WO2010058498A1 - Dispositif mobile autonome - Google Patents

Dispositif mobile autonome Download PDF

Info

Publication number
WO2010058498A1
WO2010058498A1 PCT/JP2009/003957 JP2009003957W WO2010058498A1 WO 2010058498 A1 WO2010058498 A1 WO 2010058498A1 JP 2009003957 W JP2009003957 W JP 2009003957W WO 2010058498 A1 WO2010058498 A1 WO 2010058498A1
Authority
WO
WIPO (PCT)
Prior art keywords
cover
carriage
cart
displacement
transported
Prior art date
Application number
PCT/JP2009/003957
Other languages
English (en)
Japanese (ja)
Inventor
岡田卓也
村山貴彦
Original Assignee
村田機械株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 村田機械株式会社 filed Critical 村田機械株式会社
Publication of WO2010058498A1 publication Critical patent/WO2010058498A1/fr

Links

Images

Classifications

    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Definitions

  • the present invention relates to an autonomous mobile device to which a transported portion is connected, and more particularly to an autonomous mobile device that moves while detecting contact with an obstacle or the like.
  • Patent Document 1 discloses an unmanned carrier (autonomous movement device) provided with the following detection means. As shown in FIGS. 23 and 24 of Patent Document 1, a unit to which a tape switch, an ultrasonic sensor, and the like are attached is fixed on the side of a truck (a transported portion) to be pulled. In addition, an infrared transmitting and receiving unit for transmitting the output results of these sensors to the unmanned transfer vehicle main body is attached to the towed side. When the tape switch detects a contact with an obstacle or the like, the detection result is transmitted to the infrared transmitting and receiving unit, and the infrared transmitting and receiving unit transmits the infrared ray to the unmanned transport vehicle.
  • the collision of an obstacle with the transported portion can be directly detected by the tape switch (detection means) disposed on the transported portion side.
  • the tape switch detection means
  • the configuration on the transported portion side is complicated.
  • the configuration for transmitting and receiving such infrared rays is added, the maintainability and the reliability are easily deteriorated, and there is room for improvement from this point.
  • the present invention has been made in view of the above-described circumstances, and in an autonomous mobile device capable of connecting a transported portion, without providing detection means such as a sensor in the transported portion, an obstacle or the like to the transported portion
  • An object of the present invention is to provide an autonomous mobile device capable of detecting a touch.
  • an autonomous mobile device configured as follows. That is, the autonomous mobile device includes the carriage, the cover, the detection means, and the connecting portion.
  • the carriage is provided with drive means.
  • the cover covers all or part of the side and upper and lower surfaces of the carriage, and is attached to the carriage so as to be relatively displaceable with respect to the carriage.
  • the detection means detects relative displacement of the cover with respect to the carriage.
  • the connecting portion can connect the transported portion to the carriage so as to move along with the movement of the carriage. Then, a transported portion cover that covers all or a part of the side surface and the upper and lower surfaces of the transported portion is attached to the transported portion so as to be capable of relative displacement with respect to the transported portion.
  • a displacement transmission mechanism that mechanically transmits the relative displacement of the transported portion cover to the cover and displaces the cover relative to the carriage is attached to the transported portion cover.
  • the cover on the carriage side is displaced relative to the carriage by the displacement transmission mechanism.
  • the relative displacement of the transported portion cover is mechanically transmitted to the cover on the carriage side by the displacement transfer mechanism, there is no need to arrange a configuration for exchanging signals between the carriage and the transported portion.
  • the configuration for detecting the contact of an obstacle or the like with the transported portion can be simplified.
  • the autonomous mobile device is configured as follows. That is, the cover and the transported portion cover are independently attached to the carriage and the transported portion.
  • the displacement transmission mechanism has a transmission portion that is relatively displaced integrally with the relative displacement of the transported portion cover. In the cover, a transferred portion that is relatively displaced integrally with the relative displacement of the cover is disposed.
  • the transmission unit is configured to transmit a displacement in a predetermined direction to the transmission target and not to transmit a displacement in a direction different from that.
  • a control unit is provided for restricting the transferred portion cover from moving upward with respect to the transferred portion.
  • the transported portion be disposed in the vicinity of the carriage.
  • the displacement transmission mechanism can be simply configured.
  • the transported portion is connected so as not to swing to the left and right with respect to the carriage.
  • the autonomous mobile device is configured as follows.
