JPS62247702A - Vehicle for movement - Google Patents

Abstract

PURPOSE:To lighten the weight of a battery on board a vehicle for movement, by feeding from a load-dispatching means provided at a workshop to a locomotive means of a vehicle for movement through a cord. CONSTITUTION:When a working means starts work, it drives a motor 2b of a locomotive means 2 with a battery 3 as a power source. As the main body 1 of a vehicle for movement comes closer to the predetermined position against a load-despatching means 7, an initial power receiving means 5a is combined to the load-despatching means 7. In this combined condition, the power from a cord 5b is supplied to the locomotive means 2 and working means 4 through an actuation circuit means 8. When the main body 1 of the movable vehicle enters the working area, the working means 4 is actuated based on the command of a command means 12. On the other hand, the position of the main body 1 of the vehicle for movement off the load-despatching means 7 is recognized by a recognition means 10 and the length of the cord 5b is adjusted by an adjustment means 5 according to its position.

Description

[Detailed Description of the Invention] (A) Industrial Application Field The present invention relates to a mobile vehicle in which a transfer means of the mobile vehicle body is driven by power supply via a cord from a power supply means provided in a work place, such as a self-propelled vehicle. This is suitable for work robots.

(b) Conventional technology As a conventional self-propelled working robot,
As disclosed in Publication No. 111, it is known that the transfer means (for example, a motor) of the robot body is driven by an on-board battery to make it move by itself, and the on-board battery is used to operate the working means provided on the robot body. It is being

However, in this conventional device, since the moving means and the working means are driven by an on-board battery, a large-capacity battery is required, and the robot main body becomes large.

On the other hand, household electric cleaners are widely known as devices whose working means are operated by power supplied via a cord from a power supply means provided in a work place.

However, with electric cleaners, the cord is pulled out by hand from the cord reel of the cleaner body in advance in accordance with the movement range of the cleaner body, and cleaning work is performed while pulling the cleaner body with input. Depending on the moving position, the pulled out cord may get in the way.

(c) Problems to be solved by the invention A robot body in which the working means of the robot body described above is operated by power supply from a power supply means via a cord, like an electric cleaner, and the weight of the mounted battery is reduced. It is desired to downsize the

Furthermore, in this case, it is desirable to eliminate the disadvantages of a cord that is too long, which obstructs the work, and a cord that is too short, which narrows the work range.

The present invention aims to provide a mobile vehicle that satisfies such demands.

2) Means for solving the problems In order to solve the problems, the mobile vehicle according to the present invention includes:
A moving vehicle in which a transfer means of the moving vehicle body is driven by power supply via a cord from a power supply means provided in a work place, a means for recognizing the position of the moving vehicle body separated from the power supply means, and an output of the recognition means. The present invention is characterized by comprising a cord adjusting means for adjusting the length of the cord based on the length of the cord.

(v) Operation Since the transfer means of the mobile vehicle main body is supplied with power from the power supply means at the workplace via the cord, the onboard battery of the mobile vehicle main body is not used for driving the transfer means to go down to the work site, Its battery capacity becomes smaller.

In addition, the position of the mobile vehicle body that is separated from the installation position of the power supply means is recognized by the position recognition means.Based on this recognition output, the length of the cord to be pulled out is adjusted by the cord adjustment means of the mobile vehicle body. Therefore, the length of the cord becomes an appropriate value, and the =1- cord does not get in the way when the mobile vehicle body moves, and its movement range is not restricted by the cord 1°.

(f) Examples An embodiment of the present invention will be described based on the drawings.

FIG. 1 is a model principle diagram of a moving vehicle, and FIG. 2 is a model configuration diagram showing recognition means and code adjustment means of the moving vehicle.

In these drawings, reference numeral 1 denotes a mobile vehicle body, which is equipped with a transfer means 2, a secondary battery 3, a working means 4, a cord adjustment means 5, and a recognition means 10.

The transition means 2 includes a pair of first motors 2b (2b in FIG. 2) that individually drive the two drive wheels 2a via reduction gears.
R and 2bL), and this motor is driven by power supplied from a secondary battery 3 or a power supply means 7 to be described later.

The working means 4 is a floor cleaner in this embodiment, and includes a dust collection fan 4a and a second motor 4b for driving the dust collecting fan 4a, and this motor is driven by power supplied from the power supply means 7.

