JPS60214011A - Running car - Google Patents

Abstract

PURPOSE:To make a run on staircase with simple constitution by switching connections of a battery and generating high torque by a driving motor when a detector detects the staircase, etc. CONSTITUTION:The running car 1 is provided with crawlers 2 which allow a run on a staircase, etc., and the detector 3 which detects the staircase 40, etc., and also has a steering mechanism, running mechanism, and a controller 30 to make a programmed run on a run path such as a floor surface 4. Further, a battery 35 which is used normally is connected to one terminal of a driving circuit 31, a switch device 36 is connected to one terminal of the battery 35, and an auxiliary battery 37 is connected to the switch device 36. The switch 36 is operated with the output signal of the controller 30. Then when the detector 3 of the running car 1 detects the staircase 40, the controller 30 makes the contact of the switch 36a the switch device 36 to connect the auxiliary battery 37 to the battery 35 in series, and impresses an overvoltage to the driving motor 32 to obtain high torque.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a traveling vehicle having a traveling mechanism that is applicable to, for example, a floor traveling type working robot and is capable of traveling on stairs and climbing over a weir.

[Technical background of the invention and its problems]

Currently, in various plants and factories, on-site inspections are carried out by operators (two operators).Of these tasks, robots (two operators) perform simple tasks and nighttime monitoring, reducing the burden on humans. There is a need for the development of robots that are designed to reliably inspect objects.In addition, in various plants and factories, the objects that need to be inspected are wide-ranging. A moving mechanism is required.

Furthermore, since this inspection robot is intended to perform on-site inspections on behalf of operators, the 41st move is to move freely through existing corridors, nine stairs, etc. in various plants and factories. For this reason, crawlers etc. are used to climb stairs and
We are completing the development of a vehicle that is capable of overriding multiple i vehicles.

However, with this conventional vehicle, the load of driving on stairs and weirs (4), which is much more demanding than normal driving on flat ground (because the torque of the drive motor was set based on the second load), the motor became larger and Torque was secured by increasing the reduction ratio of the gear.For this reason, it was not possible to make it smaller and the running speed was sacrificed.Also, there is a method of installing a clutch and a transmission gear, but clones etc. ni da (
2 pairs or 4 pairs), so the clutch and transmission gear are also 4L? 1L is required. For this reason, the weight of the mounting space becomes large, and it is ultimately ineffective. Moreover, because the m configuration was complicated (2), there were problems such as reliability and maintainability (2).

In addition, when a general (Nibatsuri tower-mounted vehicle) lowers the charging pressure to a predetermined level, it issues a low battery notification and moves to a predetermined position (secondary) such as a light station. , battery (I needed to have 20 minutes of extra time).

However, since this detection point did not have a large difference from the magnetic pressure normally used, it was prone to detection errors.

[Purpose of the invention]

The purpose of the present invention is to prevent a reduction in speed during normal travel due to an increase in the size of the two-drive motor or a large gear reduction C2, for some exceptional travel such as stair travel and crossing over a weir.
The purpose of the present invention is to provide a traveling vehicle capable of traveling on stairs and over weirs with a simple configuration.

[Summary of the invention]

The traveling vehicle according to the present invention is equipped with a detector for detecting stairs and weirs, a temperature detector for detecting the coil temperature of the drive motor, an auxiliary battery, a controller, and a switch. Then, according to the detector signal that detects step #, connect the battery normally used in the switch for stairs etc. in series with the auxiliary battery, and increase the magnetic pressure applied to the drive motor to generate a high torque exceeding the rating. It is characterized in that the temperature of the coil is generated within a predetermined temperature rise limit by detecting it with a temperature detector of the drive motor. be.

[Embodiments of the invention]

The present invention will be described below with reference to the drawings (two embodiments).

FIG.
A detector for detecting rollers 2, stairs, etc., which is capable of running on steps and over weirs, is provided, for example, with a narrow field-of-view type photoelectric detector 3 having a predetermined detection distance and a diffuse reflection type.

Although not shown, the floor vehicle 1 has a steering mechanism, a travel mechanism, and a control device, and can run on a predetermined travel route on the floor 4 or the like using a program or by remote control such as by radio. It is.