  • the cover and the transported portion cover are independently attached to the carriage and the transported portion.
  • the displacement transmission mechanism has a transmission portion that is relatively displaced integrally with the relative displacement of the transported portion cover.
  • a transferred portion that is relatively displaced integrally with the relative displacement of the cover is disposed.
  • the transmission unit is configured to transmit a displacement in a predetermined direction to the transmission target and not to transmit a displacement in a direction different from that.
  • the control unit is provided with a control unit for restricting the transferred portion cover from moving upward with respect to the transferred portion.
  • the transferred portion cover is going to move upward in an oblique direction due to the contact of an obstacle or the like from the obliquely lower side, the relief to the upper side is restricted by the restricting means, so the horizontal direction of the transferred portion cover Enough to secure the displacement amount of Therefore, by transmitting the displacement in the horizontal direction to the cover on the carriage side, it is possible to improve the detection accuracy of the contact of the obstacle or the like to the transported portion.
  • FIG. 2 is a sectional view taken along line AA of FIG. It is the enlarged side view which showed the appearance of the cart lower part. It is the graph which showed the mode of control when a robot detects an impact for every intensity and direction of an impact.
  • FIG. 1 is a side view schematically showing the overall configuration of a robot 1 and a cart 19 as an autonomous mobile device according to an embodiment of the present invention.
  • FIG. 2 is a plan view of the robot 1 and the cart 19 of the present embodiment.
  • FIG. 3 is a side view schematically showing a part of the electrical configuration of the robot 1.
  • FIG. 4 is a sectional view taken along line AA in FIG.
  • FIG. 5 is an enlarged side view showing the lower part of the cart 19.
  • the same elements will be denoted by the same reference symbols and redundant description will be omitted.
  • the robot (autonomous moving device) 1 detects, for example, a contact or collision with an obstacle or the like, and, when a contact or the like with an obstacle is detected, for example, performs an avoidance operation such as temporary stop. , Has the ability to move autonomously.
  • the robot 1 includes a main body 16, a laser range finder (detection unit) 17, a carriage 40, a cover 41, a proximity switch 71, and an electronic control unit 32.
  • the robot 1 further includes a connecting portion 18 for connecting a cart 19 as a transported portion such as a wagon.
  • the cart 19 is connected and fixed to the rear of the robot 1 main body via the connecting portion 18, and the robot 1 can move to a predetermined destination while pulling the cart 19 as a traction vehicle. It has become.
  • the configuration of each part will be specifically described below.
  • the main body portion 16 is elongated in the vertical direction, and incorporates control means for controlling each portion of the robot 1 and the like.
  • the laser range finder 17 is a visual means of the robot 1 that measures the distance to an object, etc., and is disposed at the front of the main body 16. The laser range finder 17 enables detection of surrounding terrain, obstacles and the like.
  • a driving means for traveling is disposed on the carriage 40, and the body portion 16 is supported by the carriage 40.
  • This drive means has an electric motor 12, an omni wheel 13 and the like as main components.
  • a cover 41 covering the side surface portion is attached to the carriage 40 so as to be relatively displaceable with respect to the carriage 40. The detailed configurations of the carriage 40 and the cover 41 will be described later.
  • the proximity switch 71 outputs a detection signal that is turned on / off according to the relative displacement between the carriage 40 and the cover 41, and detects that the robot 1 has touched an obstacle or the like.
  • the proximity switch 71 according to this embodiment is a sensor that detects the presence or absence of a detection target without contact, and the presence or absence of a detection target (a detection body) based on a change in capacitance generated between a detection body (dog) and the sensor.
  • the capacitance type is used to detect
  • the proximity switch 71 is electrically connected to the electronic control unit 32.
  • the electronic control unit 32 controls the robot 1 and is incorporated in the main body 16.
  • the electronic control unit 32 includes a microprocessor, a ROM, a RAM, a backup RAM, and the like.
  • the microprocessor is for performing various operations
  • the ROM is for storing programs and the like for causing the microprocessor to execute each processing.
  • the RAM temporarily stores various data such as calculation results, and the backup RAM holds the stored contents by the battery.
  • the electronic control unit 32 further includes an interface circuit for electrically connecting the proximity switch 71 and the microprocessor, and a driver circuit for driving the electric motor 12 of the driving means.
  • the electronic control unit 32 detects a contact with an obstacle or the like, and for example, sets a target position previously set based on the stored environmental map and the own machine position recognized by the laser range finder 17 or the like. Control is performed so that the robot 1 moves autonomously.
