B1 (en) * | 2012-08-03 | 2016-04-27 | Robert Bosch GmbH | Directional obstruction sensor |
WO2016087998A2 (en) * | 2014-12-02 | 2016-06-09 | Husqvarna Ab | All wheel drive robotic vehicle with steering brake |
WO2017109879A1 (ja) | 2015-12-24 | 2017-06-29 | 本田技研工業株式会社 | 自動走行式芝刈機 |
NL2016643B1 (en) * | 2016-04-20 | 2017-11-07 | Lely Patent Nv | Autonomous vehicle with bumper device. |
CN105974921A (zh) * | 2016-06-16 | 2016-09-28 | 苏州科瓴精密机械科技有限公司 | 机器人 |
JP6373930B2 (ja) * | 2016-10-31 | 2018-08-15 | 本田技研工業株式会社 | 自律走行車両 |
EP3470311B1 (en) * | 2016-11-30 | 2021-01-06 | Honda Motor Co., Ltd. | Autonomously travelling vehicle |
JP2018102247A (ja) * | 2016-12-27 | 2018-07-05 | 本田技研工業株式会社 | 自律走行車両 |
SE540585C2 (en) * | 2017-03-23 | 2018-10-02 | Husqvarna Ab | A robotic work tool and a method for use in a robotic work tool comprising a lift/collision detection device |
WO2019169550A1 (en) * | 2018-03-06 | 2019-09-12 | Changzhou Globe Co., Ltd. | Lift detection arrangement in a robotic lawnmower |
US11696526B2 (en) * | 2018-12-03 | 2023-07-11 | The Toro Company | Autonomous mower with adjustable cutting height |
-
2016
- 2016-11-30 EP EP16922570.3A patent/EP3470311B1/en active Active
- 2016-11-30 WO PCT/JP2016/085506 patent/WO2018100659A1/ja unknown
- 2016-11-30 US US16/317,154 patent/US11009878B2/en active Active
- 2016-11-30 JP JP2018553562A patent/JP6706342B2/ja active Active
- 2016-11-30 CN CN201680085238.6A patent/CN109070949B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP3470311A1 (en) | 2019-04-17 |
EP3470311A4 (en) | 2019-10-16 |
CN109070949A (zh) | 2018-12-21 |
EP3470311B1 (en) | 2021-01-06 |
CN109070949B (zh) | 2021-03-02 |
WO2018100659A1 (ja) | 2018-06-07 |
US20190310641A1 (en) | 2019-10-10 |
JPWO2018100659A1 (ja) | 2019-10-17 |
US11009878B2 (en) | 2021-05-18 |
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