On the other hand, the photoelectric detector 3 installed at the front of the vehicle 1 is installed in the vertical direction (2 required number of photodetectors 3a +
It is constructed by arranging 3b * 3c + 3d + 3e.

FIG. 2 (
4, the light projector 11 includes an oscillation circuit 2, a light projecting element 13, and a lens 14. The light receiver 15 includes a lens 16, a light receiving element 17, an amplifier circuit 18, and a synchronous rectifier circuit 19.
It consists of

Next (Second) The operation of this photoelectric detector 3 will be explained. First, the oscillation circuit 12 oscillates a constant frequency, and the light emitting element 13 using a light emitting diode or the like is modulated in blinking δ. The emitted light passes through the lens 14. The object to be detected, for example stairs, etc.; The irradiated and reflected light passes through the lens 16 and enters the light receiving element 17 (2) using a lens 16.Then, the light receiving element 17 converts the electric signal Only the modulated signal of this electrical signal is amplified by the amplifier circuit 18.Next (
In order to distinguish it from noise such as 1d (2 oscillation frequency), only the 1d signal having the same frequency as the 2 oscillation is rectified by the synchronous rectifier circuit 19. This rectified signal is used as the output signal of the optical receiver 15. The signal input to the determination screen 420 is compared with a preset reference value, and if the signal is greater than or equal to the reference value, it is turned on, and if it is less than the reference value, it is turned into an off signal 42.

In addition, photoelectric detectors 3a+ 3b* 3c+ 3d, 3
e has a light projection characteristic as shown in FIG. That is, according to this characteristic diagram (=, the projected light I1gt, ie, within the detector W (when two detected objects are detected, a 1-ON signal is sent from between the determination circuits) within the range of the detection distance.

The detection distance and the detection width W can be changed by changing the detection sensitivity, that is, the gain of the amplification circuit gL618 and the reference value between the judgment circuits. degree (= set.

Next (=The 1j control system of this running vehicle 1 is added to the block diagram number in Fig. 4. In Fig. 4(=, the photoelectric detector 3 and the gwb1111 path 31 are connected to the A drive motor 32 is connected to the drive circuit 31.

In addition, the drive morph 320 rotation shaft (two connected encoders) and the coil end of the drive motor 32 (double-attached temperature detection device) are connected to a controller (equipment).

On the other hand, a switch 36ζ2 is connected to the other end of the drive circuit 31 (2 is the other end of the battery that is normally used), and an auxiliary battery 37 is connected to the switch 36ζ2. are connected to each other so that they are operated by the output signal of the controller (9).

Next ζ2 The operation of the control system shown in FIG. 4 (=) of the traveling vehicle 1 of the present invention will be explained using FIGS. 5 to 7.

The traveling vehicle l controls the steering operation of the crawler 2 and the claw 22 (two connected drive motors 32) based on predetermined program data or remote control instructions from the controller 30 (=
is driven by the drive circuit 31 and travels once (two times). Then, the stair chrysanthemum is in front of the traveling vehicle l (= if there is, the traveling vehicle l
is at the bottom step 40a of the stairs, the detection distance of the photoelectric detector 3 is 1 m!
When approaching within L, the output of this photoelectric detector 3a becomes "E on". Further, when the vehicle 1 moves in the direction of arrow A and approaches the floor R401 by a distance #IL1, the stairs 40b
The distance between the photoelectric detectors 3b and 3c is the detection distance "E on".

That is, the controller (9) can determine that this is a staircase with a depth L1 of one step where the step is higher than the photoelectric detector 3a and lower than the photoelectric detector 3b. Here, the distance MLI can be detected from the value of the encoder that detects the travel distance. Also, for example, the setting position of the photoelectric detector 3b may be set to the limit of the level difference in which the vehicle 1 can run (two steps, Example 6 in FIGS. 5 and 6 is the mounting height of the photoelectric detector 3b). It can be determined that the staircase 40 is one that the vehicle 1 can climb because the height is low.