  • the electronic control unit 32 determines the presence or absence of contact with an obstacle or the like based on the detection result of the proximity switch 71, and controls the electric motor 12 based on the determination result. That is, when there is no contact with an obstacle or the like, the electronic control unit 32 drives the electric motor 12 to continue the autonomous movement, and when there is a contact, the driving of the electric motor 12 is temporarily stopped or urgently stopped. Control is performed to stop the robot 1.
  • the connecting portion 18 is disposed on the rear side of the carriage 40.
  • the cart 19 is provided with a connector 28 projecting to the front side.
  • the cart 28 is connected to the robot 1 by connecting the connector 28 so as not to come off the connector 18. It is connected.
  • a cart cover 29 which covers the lower side (peripheral) of the cart 19 and is displaceable relative to the cart 19 is attached to the cart 19. Further, on the cart cover 29, a transmission shaft 80 for mechanically transmitting the relative displacement of the cart cover 29 to the cover 41 on the carriage 40 side is disposed.
  • the detailed configurations of the cart 19 and the cart cover 29 will be described later.
  • the carriage 40 has, as main components, a bottom plate frame 42 for supporting the main body portion 16 and drive means composed of the electric motor 12 and the omni wheel 13 and the like.
  • the bottom plate frame 42 is configured in a flat plate shape having a substantially square shape in which four corners are rounded in an arc shape.
  • the main body portion 16 is supported on the upper surface side of the bottom plate frame 42, and the drive means is disposed on the lower surface side of the bottom plate frame 42.
  • the four electric motors 12 of the drive means are arranged in a cross shape so as to overlap with the diagonal of the bottom plate frame 42.
  • An omni wheel 13 as a wheel is mounted on a drive shaft of each of the four electric motors 12. That is, the four omni wheels 13 are attached to the lower portion of the carriage 40 so as to be spaced at 90 ° intervals along the circumferential direction on the same circumference and to correspond to the four corners of the bottom plate frame 42 There is.
  • the omni wheel 13 is provided with two wheels 14 rotating around the drive shaft of the electric motor 12 and 6 rotatably provided on the outer circumference of each wheel 14 around an axis orthogonal to the drive shaft of the electric motor 12 And a plurality of free rollers 15.
  • the two wheels 14 are mounted with a phase shift of 30 °.
  • the six free rollers 15 rotate integrally with the wheel 14.
  • the omni wheel 13 can also move in a direction parallel to the rotation axis of the wheel 14. Therefore, by controlling the four electric motors 12 independently and adjusting the rotational direction and rotational speed of each of the four omni wheels 13 individually, planar movement or turning movement of the robot 1 in any direction (all directions) It can be done.
  • the cover 41 is configured as a frame-like exterior cover whose front and rear, left and right have a substantially symmetrical shape when viewed from the center of the bogie by metal, resin or the like, and covers the front, rear, left and right sides of the bogie 40 lower part .
  • the cover 41 is supported from the inside by four cover frames 51 arranged to surround the front, rear, left and right of the drive means at the lower part of the carriage 40.
  • the cover frame 51 is configured by bending one end of the plate-like member at a right angle so that a part of the flat surface faces the lower surface of the bottom plate frame 42 and the remaining part of the flat surface faces in the horizontal direction (side direction). Is located in Among the four cover frames 51, the front cover frame 51 and the rear cover frame 51 are connected by a plate-like frame connection member 52 (not shown in FIG. 2). The upper surface of the frame connecting member 52 is opposed to the lower surface side of the bottom plate frame 42. The frame connecting member 52 is disposed to pass through the center of the carriage 40, and a part of the configuration of the proximity switch 71 is disposed in the middle of the frame linking member 52.
  • the cover frame 51 of the present embodiment is supported on the lower surface side of the bottom plate frame 42 via a so-called gel bush 61. More specifically, on the upper surface of the front cover frame 51 and the upper surface of the rear cover frame 51, two gel bushes 61 arranged side by side are respectively arranged. On the other hand, one gel bush 61 is disposed on the upper surface of the left cover frame 51 and the upper surface of the right cover frame 51 so as to be located slightly in front of the center of the bottom plate frame 42. As shown in FIG. 3, in a state in which the gel bushes 61 are sandwiched between the lower surface of the bottom plate frame 42 and the upper surface of the cover frame 51, the bottom plate frame 42 and the cover frame 51 are gel bushes by bolts, washers and the like. It is fixed to 61.
  • the gel bush 61 is made of a gel material, and functions as a support member configured to be elastically deformable.
  • the number of the gel bushes 61 may be changed as appropriate.
