WO2020204052A1 - Autonomous work vehicle - Google Patents

Autonomous work vehicle Download PDF

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Publication number
WO2020204052A1
WO2020204052A1 PCT/JP2020/014958 JP2020014958W WO2020204052A1 WO 2020204052 A1 WO2020204052 A1 WO 2020204052A1 JP 2020014958 W JP2020014958 W JP 2020014958W WO 2020204052 A1 WO2020204052 A1 WO 2020204052A1
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WO
WIPO (PCT)
Prior art keywords
autonomous vehicle
work
processing unit
power supply
supply source
Prior art date
Application number
PCT/JP2020/014958
Other languages
French (fr)
Japanese (ja)
Inventor
隆太 輿石
黒澤　敦
啓二 西村
裕二 平松
Original Assignee
ヤマハ発動機株式会社
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 ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Publication of WO2020204052A1 publication Critical patent/WO2020204052A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/04—Arrangement of batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the present invention relates to an autonomous vehicle for work.
  • the work autonomous vehicle disclosed in Non-Patent Document 1 includes at least one wheel, at least one electric motor, a battery as a power supply source, a battery housing, and a computer.
  • the at least one electric motor includes a steering motor for steering the corresponding wheel of the at least one wheel and a drive motor for driving the corresponding wheel.
  • the battery stores power to supply at least one electric motor and computer.
  • the battery housing houses the battery.
  • the computer controls the autonomous vehicle for work.
  • Non-Patent Document 2 a specific example of work by the work autonomous vehicle disclosed in Non-Patent Document 1 is disclosed. More specifically, in Non-Patent Document 2 below, as a specific example of the work when the working autonomous vehicle disclosed in Non-Patent Document 1 is used for agriculture, a box containing a harvested product is transported or used for work. It is disclosed that grass is mowed using a mower attached to an autonomous vehicle.
  • Non-Patent Document 1 and Non-Patent Document 2 it is required to secure a space used for work in the work autonomous vehicle without increasing the vehicle size. At that time, it is necessary to consider the influence of the heat generated when the computer controls the autonomous vehicle for work on the battery.
  • An object of the present invention is to take measures against heat generated by a processing unit having a navigation control function of a working autonomous vehicle, and to provide a space used for work in the working autonomous vehicle without increasing the vehicle size of the working autonomous vehicle. It is to provide an autonomous vehicle for work that can be compatible with securing.
  • the inventors of the present application examined measures for securing a space used for work in the work autonomous vehicle without increasing the vehicle size of the work autonomous vehicle. As a result, it was found that if the processing unit having the navigation control function of the work autonomous vehicle and the power supply source are efficiently arranged, the space used for the work can be secured in the work autonomous vehicle.
  • the inventors of the present application considered housing the processing unit and the power supply source in the same housing. As a result, it was found that if the processing unit and the power supply source are housed in the same housing, the volume of the housing becomes large, and it becomes difficult to secure the space used for work in the autonomous vehicle for work. I arrived.
  • the present inventors examined the reason why the volume of the housing becomes large when the processing unit and the power supply source are housed in the same housing. As a result, the following findings were obtained.
  • the processing unit and the power supply source are housed in the same housing, it is necessary to consider the effect of the heat of the processing unit on the power supply source. Specifically, it is necessary to (1) arrange the processing unit at a position away from the power supply source, and (2) increase the amount of air existing around the processing unit in order to improve the heat dissipation of the processing unit. is there. Therefore, when the processing unit and the power supply source are housed in the same housing, the volume of the housing becomes large.
  • the inventors of the present application examined measures for suppressing the increase in the volume of the housing. As a result, by separating the space where the processing unit is arranged and the space where the power supply source is arranged, the space where the processing unit is arranged and the power supply source are arranged while ensuring the heat dissipation of the processing unit. We have come to obtain new knowledge that the space can be made smaller. The present invention has been completed based on such findings.
  • the working autonomous vehicle includes a power supply source, a power supply source housing, a plurality of drive units, a processing unit, a processing unit housing, and a vehicle body frame.
  • the power source housing forms a power source accommodating space, which is the space in which the power source is located.
  • the power source housing accommodates the power source so that the power source is located in the power source accommodation space.
  • Each of the plurality of drive units is driven by the electric power supplied from the electric power supply source.
  • Each of the plurality of drive units includes at least one electric motor that generates power by electric power supplied from a power supply source, and wheels that rotate by transmitting power from at least one electric motor.
  • the processing unit is driven by the power supplied by the power source.
  • the processing unit includes a circuit board on which a processing device having a navigation control function for a working autonomous vehicle is mounted.
  • the navigation control function of the work autonomous vehicle determines the route for the work autonomous vehicle to move autonomously by acquiring and processing the work autonomous vehicle environment information, which is information on the environment in which the work autonomous vehicle exists. Including functions.
  • the processing unit housing forms a processing unit accommodation space.
  • the processing unit accommodation space is a space different from the power supply source accommodation space.
  • the processing unit accommodating space is a space in which the processing unit is arranged.
  • the processing unit housing houses the processing unit so that the processing unit is arranged in the processing unit storage space.
  • the processing unit housing is formed as a separate member from the power supply source housing.
  • the body frame supports a power supply source housing, a plurality of drive units, and a processing unit housing.
  • the body frame includes a work space forming portion.
  • the work space forming portion is a portion of the vehicle body frame that forms a space used for work in a working autonomous vehicle above or below the vehicle body frame.
  • the power supply source and the processing unit are arranged in separate spaces. Therefore, the heat generated by the processing unit makes the power supply source less likely to be affected.
  • the space where the power supply source is arranged and the space where the processing unit is arranged are separated. Therefore, the space in which the power supply source is arranged and the space in which the processing unit is arranged can be made the minimum necessary size. As a result, the housing accommodating the power supply source and the housing accommodating the processing unit can be made compact. Therefore, in the working autonomous vehicle according to the embodiment of the present invention, the housing accommodating the power supply source and the housing accommodating the processing unit are efficiently arranged to secure a space used for work in the working autonomous vehicle. can do.
  • the space used for work in the work autonomous vehicle is, for example, a work device attached to a vehicle body frame and driven by electric power supplied from a power supply source to be used for work. It may be a space in which a power supply source is arranged, or a space in which an instrument that can be used for work is arranged even if power is not supplied from a power supply source.
  • the working device has, for example, a function for performing a specific work.
  • the specific work may be, for example, spraying pesticides or the like, mowing grass, exterminating pests, or irradiating agricultural products with light.
  • the working device may include, for example, a device having a function of assisting a specific work by the device in addition to a device having a function of performing a specific work.
  • the device having a function of assisting a specific work may be, for example, a solar panel for generating electric power for driving a device having a function of performing a specific work, or for performing a specific work.
  • the device having a function may be a parabolic antenna for communicating with the outside.
  • the work device may be, for example, a detection device that detects a state of a work target, or a work machine that has a movable portion for performing the work.
  • the working machine may be, for example, a pesticide sprayer or a machine for harvesting crops.
  • the device is, for example, a pallet for accommodating harvested crops.
  • the work space forming portion of the vehicle body frame may be, for example, a portion of the vehicle body frame for attaching the work device to the vehicle body frame. Of these, it may be a part for arranging the above-mentioned equipment.