In this way, the traveling vehicle 1 detects the photoelectric detector 3 (=therefore, the stairs 40
4 is detected, the control circuit shown in Figure 4 closes the switch aO contact of the switch 4, connects the battery 35 (2) and the auxiliary battery 36 in series, and connects the drive motor 32 (2) to a voltage higher than the rated voltage (2). High torque is obtained by applying an overvoltage (hereinafter referred to as overvoltage).In general, the torque characteristics for voltage (2) differ depending on the GT class (2) of the motor 32, but as shown in Figure 8 (2) (2 storm pressure (according to e.g. 2 of voltage)
The starting torque increases in proportion to the power of two. Then, the driving force (
Second, vehicle 1 is on the first floor of stairs 40, JR40a.
Climb.

Next (2) As shown in Fig. 6 (2) The traveling vehicle 1 climbs the stairway. Passage of the stairway 40 can be detected from the encoder value for detecting travel distance. After passing the stairway 40, the controller 30 sends the switch A≦= command to open the contact 36a7, disconnects the auxiliary battery 37 from the battery O, and returns to normal rated operation (return to normal).

In addition, when driving with uneven voltage, such as when driving on stairs,
The coil temperature of the drive motor 32 increases.

This temperature rise is detected by a temperature detection device such as a bimetal, and when the temperature rise exceeds the temperature rise limit of the coil insulating material, for example, about 130° C., a 1M signal is sent to the ll11a device 30. At this time, the contact 36a of the control switch 31 is opened (=), or the drive circuit 31 (2 commands are sent to stop the drive motor 32. Then, it is determined that the coil !& has decreased to a predetermined @ degree. [Detection!! When detected by iu, start the predetermined operation again.

On the other hand, the traveling vehicle 1 can detect the passage or weir using the photoelectric detector 3. In other words, Fig. 7 (=a5 as shown)
0 (When the two traveling vehicles 1 approach within a certain distance, the photoelectric detectors 3a + 3b, 3c + 3d + 3e are in the "on" state at the same time.
higher can be detected. That is, a determination can be made between the wall 50 and the controller. Similarly, in the case of weir detection (two steps can be carried out), for example, only the magneto-optical detector 3a can be detected.
If the condition remains the same after traveling the distance fiL, it can be determined that the weir is capable of crossing the east ρ.

Furthermore, if the magneto-optical detector 3a and the binary 1 detector 3b are turned on at the same time, it can be determined that the weir cannot be crossed.

Furthermore, (2) Fig. 9 (2) is a control block diagram of another embodiment shown in (2).
In the second part, a magnetic pressure detection circuit #860 is provided to detect the magnetic pressure of the battery 35, etc.
A contact A C is provided to disconnect the battery A 4 from the excitation 431 .

The operation of the other embodiment shown in FIG. 9 will be explained with reference to the battery discharge characteristic diagram shown in FIG. Point A in FIG. 10 is the conventional detection point for low battery. However, in the vehicle 1 of the present invention, it is possible to detect at point B, which is significantly lower than the battery pressure normally used.

That is, the voltage detection circuit 60 detects the decrease in magnetic pressure up to point B and sends out two signals to the controller (support). = Connect or close the switch 36 with contact and connect the battery 35 and auxiliary battery 37 in parallel (
2, or close the switch with that contact and open the contact A to disconnect the battery A from the drive circuit 31.
L, by connecting the auxiliary battery 37 (=, it is possible to return to a predetermined position such as a charging station (with two self-cutting blades).

Generally uninvented (=According to the traveling vehicle 1, the traveling vehicle 1 has a light detector 3, an auxiliary battery 371, a normally used battery, and a switch between the auxiliary battery 37 and the 1 tail pressure detection circuit 6).
The magneto-optical detector 3 automatically detects stairs and weirs, and the battery 35 and auxiliary battery 37 normally used in the switching area 6 are connected in series ( Since the drive motor 32 is configured so that high torque can be obtained by operating the drive motor 32 with overvoltage, there is no need to increase the size of the drive motor for some exceptional driving such as stairs. , the traveling vehicle 1 can be made smaller and lighter.

In addition, there is no need to increase the reduction ratio of the gear to ensure the high torque required for running on stairs, etc., eliminating the problem of sacrificing normal running speed, and eliminating the need for a clutch, high-speed gear, etc. Easy configuration and maintainability
Highly reliable.