  • two gel bushes 61 may be disposed on the upper surfaces of the left and right cover frames 51, and the cover frame 51 may be supported by a total of eight gel bushes 61. .
  • the cover 41 is fixed to the side surface of each of the cover frames 51 disposed in the front, rear, left and right by a fixing tool such as a screw.
  • a fixing tool such as a screw.
  • the cover 41 is held by the carriage 40 via the support member (gel bush 61) in such a state that most of the cover 41 is suspended relative to the bottom plate frame 42.
  • the gel bush 61 is configured to be elastically deformable, the cover 41 can change its position vertically and horizontally with respect to the bottom plate frame 42. Thereby, when an obstacle or the like contacts the cover 41 of the robot 1 and a pressing force is applied to the cover 41, the gel bush 61 is deformed according to the external force, and the cover 41 is displaced relative to the carriage 40 It will be done.
  • the support member disposed between the bottom plate frame 42 and the cover frame 51 is not limited to the gel bush 61.
  • an insulator, a damper, or the like can be appropriately changed.
  • a ball plunger 62 for restricting the upward movement of the cover 41 is provided on the bottom plate frame 42 via a bracket 63.
  • one ball plunger 62 (four in total) is disposed in the front and rear and left and right, and on the lower surface side of the bottom plate frame 42 so that the tip portion of each ball plunger 62 faces the upper surface of the cover frame 51 It is attached.
  • the ball plunger 62 utilizes a vertical gap formed between the bottom plate frame 42 and the cover frame 51 in a state where the shaft portion is held by the bracket 63 bent in the S-shape. Are arranged.
  • the ball plunger 62 is held by the bracket 63 such that the tip end portion on which the ball is disposed is in contact with the upper surface of the cover frame 51, thereby preventing the cover frame 51 from floating.
  • the cover 41 receives an external force such as floating in the diagonally upward direction by coming into contact with an obstacle or the like, the movement of the cover 41 in the upward direction is restricted by the ball plunger 62 and moves horizontally. . Therefore, with this configuration, the approaching direction (upward direction) of the axial direction (vertical direction) detection components of the proximity switch is removed, so that the horizontal direction detection of the obstacle or the like of the robot 1 (autonomous moving device) is detected.
  • the components can be detected with high accuracy. Since the direction in which the proximity switch turns off (downward direction) in the axial direction detection component of the proximity switch is the direction in which the proximity switch is turned off, it is on the safety side where the robot 1 (autonomous movement device) stops. Displacement does not have to be regulated.
  • a ball plunger 62 is disposed as a restricting means for restricting the upward movement of the cover 41.
  • the connecting portion 18 is disposed on the rear surface of the carriage 40 as described above. More specifically, an insertion hole for inserting the connecting portion 18 is formed in the cover 41, and the connecting portion 18 is disposed such that the connecting portion 18 is inserted into the insertion hole. As a result, the connecting portion 18 is fixed to the carriage 40 main body in such a manner that a portion thereof is exposed to the rear surface side of the carriage 40.
  • the connecting tool 28 on the cart 19 side is held inside the connecting portion 18 so that it can not swing from side to side with respect to the carriage 40 (robot 1).
  • the cart 19 does not tilt to the left or right with respect to the robot 1 in plan view.
  • the holding by the connecting portion 18 does not restrict movement (swinging) of the connecting tool 28 in the vertical direction with respect to the robot 1.
  • the connecting portion 18 is configured such that the cart 19 can swing vertically with respect to the robot 1 within a predetermined range.
  • the connection and release of the cart 19 by the connection unit 18 may be configured to be autonomously performed by the robot 1 or may be configured to be manually connected and released by the user.
  • the gap between the robot 1 and the cart 19 is preferably as small as possible.
  • a receiving portion 85 for receiving a pressing force of the transmission shaft 80 disposed on the cart 19 side is disposed. More specifically, in the plan view shown in FIG. 2, two receiving parts 85 are disposed on the left and right sides of the connecting part 18. In each of the receiving portions 85, a concave groove whose rear surface side is opened is formed in the vertical direction.
  • the cart 19 includes a cart body 25, a cart frame 26, wheels 27, and a connector 28. Each part of the cart 19 will be described below.
  • the cart body 25 is configured in a rectangular shape elongated in the longitudinal direction.
  • a space is formed in the inside of the cart body 25 and is configured such that the user can store an object that the robot 1 wants to transport in the space.
  • the cart frame 26 is configured in a frame shape, and holds the cart body 25.
  • Four wheels (caster wheels) 27 are attached to the lower portion of the cart frame 26 so as to be capable of turning 360 degrees in a plan view.
