JPH09247804A - Stopper of self-moving carriage in running on slope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely stop a self-moving carriage on a slope without hastening the consumption of a battery by generating uneven breaking force on a left and a right driving wheels when the moving carriage becomes unable to move by itself. SOLUTION: When a driving current for motors 5, 51 for driving wheels which are installed on the left and the right sides of a car 1 is cut off, the braking force of either one of a first and a second dynamic brakes which are installed in the motors 5, 51 for driving wheels is made larger than the other one and thereby uneven braking force is generated. By this method, the emergency stoppage of the car 1 is secured during running on a slope and the consumption of a battery is lowered.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stopping device for traveling on a slope of an autonomous mobile vehicle, which carries a load or the like and moves on a trackless road in a quasi-structured environment such as a hospital or a rehabilitation facility. .

[0002]

2. Description of the Related Art A conventional unmanned autonomous vehicle is
For example, in the case of traveling on a slope, when an emergency stop switch provided for the autonomous moving vehicle is input due to some trouble, an electromagnetic brake is provided on the wheel driving motor as a device for operating the braking force. One having a dynamic brake that uniformly applies a braking force to the left and right driving motors is used. Alternatively, the driving direction switching means of the wheel driving motor is used to switch the driving direction of the electric power supplied to the motor so that the wheels are reversely driven and the traveling speed is made smaller than the stop speed, and then the electromagnetic speed is reduced. There has been proposed a device that uses both an electromagnetic brake for braking with a brake and a drive direction switching means (for example, Japanese Patent Laid-Open No. 5-276602).

[0003]

However, in the stopping device using the electromagnetic brake as described above, the electromagnetic brake is always in the excited state when the vehicle is running, and the excitation is released when the vehicle is stopped. Yes, it is necessary to pass a current to release the brake from the driving wheel while traveling,
There was a problem of accelerating battery consumption. Further, with a dynamic brake that operates uniformly on the left and right, there is a problem in that it cannot be stopped completely due to the characteristics of the dynamic brake, and the slope having a long downhill at low speed continues to descend to the end. Further, or in the case of a device using both an electromagnetic brake and a drive direction switching means, the braking force is improved as compared with the former dynamic brake that operates uniformly on the left and right.
Since the motor drive circuit remains energized when the reverse drive braking is applied to the wheels, there is a problem that the power consumption of the battery is accelerated as in the case of using the electromagnetic brake. Therefore, the present invention can reliably stop the autonomous mobile vehicle when the autonomous mobile vehicle runs out on the slope and runs out of battery due to some trouble or when the autonomous mobile vehicle is unable to run autonomously due to some trouble. The present invention relates to a stop device that can be used and does not expedite battery consumption, and that uses a dynamic brake when the autonomous traveling vehicle is traveling on a slope.