Further, when the drive motor is operated at four-tail pressure, there is a problem that the temperature of the coil of the drive motor increases. However, the ambient temperature 4
It varies depending on the situation, but there is usually no problem after driving for a few minutes.
This is enough time to pass through some areas such as stairs and weirs. Furthermore, since the temperature detector is configured to be able to detect when the temperature at the coil end has exceeded the temperature rise limit, accidents such as burnout of the drive motor can be prevented.

In addition, when the voltage of the battery used in the 8-box battery that runs through the pressure detection mountain drops significantly, it is possible to connect an auxiliary battery and return it to a predetermined position (two-way), such as a magneto-optical station. .0, further ζ Since the dual ridge acclimator has a function of detecting obstacles, it also has the effect of preventing collisions of running vehicles.

〔Effect of the invention〕

As described above, according to the present invention, a traveling vehicle equipped with a traveling mechanism capable of traveling and overcoming weirs (ii) a detector for detecting the presence of stairs and weirs;

A battery and an auxiliary battery are mounted on the tower, and when the self-detector detects the presence of stairs and a weir, the connection of the battery and the auxiliary battery is switched so that the drive motor C generates high torque (two configurations). For some exceptional driving, such as climbing stairs, climbing over weirs, etc., the drive motor is specially designed (dualization or significant gear reduction ('''- to prevent speed reduction in normal driving). It has the advantage of being able to run stairs 2 and cross over weirs with a simple configuration.

[Brief explanation of drawings]

Fig. 1 is a front view showing the state of installation of a two-component detector, and Fig. 2 is a block diagram showing the +s configuration of a magneto-optical detector used according to the present invention. FIG. 3 is a light emitting and receiving characteristics diagram of the magneto-optical detector, FIG. 4 is a block diagram showing an embodiment of the control system for a traveling vehicle according to the present invention≦2, and FIGS. 5 and 6 are respectively for the vehicle. FIG. 7 is an explanatory diagram showing the wall detection state of the traveling vehicle of the present invention. FIG. 8 is a characteristic diagram showing the relationship between torque and voltage of the drive motor. Fig. 9 is a block diagram showing another embodiment of the control system of the traveling vehicle according to the present invention, and Fig. 10 is a diagram showing the discharge characteristics of the battery.1... Traveling vehicle 2... Crawler 3... Photoelectric Detector 4... Floor surface 11... Emitter 15... Light reception participation... Judgment time jf6 L... Detection distance W... Detection width Blade... Controller 31... Drive circuit 32 ...Drive motor...Encoder...Temperature sensor...Battery...
...Switcher 37...Auxiliary battery 40...Between stairs...Wall 6
0... Increased pressure detection circuit (8733) Agent: Yoshiaki Inomata, patent attorney (and 1 others)
Name) Figure 1 -4- No Figure 2 Figure 4 Figure 8 Figure 5,! ,D Figure 7

Claims (1)

[Scope of Claims] Ll) A traveling vehicle C2, which has a traveling mechanism capable of traveling on stairs and over weirs, and is driven by a drive motor by a Kubotateri, is equipped with an auxiliary battery, and travels over stairs or weirs while traveling. A detector is provided to detect the presence of a stairway or a weir, and when the detector detects the presence of stairs or a weir, the battery normally used for the drive motor (; and the auxiliary battery are connected in series). A traveling vehicle characterized by being equipped with a control device. (2) The detector detects the presence of stairs and weirs by using a narrow field of view type diffuse reflection type magneto-optical detector with a predetermined detection distance on the floor (two opposite sides). A traveling vehicle according to claim s1, characterized in that two or more are arranged in a vertical direction (3) A temperature detector for detecting the coil temperature of the drive motor is provided, and this temperature detector detects an increase in the coil temperature by one degree. The traveling vehicle according to claim 1 is characterized in that the vehicle is configured to disconnect the auxiliary battery by energizing the auxiliary battery when the battery reaches a predetermined value or more. A voltage detection circuit for detecting a voltage drop is provided, and when the voltage detection circuit detects a voltage drop of the battery, switching to the auxiliary battery or the auxiliary battery is configured to be connected in series and parallel. A traveling vehicle according to claim 1.