  • the cart cover 29 is attached slightly above the wheels 27 and has a frame-like shape that covers a part of the lower side surface of the cart 19. As shown in FIGS. 2 and 4, the cart cover 29 includes a right side cover 91, a left side cover 92, a back cover 93, a corner cover 94, a cover connecting member 95, and a transmission shaft 80. It is equipped as the main configuration.
  • the right side cover 91 and the left side cover 92 are both formed of a plate-like member bent at one end at a right angle, and a part thereof faces upward to face the lower surface of the cart frame 26, and the remaining part Are arranged so as to face the horizontal direction (side surface).
  • the rear cover 93 is also formed of a plate-like member whose one end is bent at a right angle, a part of which faces upward and faces the lower surface of the cart frame 26, and the remaining part is in the horizontal direction It is arranged to face the back).
  • the corner covers 94 are substantially L-shaped in plan view, and four corner covers 94 are disposed at respective end portions of the right side cover 91, the left side cover 92, and the rear cover 93 so as to protect the four corners of the cart 19.
  • the cover connecting member 95 is configured in a substantially T shape in plan view, and connects the right side cover 91, the left side cover 92, and the rear cover 93.
  • the connector 28 is provided on the main body of the cart 19 via a bracket 86 in a state of projecting forward, and is fixed at the front center of the cart 19. As described above, the front end of the connector 28 is connected in the connecting portion 18 so that the cart 19 can move integrally with the robot 1.
  • the transmission shaft 80 is formed in a round bar shape, and is fixed to the cover connecting member 95 with its longitudinal direction facing forward and backward.
  • two transmission shafts 80 are disposed so as to project in parallel from the left and right sides of the connector 28 in the front side.
  • the front end of the transmission shaft 80 is in a state of being sandwiched by the concave portion of the transmission portion 85. Therefore, when the transmission shaft 80 moves in the forward direction, the tip end surface pushes the receiver 85 from the rear, and when the transmission shaft 80 moves to one side in the left-right direction, the concave portion of the receiver 85 The inside of is pushed to one side.
  • the receiving portion 85 is integrally fixed to the rear surface of the cover 41 on the carriage 40 side, the force when the transmission shaft 80 moves in the forward direction and in the lateral direction is the cover 41 via the receiving portion 85. It will be transmitted to. However, the force when the transmission shaft 80 moves rearward is not transmitted to the cover 41 on the carriage 40 side.
  • the cart cover 29 is supported by the cart frame 26 via a so-called gel bush 81. More specifically, two gel bushes 81 (two in total) are arranged on the upper surfaces of the right side cover 91, the left side cover 92, and the rear side cover 93. As shown in FIG. 5, with the gel bushes 81 sandwiched between the lower surface of the cart frame 26 and the upper surface of the right side cover 91 (cart cover 29), the cart frame 26 and the cart cover 29 are bolted. , And fixed to the gel bush 61 by a washer or the like.
  • the gel bush 81 is made of a gel material, and functions as a support member configured to be elastically deformable. The number of the gel bushes 81 may be changed as appropriate.
  • the cart cover 29 is held by the cart 19 via the support member (gel bush 81) in a state of being suspended with respect to the cart frame 26.
  • the gel bush 81 is configured to be elastically deformable, the cart cover 29 is in a state capable of slightly changing the position of the cart cover 29 vertically and horizontally with respect to the cart frame 26.
  • the support member disposed between the cart frame 26 and the cart cover 29 is not limited to the gel bush 81.
  • an insulator, a damper or the like can be appropriately changed.
  • a ball plunger 82 for restricting the upward movement of the cart cover 29 is provided on the cart frame 26 via a bracket 83.
  • the ball plungers 82 are disposed one by one (total three pieces) so as to face the upper surfaces of the right side surface cover 91, the left side surface cover 92 and the rear surface cover 93.
  • the ball plunger 82 is vertically formed between the cart frame 26 and the right side cover 91 (cart cover 29) with the shaft portion held by the bracket 83 bent in an S-shape. It is arranged using a gap in the direction.
  • the ball plunger 82 is held by the bracket 83 such that the tip end portion where the ball is disposed contacts the upper surface of the right side cover 91 (cart cover 29).
  • the ball plungers 82 prevent the cart cover 29 from rising upward.
  • the cover 41 which receives the pressing force via the receiving portion 85 is displaced forward relative to the carriage 40 (the bottom plate frame 42) as in the case where an obstacle or the like directly contacts the cover 41.
  • the electronic control unit 32 performs various controls such as temporarily stopping the electric motor 12 based on the detection result of the proximity switch 71.
  • FIG. 6 Shown on the left side of the drawing of FIG. 6 is a graph showing the strength of the impact when the robot 1 is temporarily stopped for each direction in which the obstacle contacts.