[0004]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a wheel driving motor for independently driving wheels provided at left and right positions of a vehicle body using a battery as a power source, and the wheel driving motor. In a stopping device for traveling on an inclined plane of an autonomous moving vehicle, which comprises a drive circuit for rotating a motor and a braking means for stopping the rotation of the wheel driving motor, the braking means is the wheel. The wheel driving motor includes a first dynamic brake and a second dynamic brake formed of an electric circuit in which a power generation resistor is connected in parallel to the driving motor.
Of the vehicle for driving the wheels when an emergency stop switch for stopping the autonomous mobile vehicle is input or when the autonomous mobile vehicle is in failure when the autonomous mobile vehicle is traveling on a slope. When the drive current of the motor is cut off, one of the left and right dynamic brakes is a device that generates a braking force. It is more preferable that the left and right dynamic brakes are devices that generate a braking force difference.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of an autonomous mobile vehicle showing an embodiment of the present invention. FIG. 2 is an electric circuit diagram of a stop device to which a dynamic brake is applied according to the embodiment of the present invention. Further, FIG. 3 shows a locus during traveling on a slope in the case where the difference in braking force of the moving carriage according to the embodiment of the present invention is small. FIG. 4 is a locus during traveling on a slope when the difference in braking force of the moving carriage according to the embodiment of the present invention is large. In FIG. 1, reference numeral 1 is a vehicle body of an autonomous mobile truck that travels on a trackless track, and 2
And 21 are wheels provided at left and right positions with respect to the traveling direction of the vehicle body 1, and 3 and 31, 32 and 33 are wheels 2 and 21.
Auxiliary wheels provided at the four lower corners of the vehicle body 1 for driving the vehicle by means of a battery power source which is the power source of the vehicle body 1 and 5 and 51 for driving the wheels independently driving the left and right wheels 2 and 21 of the autonomous moving vehicle. A motor, 52 is a winding of the wheel driving motors 5 and 51, 6 is a drive circuit for rotating the wheel driving motors 5 and 51, and 7 is a power generation resistor connected in parallel to the winding 52 of the wheel driving motor. , 71 is an a contact for turning on / off the electric circuit between the drive circuit 6 and the winding 52 of the wheel driving motor, and 72 is for turning on / off the electric circuit of the winding 52 of the wheel driving motor and the power generation resistor 7. b contact point, 8 is an emergency stop switch that gives a travel stop command for the autonomous mobile vehicle, 9 is a wall for a hospital or a rehabilitation facility, 10
Is a slop. The autonomous mobile vehicle obtains electric power from the battery power source 4, and the drive circuit 6 drives the wheel drive motor.
The wheels 5 and 51 are rotated to independently drive the wheels 2 and 21. At this time, the a contact 71 provided between the drive circuit 6 and the winding 52 of the wheel drive motor is normally in the ON state as shown in FIG. 2, and the power is supplied to the autonomous mobile vehicle. . Further, the emergency stop switch 8 is installed on the upper part of the body 1 of the autonomous mobile trolley, and the contact a is turned off by manually pressing the emergency stop switch 8 or inputting a stop signal wirelessly. The power supplies for the driving motors 5 and 51 are shut off. On the other hand, at the same time, the b contact connecting the electric circuit of the winding 52 of the wheel driving motor and the power generation resistor 7 is turned on, and the wheel driving motors 5 and 51 generate power to generate a current. Since it is consumed by the power generation resistance 7, the wheel driving motors 5 and 5 are used.
1 to generate a braking force. As described above, the dynamic brake constituted by the electric circuit for generating the braking force to the wheel driving motor is provided to the wheel driving motor 5 of the left and right wheel driving motors, for example, as the first dynamic. A brake is provided, and a second dynamic brake is provided on the other wheel driving motor 51. The dynamic resistance of either one of the dynamic brakes of the two is provided. The braking force of the wheel driving motor is made non-uniform by changing the size. Alternatively, the magnitude of the power generation resistance of the left and right dynamic brakes may be appropriately changed to generate the braking force difference. In FIG. 2, the dynamic brake is applied to the DC motor, but may be applied to the AC motor.

Next, the operation will be described. In the case where the autonomous mobile vehicle that is currently traveling on the downhill slope cannot run autonomously due to a problem such as battery exhaustion and the emergency stop switch of the autonomous mobile vehicle is input, the wheel drive motor 5 So that the magnitude of the power generation resistance of the first dynamic brake provided in the wheel drive motor 51 is made larger than the power generation resistance of the second dynamic brake provided in the wheel driving motor 51 so that the braking force is generated non-uniformly. Then, the following operation is performed. When the emergency stop switch 8 of the autonomous moving vehicle is input, the a contact 71 provided in the electric circuit of the drive circuit 6 and the power generation resistor 7 is turned off and the b contact 72 is turned on to drive the wheels. The power of the motors 5 and 51 is cut off. Since the magnitude of the power generation resistance of the first dynamic brake is larger than that of the second dynamic brake of the two dynamic brakes, the wheel drive motor having the dynamic brake having the large power generation resistance is obtained. 5 consumes a larger amount of electricity in the power generation resistor 7, so drive motor
The braking forces of the switches 5 and 51 can be operated non-uniformly. Thus, by disposing the first dynamic brake and the second dynamic brake on the left and right wheel driving motors as braking means, for example, the braking force of the wheel drive motor 5 is driven. When the braking force of the motor 51 is made stronger than that of the wheel driving motor, when the power of the wheel driving motor is cut off, the vehicle body 1 of the moving carriage first slowly descends the slop 10 by the braking force of the dynamic brake. Since the braking force of 5 is strong, it draws a curve like the locus shown in FIG. 3 and comes into contact with the corridor wall 10 to stop completely. When the braking force of the wheel driving motor 5 is further increased, the vehicle body 1 of the moving carriage draws a locus around the wheels 2 attached to the wheel driving motor 5 as shown in FIG. Since it faces right beside the slope of the slop 10 at a distance, it can be stopped completely without contacting the wall 9 of the corridor, which is effective when the traveling route is away from the wall.