  • the work space forming portion is included in, for example, a pair of frame portions of the vehicle body frame extending in a direction orthogonal to the vertical direction of the work autonomous vehicle.
  • the work space forming portion includes, for example, a portion of the upper edge of the vehicle body frame corresponding to the upper edge of the work autonomous vehicle when viewed in a direction orthogonal to the vertical direction of the work autonomous vehicle.
  • the work space forming portion includes, for example, the front end or the rear end of the vehicle body frame when viewed to the left or right of the working autonomous vehicle.
  • the work space forming unit may define, for example, the lower end of the space used for work in the work autonomous vehicle when viewed in a direction orthogonal to the vertical direction of the work autonomous vehicle, or the work autonomous vehicle may be defined.
  • the upper end of the space used for work may be specified in.
  • the work space forming portion may be located, for example, above the position where the power supply source housing is supported by the vehicle body frame in the vertical direction of the vehicle body, or a position where each of the plurality of drive units is supported by the vehicle body frame. It may be located above the vehicle body in the vertical direction, or the processing unit housing may be located above the position supported by the vehicle body frame in the vertical direction of the vehicle body.
  • the work includes, for example, work performed by the work autonomous vehicle instead of a person.
  • a person may prepare for the work performed by the autonomous vehicle for work on behalf of the person.
  • the work includes, for example, carrying the equipment and tools used for the work on the body frame, and carrying the luggage related to the work on the body frame.
  • the device used for work is, for example, a device used for work by being driven by electric power supplied from a power supply source.
  • the equipment used for work is, for example, an equipment that can be used for work even if power is not supplied from a power supply source.
  • the luggage for work is, for example, a box containing harvested agricultural products.
  • the work includes, for example, the work of changing the weight of the autonomous vehicle for work.
  • Work that changes the weight of the work autonomous vehicle includes work that reduces the weight of the work autonomous vehicle, such as spraying pesticides, and work that reduces the weight of the work autonomous vehicle, such as harvesting agricultural products. Includes increasing work.
  • the power supply source may be, for example, a battery, a fuel cell, or an engine generator.
  • the battery may be a primary battery or a secondary battery.
  • the battery may be, for example, a lithium ion battery or an all-solid-state battery.
  • the power supply source may include, for example, a power generation device that generates electric power and a battery that stores electric power.
  • the power generator that generates electric power may be, for example, an engine generator or a solar panel.
  • the battery that stores electric power is, for example, a secondary battery that can be charged and discharged.
  • the secondary battery is, for example, a lithium ion secondary battery.
  • the power supply source includes, for example, a power generation device for generating electric power and a battery for storing electric power
  • the power supply source housing is the electric power among the electric power supply sources.
  • a battery storage space is formed, which is a space in which a battery for storing power is arranged, and a battery for storing power among power supply sources is housed so that a battery for storing power among power supply sources is placed in the battery storage space. May be good.
  • the power generation device that generates electric power is arranged in a space different from the battery accommodation space, for example.
  • the power supply source housing forms a battery accommodation space that is a space in which the battery that stores power is arranged among the power supply sources, and power is supplied from the power supply source.
  • a battery that stores electricity may be accommodated among the power supply sources so that the battery to be stored is arranged in the battery accommodating space.
  • the power supply source housing may accommodate the processing unit housing.
  • the processing unit housing may be located in the power source accommodation space.
  • the power supply source accommodation space may or may not be connected to the space around the power supply source housing or may not be connected to the space around the power supply source housing.
  • the power supply source accommodation space may or may not be a closed space.
  • the closed space is a space in which the intrusion of water or air is blocked or suppressed.
  • At least one electric motor may include an electric motor that generates power for rotating the wheels.
  • the at least one electric motor may be, for example, only an electric motor that generates power to rotate the wheels, or to steer the wheels in addition to the electric motor that generates the power to rotate the wheels. It may include an electric motor that generates the power of.
  • the wheels may include, for example, rubber tires.
  • the rubber tire may be, for example, a pneumatic tire or a non-air tire.
  • resin spokes may be used for the airless tire.
  • the processing unit is realized by, for example, a combination of an IC (Integrated Circuit), an electronic component, a circuit board, and the like.
  • the processing unit includes, for example, a GPU (Graphics Processing Unit).
  • the function of determining the route for the working autonomous vehicle to move autonomously by processing the working autonomous vehicle environment information by the processing unit includes, for example, a function of determining the direction in which the working autonomous vehicle travels in real time.
  • Autonomous movement of a work autonomous vehicle means moving on a predetermined route without an operator's operation of vehicle speed and steering. Operators include occupants and those who perform remote operations. The operator may operate the start and end of the autonomous movement of the work autonomous vehicle.
  • the work autonomous vehicle environment information is not particularly limited as long as it is used to determine a route for the work autonomous vehicle to move autonomously.
  • the work autonomous vehicle environment information includes, for example, information on the position of the work autonomous vehicle, the shape of an object existing around the work autonomous vehicle, and the object existing around the work autonomous vehicle and the work autonomous vehicle. Distance etc.
  • the information regarding the position of the working autonomous vehicle may include information regarding the inclination of the working autonomous vehicle.
  • the working autonomous vehicle environment information is provided to the processing unit from, for example, an environment information acquisition device that acquires information about the environment in which the working autonomous vehicle exists.
  • the environment information acquisition device may be, for example, a camera, a LIDAR (Light Detection and Ringing), or a GPS receiver.
  • the environment information acquisition device is a camera, the image around the working autonomous vehicle taken by the camera corresponds to the working autonomous vehicle environment information.
  • the processing unit accommodation space and the power supply source accommodation space are separate spaces because the processing unit accommodation space and the power supply source accommodation space are separated.
  • the mode of separating the processing unit accommodation space and the power supply source accommodation space there is a mode in which the processing unit accommodation space and the power supply source accommodation space are separated from each other, and a mode in which the processing unit accommodation space and the power supply source accommodation space are separated.
  • the processing unit accommodation space may or may not be connected to the space around the processing unit housing, or may not be connected to the space around the processing unit housing.
  • the processing unit accommodation space may or may not be a closed space.
  • the closed space is a space in which the intrusion of water or air is blocked or suppressed.
  • the vehicle body frame may be a combination of a plurality of parts, or may be an integrally molded portion of the plurality of parts.
  • the material of the vehicle body frame may be a metal such as aluminum or iron, a synthetic resin such as CFRP, or a combination thereof.
  • the body frame may have a monocoque structure or a semi-monocoque structure.
  • the vehicle body frame may be, for example, a member that connects a plurality of vehicle units when the working autonomous vehicle includes a plurality of vehicle units.
  • each of the plurality of vehicle units includes, for example, at least one of the plurality of drive units and a power supply source housing.
  • the vehicle body frame supports each of the plurality of drive units so as to be displaceable in the vertical direction of the working autonomous vehicle.
  • the mode in which the vehicle body frame supports each of the plurality of drive units so as to be displaceable in the vertical direction of the working autonomous vehicle includes, for example, a mode in which each of the plurality of drive units is supported by the vehicle body frame via a suspension device.