  • the right side of the drawing in FIG. 6 is a model showing the position where the obstacle contacts the robot 1 and the cart 19 corresponding to the graph, and the direction of the arrow shown in the model is shown in the graph. And correspond.
  • the robot 1 performs control to stop temporarily when the robot 1 itself contacts an obstacle and receives an impact, and also temporarily stops when an obstacle or the like contacts the cart 19 Control to stop is performed. That is, it is possible to detect contact of an obstacle or the like from all directions with respect to the moving body including the cart 19 and the robot 1.
  • the quantitative evaluation shown in FIG. 6 allows the contact of an obstacle or the like to the cart 19 side to be properly applied in all directions without arranging a detection means including a sensor or the like on the cart 19 side. It indicates that it can be detected.
  • the robot 1 of the present embodiment is configured as follows. That is, the robot 1 includes the carriage 40, the cover 41, the proximity switch 71, and the connection portion 18.
  • the carriage 40 is provided with a driving means configured of the electric motor 12 and the omni wheel 13 and the like.
  • the cover 41 covers a part of the side surface of the carriage 40 and is attached to the carriage 40 so as to be displaceable relative to the carriage 40.
  • the proximity switch 71 detects the relative displacement of the cover 41 with respect to the carriage 40.
  • the connecting portion 18 enables the cart 19 to be connected to the carriage 40 so as to move along with the movement of the carriage 40.
  • a cart cover 29 covering a part of the side surface of the cart 19 is attached to the cart 19 so as to be displaceable relative to the cart 19.
  • a displacement transmission mechanism (transmission shaft 80) for mechanically transmitting the relative displacement of the cart cover 29 to the cover 41 on the carriage 40 side and causing the cover 41 to be displaced relative to the carriage 40 is attached to the cart cover 29. ing.
  • the cover 41 on the carriage 40 side is displaced relative to the carriage 40 by the displacement transmission mechanism.
  • the relative displacement of the cart 19 is mechanically transmitted to the cover 41 on the bogie 40 side by the transmission shaft 80, a configuration for exchanging signals between the cart 40 and the cart 19 (for example, electric wire, wireless device, etc.) , And the configuration for detecting contact of an obstacle or the like of the cart 19 can be simplified.
  • the robot 1 of this embodiment is comprised as follows. That is, the cover 41 and the cart cover 29 are attached to the cart 40 and the cart 19 independently of each other.
  • the displacement transmission mechanism has a transmission shaft 80 which is integrally displaced relative to the relative displacement of the cart cover 29. In the cover 41, a transmitted portion 85 relatively displaced integrally with the relative displacement of the cover 41 is disposed.
  • the transmission shaft 80 is configured to transmit the displacement from the left and right direction and the rear to the receiving portion 85 and not to transmit the displacement in the vertical direction.
  • the transmission shaft 80 only moves in the vertical groove of the receiving portion 85, and the displacement is not transmitted to the receiving portion 85. Therefore, even if the cart 19 is displaced up and down with respect to the robot 1, it can be prevented from being erroneously detected as a touch of an obstacle. In addition, when the cart 19 is rapidly displaced up and down with respect to the robot 1, an excessive pressing force is transmitted from the transmission shaft 80 to the cover 41, and the transmission shaft 80, the cover 41, the carriage 40, etc. are damaged. It can prevent.
  • the robot 1 of the present embodiment is provided with a ball plunger 82 for restricting the cart cover 29 from moving upward with respect to the cart 19.
  • the cart 19 is disposed in the vicinity of the carriage 40.
  • the cart 19 is connected to the carriage 40 so as not to swing to the left and right.
  • the cover 41 of the cart 19 which is swung outward, for example, at the time of pivotal movement of the carriage 40 without contact of obstacles or the like displaces the cover on the carriage 40 side via the transmission shaft 80 Erroneous detection as contact can be prevented.
  • only one proximity switch 71 as a detection means for detecting the relative displacement of the cover 41 is provided on the carriage 40.
  • a plurality of proximity switches 71 are disposed to set the relative displacement of the cover 41 It can also be configured to detect in stages.
  • the cart 19 is disposed behind the robot 1 and the cart 19 is pulled by the robot 1 in the above embodiment, the position of the cart 19 with respect to the robot 1 can be changed as appropriate.
  • the cart can be connected to the front side of the robot, and the robot can be moved to push the cart.
  • the configuration of the robot 1 as the autonomous mobile device of the above embodiment can be appropriately changed according to the circumstances.
  • the cover attached to the carriage can be modified to cover the top and sides of the carriage.
  • Robot autonomous movement device
  • Cart Transported Unit
  • Cart cover Transfer target cover
  • Electronic control unit control means
  • dolly 41 cover
  • proximity switch detection means
  • Transmission shaft displacement transmission mechanism