The cord adjustment means 5 is provided on a wall surface 6 of the workplace, and is connected to a power supply means 7 connected to a commercial power source, such as a power receiving means 5a, such as a power receiving bladder, connected to a power supply outlet, and the power receiving means 5a. A cord 5b, a reel mechanism 50, a drive device 5d for feeding and winding the cord 5b wound around the reel mechanism, and a power receiving means 5a.
and a locking means 5c for maintaining the connected state of the power feeding means 7. The power receiving means 5a is connected to the power feeding means 7 when the moving vehicle main body 1 approaches the power feeding means 7, and the locking means 5 is connected to the power feeding means 7.
The connected state can be maintained at e. Note that this locking means may be provided on the wall surface 6 on which the power feeding means 7 is provided.

Further, the drive device 5d includes a pulse motor 5f shown in FIG. 2 and a roller 5g that rotates the reel mechanism 5c by the rotational force of this motor.

The cord 5b is connected to the actuating circuit means 8, and the power from the cord 5b is passed through the actuating circuit means 8 and is converted into alternating current or direct current to the second motor 4b of the working means 4;
It is supplied to the secondary battery 3 etc. via the first motor 2b of the transfer means 2 and the charging circuit means 9.

The mobile vehicle main body 1 has a recognition means 10, which recognizes the position of the power supply means 7 based on the output of a sensor 11 that searches the power supply means 7, and also recognizes the position of the power supply means 7.
The position of the mobile vehicle main body 1 separated from the power supply means 7 is recognized based on the outputs of the pulse encoders 2cR and 2cL that individually detect the rotation angles bR and 2bL.

The search sensor 11 detects a guidance signal to the power supply means 7, and the guidance signal may be a radio wave, light, etc. emitted from a position near the power supply means 7, or a light reflection signal provided on the floor. It may be reflected light from a table or a magnetic field from an electromagnetic induction feed placed on the floor.

Reference numeral 12 denotes a command means provided in the main body of the mobile vehicle, which has a manual command part and an automatic command part, and the recognition means 10 and the operating circuit means 8 are activated by a command from either of the command parts.

The manual command section manually inputs the charging start time of the battery 3 or the work start time of the working means, work range, work order, etc., and based on the input, command signals and signals for storage in the automatic command section. This outputs the following. Further, the automatic command section automatically operates the recognition means 10 and the operation circuit means 8 based on data stored in advance.

In the above configuration, when the working means 4 starts work based on a command from the commanding means 12, the search sensor 11 detects a guidance signal to the power feeding means 7, and the -C1 moving vehicle main body 1 is connected to the power feeding means 7. The recognition means 10 controls the transfer means 2 so as to approach. That is, the first motor 2b of the transfer means 2 is driven using the battery 3 as a power source. This transition means 2
When the moving vehicle main body 1 approaches a predetermined position with respect to the power supply means 7 due to the operation, the power receiving means 5a is connected to the power supply means 7, and this connected state is maintained by the locking means 5e. This locking means may be mechanical or electrical. In the embodiment, it consists of an electromagnetic plunger ~-, and the power receiving means 5a
When the is connected to the power supply means 7, the plunger is latched to the hook part of the power supply means 7 by the electric power from the power supply means,
The connected state of the power receiving means 5a and the power feeding means 7 is maintained.

In this connected state, one force from the cord 5b is supplied to the transfer means 2, the working means 4, etc. via the actuating circuit means 8. Therefore, by the operation of the transfer means 2, the vehicle main body 1 moves while sending out the cord 5b from the reel mechanism 5c as shown in FIG. The working means 4 is operated based on the command, and the floor surface is cleaned while the mobile vehicle main body 1 is moving.

In this state where the power reception means 5a is connected to the power supply means 7, the working means 4 mainly operates for a long period of time, so at least during this transition operation, the battery 3 is connected to the power from the cord 5b via the charging circuit means 9. Floating charge.

When the operation of the working means 4 in the working area is completed, the search sensor 11 automatically detects the guidance signal to the power feeding means 7 and moves the mobile vehicle body 1 to a position near the power feeding means 7. During this movement, the drive device 5d operates to wind up the cord 5b. This drive device operates using electric power from the cord 5b.

Thus, when the mobile vehicle body 1 approaches the power supply means 7 in a predetermined state while winding the cord 5b, the zero-link means 5e
When the operating state of is released and the mobile vehicle main body 1 is moved, the power receiving means 5a is separated from the power feeding means 7.

Note that the power receiving means 5a and the power feeding means 7 may be configured by a so-called electromagnetic induction coupling method in which the primary coil and the secondary coil of a power transformer are separated.

Next, recognition of the position of the mobile vehicle main body 1 separated from the power supply means 7 will be explained based on FIG. 3. This drawing is a relationship diagram of the transition means 2, the recognition means 10, and the code adjustment means 5.

In this drawing, a pair of first motors 2bR.

The rotation speed of 2bL is detected as the number of pulses per unit time by pulse encoders 2cR and 2cL directly connected to each motor. Assuming that the amount of wheel movement per pulse is known, the amount of movement of the pair of left and right driving wheels 2a, 2a can be determined from the number of pulses.