  • the mode in which the vehicle body frame supports the plurality of drive units includes, for example, a mode in which each of the plurality of drive units is detachably attached to the vehicle body frame.
  • the mode in which the vehicle body frame supports the plurality of drive units includes, for example, a mode in which each of the plurality of drive units is attached to the vehicle body frame via the power supply source housing.
  • the embodiment in which the vehicle body frame supports the power supply source housing includes, for example, the embodiment in which the power supply source housing is integrally formed with the vehicle body frame.
  • the processing unit housing is a power supply source housing and / or at least one of a plurality of drive units.
  • a mode in which the vehicle body frame is attached via one drive unit is included.
  • the mode in which the processing unit housing is attached to the vehicle body frame via the power supply source housing includes, for example, a mode in which the processing unit housing is integrally formed with the power supply source housing and the power supply source housing is attached to the vehicle body frame. Is done.
  • the processing unit housing is attached to the vehicle body frame via at least one drive unit among the plurality of drive units
  • the processing unit housing is integrally formed with at least one drive unit among the plurality of drive units, and the processing unit housing is formed.
  • a mode in which a drive unit integrally formed with the vehicle body frame is attached to the vehicle body frame is included.
  • the mode in which the vehicle body frame supports the processing unit housing includes, for example, a mode in which the processing unit housing is integrally formed with the vehicle body frame.
  • At least a part of the power supply source housing or the processing unit housing overlaps the work space forming portion when viewed upward or downward of the working autonomous vehicle. May be good.
  • the space above or below the power supply source housing or the processing unit housing can be used as the space used for work in the autonomous vehicle for work.
  • the power supply source housing and the processing unit housing are arranged below the upper end of the vehicle body frame when viewed in a direction orthogonal to the vertical direction of the working autonomous vehicle. It may have been done.
  • the upper end of the vehicle body frame may be the upper edge of the vehicle body frame when viewed in a direction orthogonal to the vertical direction of the working autonomous vehicle.
  • At least a part of the processing unit housing overlaps with at least a part of the power supply source housing when viewed in a direction orthogonal to the vertical direction of the working autonomous vehicle. You may be.
  • the processing unit housing and the power supply source housing can be arranged close to each other in the vertical direction of the working autonomous vehicle.
  • the vertical length of the working autonomous vehicle that is, the height of the working autonomous vehicle can be reduced.
  • the processing unit housing may be arranged at the center in the left-right direction of the working autonomous vehicle.
  • the processing unit housing may have higher watertightness than the power supply source housing.
  • the processing unit housing may have higher watertightness than the power supply source housing by sealing the opening, for example, or has a labyrinth structure. By having it, it may have higher watertightness than the power supply source housing.
  • the processing unit accommodation space may be a space in which forced air cooling that takes in outside air by a blower is not performed.
  • the space where forced air cooling is not performed is the space where the processing unit is arranged. Therefore, the space in which the processing unit housing is arranged may be forcibly air-cooled.
  • the processing unit housing when the processing unit accommodation space is not forcibly air-cooled, the processing unit housing includes a heat radiating portion for dissipating heat of the processing unit arranged in the processing unit accommodation space. You may.
  • the heat radiating unit is, for example, a heat sink.
  • At least a part of the processing unit housing or the power supply source housing may be exposed to an external space which is a space around the working autonomous vehicle.
  • the processing unit housing or the power supply source housing can be cooled by the air existing around the working autonomous vehicle.
  • the processing unit housing does not have to overlap the power supply source housing when viewed upward or downward of the working autonomous vehicle.
  • the heat of the processing unit is less likely to affect the power supply source.
  • the processing unit housing when at least a part of the processing unit housing is located above the upper end of at least one wheel of each of the plurality of drive units, the working autonomous vehicle processes from the moving ground.
  • the distance to the unit housing can be secured.
  • the power supply source housing when at least a part of the power supply source housing is located above the upper end of at least one wheel of each of the plurality of drive units, from the ground on which the working autonomous vehicle moves to the power supply source housing. The distance can be secured.
  • measures against heat generated by a processing unit having a navigation control function of a work autonomous vehicle and a space used for work in the work autonomous vehicle without increasing the vehicle size of the work autonomous vehicle are provided. It is possible to provide an autonomous vehicle for work that can be compatible with securing.
  • FIG. 1 is an explanatory diagram conceptually showing the components of the working autonomous vehicle 10.
  • the work autonomous vehicle 10 does not have, for example, a seat in which a person can sit.
  • the working autonomous vehicle 10 is not provided with, for example, a steering mechanism that can be steered by a person.
  • the working autonomous vehicle 10 includes a power supply source 20, a power supply source housing 30, a plurality of drive units 40, a processing unit 50, a processing unit housing 60, a vehicle control unit 70, and the like. It includes an environmental information acquisition device 80 and a vehicle body frame BF.
  • the electric power supply source 20 supplies electric power to the drive unit 40, the processing unit 50, the vehicle control unit 70, and the environmental information acquisition device 80.
  • the power supply source 20 is, for example, a battery.
  • the battery may be a primary battery or a secondary battery.
  • FIG. 1 shows only one power supply source 20 for convenience, there may be a plurality of power supply sources 20.
  • the power supply source housing 30 forms a power supply source accommodation space 30A.
  • the power supply source accommodation space 30A is a space in which the power supply source 20 is arranged.
  • the power supply source housing 30 accommodates the power supply source 20 so that the power supply source 20 is arranged in the power supply source accommodation space 30A.
  • the power supply source accommodation space 30A may or may not be connected to the space around the power supply source housing 30 or may not be connected to the space around the power supply source housing 30. At least a part of the power supply source housing 30 may be exposed to an external space which is a space around the working autonomous vehicle 10.
  • Each of the plurality of drive units 40 is driven by the electric power supplied from the electric power supply source 20.
  • Each of the plurality of drive units 40 is detachably attached to the vehicle body frame BF.
  • the plurality of drive units 40 include an electric motor 42, a motor driver 44, and wheels 46, respectively. These will be described below.
  • the electric motor 42 generates power by the electric power supplied from the electric power supply source 20.
  • the motor driver 44 controls the electric motor 42 as a drive motor based on the signal from the vehicle control unit 70.
  • the wheels 46 rotate by transmitting power from the electric motor 42.
  • the plurality of electric motors 42 include, for example, an electric motor that generates power for rotating the wheels 46 and an electric motor that generates power for steering the wheels 46.
  • the processing unit 50 has a navigation control function for the autonomous vehicle 10 for work.
  • the navigation control function of the work autonomous vehicle 10 includes a function of determining a route for the work autonomous vehicle 10 to move autonomously by acquiring and processing the work autonomous vehicle environment information.
  • the work autonomous vehicle environment information is information about the environment in which the work autonomous vehicle 10 exists.
  • the processing unit 50 is driven by the electric power supplied from the electric power supply source 20.
  • the processing unit 50 is realized by, for example, a combination of an IC (Integrated Circuit), electronic components, a circuit board, and the like.
  • the processing unit 50 includes, for example, a GPU (Graphics Processing Unit).
  • the work autonomous vehicle environment information is used to determine a route for the work autonomous vehicle 10 to move autonomously.