In this way, when the drive power is cut off by the emergency stop switch, the braking force is unevenly applied to the left and right drive wheels. Change direction to touch the walls of the corridor,
Alternatively, even if it does not come into contact with the wall, the emergency stop is performed by directing it right beside the slope of the slope, so that the slope does not fall to the end unlike the conventional dynamic brake. Not only on the downhill slope, but also when the mobile truck is traveling on the uphill slope, the battery runs out and the descent occurs,
Alternatively, even when the vehicle is descended by the power of the drive motor without climbing uphill, it is possible to use the dynamic brake device to make an emergency stop in the middle of the slope. The present invention is not limited to the case of an autonomous mobile vehicle that travels on a trackless vehicle, but can be applied to a vehicle that travels along a taxiway.

[0008]

As described above, according to the present invention, when the autonomous traveling of the mobile vehicle is disabled, the left and right driving wheels are subjected to uneven braking force, so that battery consumption is not accelerated. Therefore, there is an effect of obtaining a highly reliable stopping device for traveling the slope of the autonomous mobile vehicle, which can surely stop the autonomous mobile vehicle on the slope.

[Brief description of drawings]

FIG. 1 is a plan view of an autonomous mobile vehicle showing an embodiment of the present invention.

FIG. 2 is a dynamic blur showing an embodiment of the present invention.
It is an electric circuit diagram of a stop device to which is applied.

FIG. 3 is a dynamic blur showing an embodiment of the present invention.
This is a locus during traveling on a slope when the difference in braking force between the keys is small.

FIG. 4 is a dynamic blur showing an embodiment of the present invention.
This is a locus when traveling on a slope when there is a large difference in braking force.

[Explanation of symbols]

1: vehicle body, 2, 21: wheels, 4: battery power source, 5, 5
1: wheel drive motor, 6: drive circuit, 7: power generation resistance,
71: a contact, 72: b contact, 8: emergency stop switch,
9: Wall, 10: Slope

Claims (2)

[Claims] 1. A wheel drive motor for independently driving wheels provided at left and right positions of a vehicle body using a battery as a power source, a drive circuit for rotating the wheel drive motor, and the wheel drive motor. In an apparatus for stopping a slope of an autonomous mobile vehicle, which comprises a braking means for stopping the rotation of a motor, the braking means is an electric circuit in which a power generation resistor is connected in parallel to the wheel driving motor. The first dynamic blur consisting of
And a second dynamic brake are respectively arranged on the wheel driving motors, and an emergency stop switch for stopping the autonomous mobile truck when the autonomous mobile truck is traveling on a slope. One of the left and right dynamic brakes generates a braking force when the driving current of the wheel driving motor is cut off due to an input or a failure of the autonomous moving vehicle. A stop device for traveling on a slope of an autonomous mobile vehicle characterized by the above. 2. The stopping device when the autonomous traveling vehicle travels on a slope according to claim 1, wherein the left and right dynamic brakes are devices that generate a difference in braking force.