Now, if we consider the case where the mobile vehicle body 1 moves straight in the X direction at a speed of V, the moving distance of the wheel per pulse is D3, the number of pulses generated by the left and right pulse encoders during the unit time r is N Then, the travel distance ΔL of the wheels 2a is ΔL-DN.In other words, the travel distance of the mobile vehicle body 1 is also ΔL-DN.

Further, the traveling speed V is expressed as V-ΔL/l.

Therefore, the position of time IA(n 1)r is (Xn-t
.

The position (Xn, Yn) of the mobile vehicle body 1 at time nr, where Y n-1>, is as follows:
1).

Further, when the vehicle main body 1 moves in an arc at a speed V, a pair of pulse encoders 2cR.

If the number of pulses generated by 2cL is NL, NR, and the moving distance of the left and right wheels 2a, 2a per pulse is DL, DR, then the traveling distance of the wheels in unit time C is ΔLL, ΔL.
R is ΔLL-DLN, ΔL, R=DRNR. A pair of wheels 2a, 2a of the mobile vehicle body 1
The moving distance ΔL of the midpoint of V is V=ΔL/r. Also, if the turning radius at this time is r, the interval between the pair of wheels 2a, 2a is T, and the amount of change in direction is ΔO, then ALL - (r + -) 80.

ΔLR=(r−-)80 Ru.

Therefore, at time (n-1)r, the position is (Xn-+).

Y n −+ ), the position (Xn, Yn) at time n[ of the moving vehicle bodywork whose traveling direction was on-1 and the traveling direction 0 mouth are approximately expressed as Xn=Xn−+ 1Δ Lsin(+9n− ＋ ＋
△θ/2)Yn=Yn-+++△Lcos(on-
1+80/2) ...-(2) On-On-+10 becomes 0.

From the above results, the counter 0 provided in the 32nd recognition means lO
Pulse encoder 2cR per unit time C at a.

If the pulses from 2cL are counted and the "position detection section 10C" in the calculation section 10b provided in the recognition means 10 calculates the above equation (1) or (2) for each unit time, the moving vehicle body 1 Calculate the current position and heading.

The displacement measurement of the distance from the mobile vehicle body 1 to the power supply means 7 is t, =, ρ "77 pieces ■ 1-Xn-1+ n-+
The amount of change L1 in the length of the cord 5b is calculated as follows, where a is a constant for the cord length margin, L1=a(&Xn2+Yn -JXn-+ +Yn
-+)gL. This change measurement and Ll are calculated by the 1-cord length calculation unit 10d and 10e of the cord winding and feeding amount calculation unit (L 1 ) J 10e of the calculation unit, and are the 1-cord length for each unit time C. The calculated value of “calculation unit” 10d is “memory” 1
It is stored at 0f. Furthermore, based on the calculated value of the ``cord winding and feeding amount calculation unit (Lx)'' loe, a predetermined pulse is sent from the ``pulse generator 10g to the drive circuit 5g of the pulse motor 5f provided in the drive device 5d. Output. In this case, if Ll>0, the motor 5f rotates forward so as to send out the code 5b, and if Lx-0, the length of the code 5b remains unchanged and the motor 5f is in a stopped state.
If Ll is 0, the motor 5 is turned on so as to wind up the cord 5b.
f is reversed.

(G) Effects of the Invention As described above, according to the present invention, the transfer means of the mobile vehicle main body is operated by power supply via the cord from the power supply means provided in the workplace, so the battery installed in the mobile vehicle main body is lightweight. It is possible to reduce the size of the mobile vehicle itself. In addition, the recognition means recognizes the position of the mobile vehicle that is separated from the power supply means, and the cord length is adjusted by the cord adjustment means according to this position, so the cord length is always appropriate and the mobile vehicle There is no restriction on movement of the main body.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is a model principle diagram of a moving vehicle, FIG. 2 is a model configuration diagram showing a moving vehicle recognition means and ':1-adjustment means, and FIG. 3 is a transition diagram. It is a relationship diagram of a means, a recognition means, and a code|cord adjustment means. 1. Mobile vehicle body, 2. Transfer means, 3. Battery, 4
... Working means, 5... Cord adjustment means, 7 Power feeding means, 10... Recognition means.

Claims (1)

[Claims] (1) A mobile vehicle in which the transfer means of the mobile vehicle body is driven by power supply via a cord from a power supply means provided in a workplace, a means for recognizing the position of the mobile vehicle body separated from the power supply means, and this recognition. A mobile vehicle comprising: a cord adjusting means for adjusting the length of the cord based on the output of the means;