  • the work autonomous vehicle environment information includes, for example, information on the position of the work autonomous vehicle 10, the shape of an object existing around the work autonomous vehicle 10, an object existing around the work autonomous vehicle 10, and work autonomy.
  • the information regarding the position of the working autonomous vehicle 10 may include information regarding the inclination of the working autonomous vehicle 10.
  • the processing unit housing 60 forms a processing unit accommodating space 60A.
  • the processing unit accommodation space 60A is a space different from the power supply source accommodation space 30A.
  • the processing unit housing 60 accommodates the processing unit 50 so that the processing unit 50 is arranged in the processing unit accommodation space 60A.
  • the processing unit accommodation space 60A may or may not be connected to the space around the processing unit housing 60, or may not be connected to the space around the processing unit housing 60.
  • the processing unit housing 60 may have a higher watertightness than the power supply source housing 30.
  • the processing unit accommodation space 60A may be a space in which forced air cooling that takes in outside air by a blower is not performed. At least a part of the processing unit housing 60 may be exposed to an external space which is a space around the working autonomous vehicle 10.
  • the vehicle control unit 70 controls a plurality of drive units 40 so that the working autonomous vehicle 10 moves along the route determined by the processing unit 50.
  • the vehicle control unit 70 is, for example, an ECU (Electronic Control Unit).
  • the ECU is realized by, for example, a combination of an IC (Integrated Circuit), an electronic component, a circuit board, and the like.
  • the environment information acquisition device 80 acquires the work autonomous vehicle environment information and inputs the work autonomous vehicle environment information to the processing unit 50.
  • the environment information acquisition device 80 is not particularly limited as long as it can acquire information about the environment in which the working autonomous vehicle 10 exists.
  • the environment information acquisition device 80 may be, for example, a camera, a LIDAR (Light Detection and Ringing), or a GPS receiver.
  • LIDAR Light Detection and Ringing
  • GPS receiver GPS receiver
  • the body frame BF supports the power supply source housing 30, the plurality of drive units 40, and the processing unit housing 60.
  • the body frame BF includes a work space forming portion BFA.
  • the work space forming portion BFA is a portion of the vehicle body frame BF for forming the space WS used for work in the working autonomous vehicle 10 above or below the vehicle body frame BF.
  • the processing unit 50 determines the movement route of the work autonomous vehicle 10 based on the work autonomous vehicle environment information acquired by the environment information acquisition device 80. For example, when the environment information acquisition device 80 is a camera, the processing unit 50 determines the movement route of the work autonomous vehicle 10 by processing the image taken by the camera.
  • the vehicle control unit 70 controls a plurality of drive units 40 so that the work autonomous vehicle 10 moves along the movement path of the work autonomous vehicle 10 determined by the processing unit 50.
  • the processing unit accommodation space 60A is formed separately from the power supply source accommodation space 30A. Therefore, the heat of the processing unit 50 is less likely to affect the power supply source 20. Further, since the processing unit accommodation space 60A and the power supply source accommodation space 30A are separated, the processing unit accommodation space 60A and the power supply source accommodation space 30A can be made the minimum necessary size. Therefore, each of the processing unit housing 60 and the power supply source housing 30 can be made compact. As a result, the power supply source housing 30 and the processing unit housing 60 can be efficiently arranged to secure the space WS used for the work in the work autonomous vehicle 10.
  • FIG. 2 is an explanatory diagram conceptually showing the components of the working autonomous vehicle 101.
  • FIG. 3 is a drawing showing a plan view showing the working autonomous vehicle 101 and a sectional view taken along the line AA.
  • FIG. 4 is a left side view of the working autonomous vehicle 101, which is a left side view showing a state in which the lid 302 of the power supply source housing 30 is removed.
  • FIG. 5 is a front view of the working autonomous vehicle 101.
  • FIG. 6 is a right side view of the working autonomous vehicle 101, and is a right side view showing a state in which the lid 302 of the power supply source housing 30 is removed.
  • the front direction of the work autonomous vehicle 101 is defined as the front direction F.
  • the rear direction of the work autonomous vehicle 101 is defined as the rear direction B.
  • the left direction of the work autonomous vehicle 101 is defined as the left direction L.
  • the right direction of the work autonomous vehicle 101 is defined as the right direction R.
  • the upward direction of the work autonomous vehicle 101 is defined as the upward direction U.
  • the downward direction of the work autonomous vehicle 101 is defined as the downward direction D.
  • the front-rear direction of the work autonomous vehicle 101 is defined as the front-rear direction FB.
  • the left-right direction of the work autonomous vehicle 101 is defined as the left-right direction LR.
  • the vertical direction of the work autonomous vehicle 101 is defined as the vertical direction UD.
  • Each direction of the work autonomous vehicle 101 is based on the direction in which the work autonomous vehicle 101 moves forward.
  • the work autonomous vehicle 101 includes a plurality of (two in this specific example 1) vehicle units 12 and an attachment 14 as a vehicle body frame.
  • the plurality of vehicle units 12 are arranged side by side in the left-right direction LR.
  • Each of the plurality of vehicle units 12 includes a power supply source housing 30 and a plurality of drive units 40. Note that FIG. 2 shows only one vehicle unit 12 for convenience.
  • the power supply source housing 30 accommodates a plurality of (four in the present specific example 1) power supply sources 20. That is, the power supply source housing 30 forms a power supply source accommodation space 20A for accommodating a plurality of power supply sources 20.
  • Each of the plurality of power supply sources 20 is a lithium ion secondary battery.
  • the plurality of power supply sources 20 are divided into one power supply source 20 and three power supply sources 20.
  • One power supply source 20 is arranged in the upper stage.
  • the three power supply sources 20 are arranged in the lower stage. Note that FIG. 2 illustrates only one power supply source 20 for convenience.
  • the power supply source housing 30 has a box shape as a whole.
  • the power supply source housing 30 includes a main body portion 301 and a lid portion 302 (see FIG. 5). By covering the opening of the main body 301 with the lid 302, a power supply source accommodation space 30A in which a plurality of power supply sources 20 are arranged is formed. At least a part of the power supply source housing 30 is exposed to an external space which is a space around the work autonomous vehicle 101. At least a portion of the power source housing 30 is located above the upper ends of the wheels 46 of each of the plurality of drive units 40.
  • the power supply source housing 30 further accommodates the vehicle control unit 70.
  • the vehicle control unit 70 controls each of the plurality of vehicle units 12.
  • the plurality of (two in the present specific example 1) drive units 40 are each of the plurality of (two in the present specific example 1) electric motors 421 and 422 (FIG. 3). 2), a plurality of motor drivers 441 and 442 (two in the present specific example 1), and one wheel 46. Note that FIG. 2 shows only one drive unit 40 for convenience.
  • the electric motor 421 generates power for rotating the wheel 46 around the axle 461 (see FIGS. 4 and 6). That is, the electric motor 421 functions as a drive motor for rotating the wheel 46 around the axle 461.
  • the electric motor 422 generates power for rotating the wheels 46 around an axis extending in a direction orthogonal to the axle 461 (see FIGS. 4 and 6) (specifically, in the vertical direction UD). That is, the electric motor 422 functions as a steering motor for steering the wheels 46.