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

L'invention porte sur un dispositif mobile autonome apte à être relié à un objet devant être porté, lequel dispositif peut détecter un contact d'un obstacle ou analogue avec l'objet devant être porté sans prévoir un moyen de détection, tel qu'un capteur, dans l'objet devant être porté. Un robot (1) comporte une navette (40). Un couvercle (41), un détecteur de proximité (71) et un coupleur (18). Le couvercle (41) recouvre une partie de la surface latérale de la navette (40) et est monté sur la navette (40) de façon à être relativement déplaçable par rapport à la navette (40). Le détecteur de proximité (71) détecte le déplacement relatif du couvercle (41) par rapport à la navette (40). Un couvercle de chariot (29) qui recouvre une partie de la surface latérale d'un chariot (19) est monté sur le chariot (19) relié par l'intermédiaire du coupleur (18) de façon à être relativement déplaçable par rapport au chariot (19). Un mécanisme de transmission de déplacement qui transmet mécaniquement le déplacement relatif du couvercle de chariot (29) au couvercle (41) et déplace relativement le couvercle (41) par rapport à la navette (40) est monté sur le couvercle de chariot (29).
PCT/JP2009/003957 2008-11-19 2009-08-19 Dispositif mobile autonome WO2010058498A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008296131A JP2010122916A (ja) 2008-11-19 2008-11-19 自律移動装置
JP2008-296131 2008-11-19