  • the motor driver 441 controls the electric motor 421 as the drive motor based on the signal from the vehicle control unit 70. That is, the electric motor 421 is driven by the motor driver 441.
  • the motor driver 442 controls the electric motor 422 as the steering motor based on the signal from the vehicle control unit 70. That is, the electric motor 422 is driven by the motor driver 442.
  • each of the plurality of drive units 40 further includes a case 45 as shown in FIGS. 3 to 6.
  • the case 45 accommodates a plurality of (two in the present embodiment) electric motors 421 and 422 and a plurality of (two in the present embodiment 1) motor drivers 441 and 442.
  • the wheels 46 are arranged so as to be rotatable around the axle 461.
  • the wheels 46 are arranged so as to be rotatable around an axis extending in a direction orthogonal to the axle 461 (specifically, the vertical direction UD).
  • the power of the electric motor 421 is transmitted to the wheels 46.
  • the wheel 46 rotates around the axle 461.
  • the power of the electric motor 421 is transmitted to the wheels 46 via, for example, a reduction mechanism.
  • the power of the electric motor 422 is transmitted to the wheels 46.
  • the wheels 46 are steered.
  • the power of the electric motor 422 is transmitted to the wheels 46 via, for example, a link mechanism.
  • a plurality of drive units 40 are arranged one by one in front of and behind the power supply source housing 30 when viewed in the upward direction U or the downward direction D. That is, among the plurality of drive units 40, the wheels 46 of the drive unit 40 arranged in front of the power supply source housing 30 are arranged in front of the power supply source housing 30 when viewed in the upward direction U or the downward direction D. .. Further, among the plurality of drive units 40, the wheels 46 of the drive unit 40 arranged after the power supply source housing 30 are arranged after the power supply source housing 30 when viewed in the upward direction U or the downward direction D.
  • Each of the plurality of drive units 401 is attached to the power supply source housing 30 via the suspension device 48. That is, the working autonomous vehicle 101 further includes a plurality of suspension devices 48.
  • the suspension device 48 is a so-called double wishbone suspension device.
  • the suspension device 48 includes an upper arm 481, a lower arm 482, and a shock absorber 483.
  • the first end of the upper arm 481 is attached to the case 45.
  • the upper arm 481 can swing with respect to the case 45.
  • the second end of the upper arm 481 is attached to the power supply source housing 30. In this state, the upper arm 481 can swing with respect to the case 45.
  • the first end of the lower arm 482 is attached to the case 45.
  • the lower arm 482 can swing with respect to the case 45.
  • the second end of the lower arm 482 is attached to the power supply source housing 30. In this state, the lower arm 482 is swingable with respect to the power supply source housing 30.
  • the first end of the shock absorber 483 is attached to the lower arm 482. In this state, the shock absorber 483 can swing with respect to the lower arm 482.
  • the second end of the shock absorber 483 is attached to the power supply source housing 30. In this state, the shock absorber 483 can swing with respect to the power supply source housing 30.
  • the power supply source housing 30 includes a plurality of (two in the present specific example 1) mounting portions 303.
  • the plurality of mounting portions 303 are mounted one by one on the front surface and the rear surface of the power supply source housing 30.
  • the front surface of the power supply source housing 30 is a surface of the surface of the power supply source housing 30 that can be seen when the power supply source housing 30 is viewed in the rear direction B.
  • the rear surface of the power supply source housing 30 is a surface of the surface of the power supply source housing 30 that is visible when the power supply source housing 30 is viewed in the forward direction F.
  • the plurality of mounting portions 303 include a plurality of mounting portions 3031 and 3032, respectively (two in the present specific example 1).
  • the drive unit 40 is attached to the attachment portion 303. Specifically, the second ends of the upper arm 481 and the lower arm 482 are attached to the attachment portion 3031. The second end portion of the shock absorber 483 is attached to the attachment portion 3032. That is, the drive unit 40 is attached to the attachment portion 303.
  • the attachment 14 connects a plurality of (two in the present specific example 1) vehicle units 12.
  • the attachment 14 has a rectangular frame shape as a whole.
  • the attachment 14 will be described with reference to FIG.
  • the attachment 14 includes a front portion 14F, a rear portion 14B, a left portion 14L, and a right portion 14R.
  • the front portion 14F and the rear portion 14B each extend in the left-right direction LR.
  • the front portion 14F and the rear portion 14B are arranged in the front-rear direction FB.
  • the front 14F and the rear 14B are parallel to each other.
  • the left portion 14L and the right portion 14R each extend in the front-rear direction FB.
  • the left portion 14L and the right portion 14R are arranged in the left-right direction LR.
  • the left portion 14L and the right portion 14R are parallel to each other.
  • the left end portion of the front portion 14F is connected to the front end portion of the left portion 14L.
  • the right end of the front 14F is connected to the front end of the right 14R.
  • the left end of the rear 14B is connected to the rear end of the left 14L.
  • the attachment 14 further includes a plurality of (four in this specific example 1) reinforcing portions 14A.
  • the plurality of reinforcing portions 14A includes a plurality of (two in the present specific example 1) first reinforcing portions 14A1 and a plurality of (two in the present specific example 1) second reinforcing portions 14A2.
  • the plurality of first reinforcing portions 14A1 extend in the left-right direction LR, respectively.
  • the plurality of first reinforcing portions 14A1 are arranged in the front-rear direction FB.
  • the plurality of first reinforcing portions 14A1 are parallel to each other.
  • the plurality of first reinforcing portions 14A1 connect the left portion 14L and the right portion 14R, respectively.
  • Each of the plurality of second reinforcing portions 14A2 extends in the front-rear direction FB.
  • the plurality of second reinforcing portions 14A2 are arranged in the left-right direction LR.
  • the plurality of second reinforcing portions 14A2 are parallel to each other.
  • the plurality of second reinforcing portions 14A2 connect the front portion 14F and the rear portion 14B, respectively.
  • the plurality of second reinforcing portions 14A2 intersect with each of the plurality of first reinforcing portions 14A1.
  • the plurality of first reinforcing portions 14A1 are each attached to the upper surface of the power supply source housing 30. As a result, the plurality of vehicle units 12 are connected. That is, each of the plurality of first reinforcing portions 14A1 functions as an upper connecting portion. In the work autonomous vehicle 101, a plurality of first reinforcing portions 14A1 are attached to the power supply source housing 30 together with the plate 15 arranged on the power supply source housing 30.
  • Attachment 14 includes a work space forming portion 14S.
  • the work space forming portion 14S is a portion of the attachment 14 for forming the space WS used for work in the working autonomous vehicle 101 above or below the attachment 14.
  • the work space forming unit 14S is a part of the attachment 14 for forming the space WS used for work in the work autonomous vehicle 101 above the attachment 14.
  • the work space forming portion 14S includes a portion corresponding to the upper edge of the attachment 14 when viewed in a direction orthogonal to the vertical direction UD of the work autonomous vehicle 101. That is, in the work autonomous vehicle 101, the work space forming portion 14S is realized by a portion including the upper surfaces of the front portion 14F, the rear portion 14B, the left portion 14L, and the right portion 14R.
  • the work autonomous vehicle 101 further includes an attachment 16 as a vehicle body frame.
  • the attachment 16 connects the power supply source housing 30 included in each of the plurality of vehicle units 12.
  • Attachment 16 includes a front portion 16F and a rear portion 16B.
  • the front portion 16F and the rear portion 16B each include a pair of side mounting portions 161 and a left-right connecting portion 162, respectively.
  • Each of the pair of side mounting portions 161 extends in the vertical direction UD.
  • Each of the pair of side mounting portions 161 is mounted on the side surface of the power supply source housing 30 included in each of the plurality of vehicle units 12.
  • one side mounting portion 161 of the pair of side mounting portions 161 is mounted on the right surface of the power supply source housing 30 included in the vehicle unit 12 located on the left side of the plurality of vehicle units 12.
  • the other side mounting portion 161 of the pair of side mounting portions 161 is mounted on the left surface of the power supply source housing 30 included in the vehicle unit 12 located on the right side of the plurality of vehicle units 12.
  • the right side of the power supply source housing 30 is a surface of the surface of the power supply source housing 30 that can be seen when the power supply source housing 30 is viewed in the left direction L.
  • the left surface of the power supply source housing 30 is a surface of the surface of the power supply source housing 30 that can be seen when the power supply source housing 30 is viewed in the right direction R.
  • the left-right connecting portion 162 extends in the left-right direction LR.
  • the left-right connecting portion 162 connects a pair of side mounting portions 161.
  • the front portion 16F and the rear portion 16B each connect the power supply source housing 30 included in each of the plurality of vehicle units 12.
  • the attachment 16 further includes a plurality of (two in this specific example 1) front-rear direction connecting portions 163.
  • Each of the plurality of front-rear direction connecting portions 163 extends in the front-rear direction FB.
  • the plurality of front-rear connecting portions 163 are parallel to each other.
  • the plurality of front-rear direction connecting portions 163 connect the left-right direction connecting portions 162 of each of the front portion 16F and the rear portion 16B, respectively.
  • the working autonomous vehicle 101 further includes a processing unit housing 60, as shown in FIG.
  • the processing unit housing 60 will be described with reference to FIG.
  • the processing unit housing 60 accommodates the processing unit 50.
  • the processing unit housing 60 forms a processing unit accommodating space 60A for accommodating the processing unit 50.
  • the processing unit housing 60 is smaller than the power supply source housing 30.
  • the processing unit housing 60 has a box shape as a whole.
  • the processing unit housing 60 has higher watertightness than the power supply source housing 30.
  • the processing unit accommodation space 60A is a space in which forced air cooling that takes in outside air by a blower is not performed.
  • the processing unit accommodation space 60A is a closed space. At least a part of the processing unit housing 60 is exposed to an external space which is a space around the working autonomous vehicle 10.
  • the processing unit housing 60 is attached to the attachment 16. Specifically, the processing unit housing 60 is attached to a plurality of front-rear connecting portions 163. That is, the processing unit housing 60 is attached to a member connected to the power supply source housing 30. In other words, the processing unit housing 60 is indirectly attached to the power supply source housing 30.
  • the processing unit housing 60 overlaps the power supply source housing 30 when viewed in the left direction L or the right direction R. That is, at least a part of the processing unit housing 60 overlaps the power supply source housing 30 when viewed in a direction orthogonal to the vertical UD of the working autonomous vehicle 101. In particular, in the working autonomous vehicle 101, the entire processing unit housing 60 overlaps the power supply source housing 30 when viewed in the left direction L or the right direction R.
  • the upper end of one power supply source 20 arranged at the upper stage of the plurality of power supply sources 20 is located above the lower end of the processing unit 50. Therefore, at least a part of the processing unit 50 overlaps the power supply source 20 when viewed in a direction orthogonal to the vertical UD of the work autonomous vehicle 101.
  • the lower end of the mounting portion 3031 provided in the power supply source housing 30 is located below the lower end of the processing unit housing 60 when viewed in the left direction L or the right direction R. There is.
  • the upper end of the mounting portion 3031 is located above the upper end of the processing unit housing 60.
  • the lower end of the mounting portion 3031 provided in the power supply source housing 30 is located below the lower end of the processing unit 50 when viewed in the left direction L or the right direction R. ..
  • the upper end of the mounting portion 3031 is located above the upper end of the processing unit 50. Therefore, at least a part of the processing unit 50 overlaps the mounting portion 3031 when viewed in a direction orthogonal to the vertical UD of the working autonomous vehicle 10.
  • the processing unit housing 60 does not overlap the power supply source housing 30 when viewed in the upward direction U or the downward direction D. That is, in the working autonomous vehicle 101, the processing unit 50 does not overlap any of the plurality of power supply sources 20 when viewed in the upward direction U or the downward direction D.
  • the processing unit housing 60 when viewed in the upward direction U or the downward direction D, the processing unit housing 60 is behind the wheels 46 of the drive unit 40 arranged in front of the power supply source housing 30. It is located in front of the wheels 46 of the drive unit 40 located behind the power supply source housing 30.
  • the lower end of the mounting portion 3031 is located above the upper end of the wheel 46.
  • the lower end of the mounting portion 3031 is located below the lower end of the processing unit housing 60. That is, the processing unit housing 60 is located above the wheels 46. In other words, at least a portion of the processing unit 50 is located above the wheels 46.
  • the working autonomous vehicle 101 includes a camera 82 and a GPS receiver 86 as the environmental information acquisition device 80.
  • the working autonomous vehicle 101 further includes an inertial measurement unit (IMU) 84.
  • FIG. 7 is a right side view of the work autonomous vehicle 101, showing a state in which the lid 302 of the power supply source housing 30 is removed, and is a right side view showing an example of the arrangement of the GPS receiver 86.
  • the camera 82 photographs the surroundings of the autonomous vehicle 101 for work.
  • the camera 82 is arranged on the bumper 18 attached to the attachment 14.
  • the image taken by the camera 82 is input to the processing unit 50.
  • the processing unit 50 determines the movement route of the working autonomous vehicle 101 by processing the input image.
  • the processing unit 50 determines the movement route of the working autonomous vehicle 101, it refers to the position information of the working autonomous vehicle 101.
  • the position information of the work autonomous vehicle 101 is acquired based on the GPS signal received by the GPS receiver 86.
  • the GPS signal received by the GPS receiver 86 is transmitted via the GPS modem 87.
  • the GPS receiver 86 and the GPS modem 87 are attached to the support columns 89 attached to the attachment 14.
  • the position information of the working autonomous vehicle 101 is appropriately corrected by using the information acquired by the inertial measurement unit 84.
  • the inertial measurement unit 84 is arranged under the processing unit housing 60 in a state of being housed in the housing 83.
  • the WiFi antenna 85 and the wireless LAN communication router 88 are used when communicating with the outside.
  • the WiFi antenna 85 is attached to the support column 89 attached to the attachment 14.
  • the wireless LAN communication router 88 is housed in the power supply source housing 30.
  • Wiring and the like through which the output signal is transmitted are arranged by using the attachments 14 and 16.
  • the vehicle control unit 70 sets the motor drivers 441 and 442 so that the work autonomous vehicle 101 moves along the movement path of the work autonomous vehicle 101 determined by the processing unit 50.