Publications (1)

Publication Number Publication Date
WO2010058498A1 true WO2010058498A1 (fr) 2010-05-27

Family

ID=42197943

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2009/003957 WO2010058498A1 (fr) 2008-11-19 2009-08-19 Dispositif mobile autonome

Country Status (2)

Country Link
JP (1) JP2010122916A (fr)
WO (1) WO2010058498A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016120561A (ja) * 2014-12-25 2016-07-07 トヨタ自動車株式会社 搬送ロボット、及びその制御方法
CN113233077A (zh) * 2021-04-14 2021-08-10 德州职业技术学院 一种智能取药机器人

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6109616B2 (ja) * 2013-03-25 2017-04-05 株式会社日立産機システム 自動搬送車
JP6788479B2 (ja) * 2016-11-08 2020-11-25 西部電機株式会社 人力カート用の電動駆動装置
JP7213446B2 (ja) * 2019-02-07 2023-01-27 株式会社豊田自動織機 搬送車両
JP2021064069A (ja) * 2019-10-10 2021-04-22 パナソニックＩｐマネジメント株式会社 制御方法、プログラム、制御システム、搬送装置、及び部品実装システム
EP4015357A1 (fr) * 2020-12-15 2022-06-22 Fq Ip Ab Navigateur

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10198426A (ja) * 1997-01-09 1998-07-31 Shinko Electric Co Ltd ワゴンの安全装置
JPH1120580A (ja) * 1997-06-27 1999-01-26 Tsubakimoto Chain Co 接触検知装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10198426A (ja) * 1997-01-09 1998-07-31 Shinko Electric Co Ltd ワゴンの安全装置
JPH1120580A (ja) * 1997-06-27 1999-01-26 Tsubakimoto Chain Co 接触検知装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016120561A (ja) * 2014-12-25 2016-07-07 トヨタ自動車株式会社 搬送ロボット、及びその制御方法
CN113233077A (zh) * 2021-04-14 2021-08-10 德州职业技术学院 一种智能取药机器人
CN113233077B (zh) * 2021-04-14 2022-05-20 德州职业技术学院 一种智能取药机器人

Also Published As

Publication number Publication date
JP2010122916A (ja) 2010-06-03

Similar Documents

Publication Publication Date Title
WO2010058498A1 (fr) Dispositif mobile autonome
CN110340862B (zh) 自主移动搬运机器人
CN106585764A (zh) 一种agv运输车
JP7364763B2 (ja) 車両搬送システム
CN106003069A (zh) 一种机器人
JP7364764B2 (ja) 車両搬送装置
JP2020138617A (ja) 車両搬送装置
KR100797552B1 (ko) 무인운반카트
JP6155066B2 (ja) 台車の駆動アシストユニット
TWM550454U (zh) Agv避撞感測裝置
US11772540B2 (en) Navigator
KR101409379B1 (ko) 독립 구동 및 조향 모듈과 이를 가지는 전동 모형 자동차
CN111433069A (zh) 移动机器人的控制装置和移动机器人系统
JP4325543B2 (ja) 移動機器
JP7476751B2 (ja) 無人搬送車
JP2022059320A (ja) 無人搬送車
CN210515034U (zh) 一种检测路障的agv小车
US20230311967A1 (en) Navigator
KR102458749B1 (ko) 주차 시스템 및 라이다 모듈을 통해 팔레트를 인식하는 주차 수행 로봇
JP2022059321A (ja) 無人搬送台車
US20230159276A1 (en) Unmanned conveying apparatus
CN219565307U (zh) 一种agv小车
KR101362230B1 (ko) 지뢰 탐지 로봇
JP2022059317A (ja) 無人搬送車制御装置
JPH04341406A (ja) 連結装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09827281

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09827281

Country of ref document: EP

Kind code of ref document: A1