  • the electric motors 421 and 422 are controlled via the electric motors 421 and 422. As a result, the autonomous movement of the work autonomous vehicle 101 is realized.
  • the processing unit accommodation space 60A is formed separately from the power supply source accommodation space 30A. Therefore, the heat of the processing unit 50 is less likely to affect the power supply source 20. Further, since the processing unit accommodation space 60A and the power supply source accommodation space 30A are separated, the processing unit accommodation space 60A and the power supply source accommodation space 30A can be made the minimum necessary size. Therefore, each of the processing unit housing 60 and the power supply source housing 30 can be made compact. As a result, the power supply source housing 30 and the processing unit housing 60 can be efficiently arranged to secure the space WS used for the work in the work autonomous vehicle 10.
  • FIG. 8 is an explanatory diagram conceptually showing the components of the working autonomous vehicle 102.
  • the power supply source housing 30 may accommodate the processing unit housing 60.
  • the processing unit housing 60 may be arranged in the power supply source accommodation space 30A.
  • Such gist is an equal element, modification, deletion, combination (eg, combination of features across embodiments and variations), improvement, modification that can be recognized by one of ordinary skill in the art based on the embodiments disclosed herein. Including.
  • the limitations of the claims should be broadly construed based on the terms used in the claims and are limited to the embodiments and variations described herein or in the process of the present application. Should not be done.
  • Such embodiments and variations should be construed as non-exclusive.
  • the terms "preferably” and "good” are non-exclusive and are “preferable but not limited to” and “good but not limited thereto”. It means "no".
  • the number of vehicle units 12 included in the work autonomous vehicle 101 may be three or more.
  • the vehicle control unit 70 is arranged inside the power supply source housing 30, but the vehicle control unit 70 may be arranged outside the power supply source housing 30, for example. ..
  • the vehicle unit 12 includes a plurality of drive units 40, and each of the plurality of drive units 40 includes a drive motor and a steering motor.
  • each of the plurality of drive units 40 includes a drive motor and a steering motor.
  • any one of the plurality of drive units 40. May include only the drive motor or the steering motor.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

An autonomous work vehicle is provided with which it is possible to balance a countermeasure for heat generated by a processing unit having a navigation control function for the autonomous work vehicle, and ensuring space used for the work of the autonomous work vehicle, without increasing the size of the autonomous work vehicle. A processing unit housing forms a processing unit accommodation space. The processing unit accommodation space is a separate space from a power supply source accommodation space, which is a space in which a power supply source is arranged. The processing unit housing accommodates a processing unit such that the processing unit is arranged in the processing unit accommodation space. A vehicle body frame in which the power supply source housing, a plurality of drive units, and the processing unit housing are supported includes a work space formation unit for forming, above or below the vehicle body frame, a space used for the work of the autonomous work vehicle.

Description

作業用自律車両Autonomous vehicle for work
　本発明は、作業用自律車両に関する。 The present invention relates to an autonomous vehicle for work.
　従来、作業用自律車両が知られている。このような作業用自律車両は、例えば、下記の非特許文献１に開示されている。 Conventionally, autonomous vehicles for work are known. Such an autonomous vehicle for work is disclosed in, for example, Non-Patent Document 1 below.
　非特許文献１に開示されている作業用自律車両は、少なくとも１つの車輪と、少なくとも１つの電気モータと、電力供給源としてのバッテリと、バッテリハウジングと、コンピュータとを備える。少なくとも１つの電気モータは、少なくとも１つの車輪のうち対応する車輪を操舵するための操舵モータと、当該対応する車輪を駆動するための駆動モータとを含む。バッテリは、少なくとも１つの電気モータ及びコンピュータに供給するための電力を蓄える。バッテリハウジングは、バッテリを収容する。コンピュータは、作業用自律車両を制御する。 The work autonomous vehicle disclosed in Non-Patent Document 1 includes at least one wheel, at least one electric motor, a battery as a power supply source, a battery housing, and a computer. The at least one electric motor includes a steering motor for steering the corresponding wheel of the at least one wheel and a drive motor for driving the corresponding wheel. The battery stores power to supply at least one electric motor and computer. The battery housing houses the battery. The computer controls the autonomous vehicle for work.
　また、非特許文献２では、非特許文献１に開示の作業用自律車両による作業の具体例が開示されている。より詳細には、下記の非特許文献２には、非特許文献１に開示の作業用自律車両を農業に用いた場合の作業の具体例として、収穫物を収容した箱の搬送や、作業用自律車両に取り付けられた草刈り機を用いて草を刈ること等が開示されている。 Further, in Non-Patent Document 2, a specific example of work by the work autonomous vehicle disclosed in Non-Patent Document 1 is disclosed. More specifically, in Non-Patent Document 2 below, as a specific example of the work when the working autonomous vehicle disclosed in Non-Patent Document 1 is used for agriculture, a box containing a harvested product is transported or used for work. It is disclosed that grass is mowed using a mower attached to an autonomous vehicle.
　非特許文献１及び非特許文献２に記載の作業用自律車両では、車両サイズを大きくせずに、作業用自律車両において作業に使用するスペースを確保することが求められている。その際、コンピュータが作業用自律車両を制御する際に発する熱がバッテリに与える影響を考慮する必要がある。 In the work autonomous vehicle described in Non-Patent Document 1 and Non-Patent Document 2, it is required to secure a space used for work in the work autonomous vehicle without increasing the vehicle size. At that time, it is necessary to consider the influence of the heat generated when the computer controls the autonomous vehicle for work on the battery.
　本発明の目的は、作業用自律車両のナビゲーション制御機能を有するプロセッシングユニットが発する熱への対策と、作業用自律車両の車両サイズを大きくせずに、作業用自律車両において作業に使用するスペースを確保することとを両立させることができる作業用自律車両を提供することである。 An object of the present invention is to take measures against heat generated by a processing unit having a navigation control function of a working autonomous vehicle, and to provide a space used for work in the working autonomous vehicle without increasing the vehicle size of the working autonomous vehicle. It is to provide an autonomous vehicle for work that can be compatible with securing.
　上記目的を達成するために、本願の発明者等は、作業用自律車両の車両サイズを大きくせずに、作業用自律車両において作業に使用するスペースを確保するための方策について検討した。その結果、作業用自律車両のナビゲーション制御機能を有するプロセッシングユニットと電力供給源を効率よく配置すれば、作業用自律車両において作業に使用するスペースを確保できることに気付いた。 In order to achieve the above object, the inventors of the present application examined measures for securing a space used for work in the work autonomous vehicle without increasing the vehicle size of the work autonomous vehicle. As a result, it was found that if the processing unit having the navigation control function of the work autonomous vehicle and the power supply source are efficiently arranged, the space used for the work can be secured in the work autonomous vehicle.
　そこで、本願の発明者等は、プロセッシングユニットと電力供給源とを同じハウジングに収容することについて検討した。その結果、プロセッシングユニットと電力供給源とを同じハウジングに収容すると、ハウジングの容積が大きくなってしまうために、作業用自律車両において作業に使用するスペースを確保することが難しくなるという知見を得るに至った。 Therefore, the inventors of the present application considered housing the processing unit and the power supply source in the same housing. As a result, it was found that if the processing unit and the power supply source are housed in the same housing, the volume of the housing becomes large, and it becomes difficult to secure the space used for work in the autonomous vehicle for work. I arrived.
　そこで、本発明者等は、プロセッシングユニットと電力供給源とを同じハウジングに収容する場合にハウジングの容積が大きくなる理由について検討した。その結果、以下の知見を得るに至った。 Therefore, the present inventors examined the reason why the volume of the housing becomes large when the processing unit and the power supply source are housed in the same housing. As a result, the following findings were obtained.
　プロセッシングユニットと電力供給源とを同じハウジングに収容する場合、プロセッシングユニットの熱が電力供給源に与える影響を考慮する必要がある。具体的には、（１）プロセッシングユニットを電力供給源から離れた位置に配置したり、（２）プロセッシングユニットの放熱性を高めるために、プロセッシングユニットの周囲に存在する空気の量を増やす必要がある。そのため、プロセッシングユニットと電力供給源とを同じハウジングに収容する場合には、ハウジングの容積が大きくなる。 When the processing unit and the power supply source are housed in the same housing, it is necessary to consider the effect of the heat of the processing unit on the power supply source. Specifically, it is necessary to (1) arrange the processing unit at a position away from the power supply source, and (2) increase the amount of air existing around the processing unit in order to improve the heat dissipation of the processing unit. is there. Therefore, when the processing unit and the power supply source are housed in the same housing, the volume of the housing becomes large.
　そこで、本願の発明者等は、ハウジングの容積が大きくなるのを抑制するための方策について検討した。その結果、プロセッシングユニットが配置される空間と電力供給源が配置される空間とを分けることで、プロセッシングユニットの放熱性を確保しつつ、プロセッシングユニットが配置される空間と電力供給源が配置される空間とを小さくすることができるという新たな知見を得るに至った。本発明は、このような知見に基づいて完成されたものである。 Therefore, the inventors of the present application examined measures for suppressing the increase in the volume of the housing. As a result, by separating the space where the processing unit is arranged and the space where the power supply source is arranged, the space where the processing unit is arranged and the power supply source are arranged while ensuring the heat dissipation of the processing unit. We have come to obtain new knowledge that the space can be made smaller. The present invention has been completed based on such findings.
　本発明の一実施形態に係る作業用自律車両は、電力供給源と、電力供給源ハウジングと、複数のドライブユニットと、プロセッシングユニットと、プロセッシングユニットハウジングと、車体フレームとを備える。電力供給源ハウジングは、電力供給源が配置される空間である電力供給源収容空間を形成する。電力供給源ハウジングは、電力供給源が電力供給源収容空間に配置されるように、電力供給源を収容する。複数のドライブユニットは、それぞれ、電力供給源から供給される電力によって駆動される。複数のドライブユニットは、それぞれ、電力供給源から供給される電力によって動力を発生させる少なくとも１つの電気モータと、少なくとも１つの電気モータからの動力が伝達されることで回転する車輪とを含む。プロセッシングユニットは、電力供給源から供給される電力によって駆動される。プロセッシングユニットは、作業用自律車両のナビゲーション制御機能を有する処理装置が実装された回路基板を含む。作業用自律車両のナビゲーション制御機能は、作業用自律車両が存在する環境に関する情報である作業用自律車両環境情報を取得して処理することで作業用自律車両が自律移動するための経路を決定する機能を含む。プロセッシングユニットハウジングは、プロセッシングユニット収容空間を形成する。プロセッシングユニット収容空間は、電力供給源収容空間とは別の空間である。プロセッシングユニット収容空間は、プロセッシングユニットが配置される空間である。プロセッシングユニットハウジングは、プロセッシングユニットがプロセッシングユニット収容空間に配置されるように、プロセッシングユニットを収容する。プロセッシングユニットハウジングは、電力供給源ハウジングとは別部材として形成されている。車体フレームは、電力供給源ハウジングと、複数のドライブユニットと、プロセッシングユニットハウジングとを支持する。車体フレームは、作業スペース形成部を含む。作業スペース形成部は、車体フレームのうち作業用自律車両において作業に使用するスペースを車体フレームの上方又は下方に形成する部分である。 The working autonomous vehicle according to the embodiment of the present invention includes a power supply source, a power supply source housing, a plurality of drive units, a processing unit, a processing unit housing, and a vehicle body frame. The power source housing forms a power source accommodating space, which is the space in which the power source is located. The power source housing accommodates the power source so that the power source is located in the power source accommodation space. Each of the plurality of drive units is driven by the electric power supplied from the electric power supply source. Each of the plurality of drive units includes at least one electric motor that generates power by electric power supplied from a power supply source, and wheels that rotate by transmitting power from at least one electric motor. The processing unit is driven by the power supplied by the power source. The processing unit includes a circuit board on which a processing device having a navigation control function for a working autonomous vehicle is mounted. The navigation control function of the work autonomous vehicle determines the route for the work autonomous vehicle to move autonomously by acquiring and processing the work autonomous vehicle environment information, which is information on the environment in which the work autonomous vehicle exists. Including functions. The processing unit housing forms a processing unit accommodation space. The processing unit accommodation space is a space different from the power supply source accommodation space. The processing unit accommodating space is a space in which the processing unit is arranged. The processing unit housing houses the processing unit so that the processing unit is arranged in the processing unit storage space. The processing unit housing is formed as a separate member from the power supply source housing. The body frame supports a power supply source housing, a plurality of drive units, and a processing unit housing. The body frame includes a work space forming portion. The work space forming portion is a portion of the vehicle body frame that forms a space used for work in a working autonomous vehicle above or below the vehicle body frame.
　本発明の一実施形態に係る作業用自律車両においては、電力供給源とプロセッシングユニットとが別々の空間に配置される。そのため、プロセッシングユニットが発する熱により、電力供給源が影響を受け難くなる。 In the working autonomous vehicle according to the embodiment of the present invention, the power supply source and the processing unit are arranged in separate spaces. Therefore, the heat generated by the processing unit makes the power supply source less likely to be affected.
　本発明の一実施形態に係る作業用自律車両においては、電力供給源が配置される空間とプロセッシングユニットが配置される空間とを分けている。そのため、電力供給源が配置される空間とプロセッシングユニットが配置される空間とを必要最小限の大きさにすることができる。その結果、電力供給源を収容するハウジングとプロセッシングユニットを収容するハウジングをコンパクトにすることができる。したがって、本発明の一実施形態に係る作業用自律車両においては、電力供給源を収容するハウジングとプロセッシングユニットを収容するハウジングを効率よく配置して、作業用自律車両において作業に使用するスペースを確保することができる。 In the work autonomous vehicle according to the embodiment of the present invention, the space where the power supply source is arranged and the space where the processing unit is arranged are separated. Therefore, the space in which the power supply source is arranged and the space in which the processing unit is arranged can be made the minimum necessary size. As a result, the housing accommodating the power supply source and the housing accommodating the processing unit can be made compact. Therefore, in the working autonomous vehicle according to the embodiment of the present invention, the housing accommodating the power supply source and the housing accommodating the processing unit are efficiently arranged to secure a space used for work in the working autonomous vehicle. can do.
　本発明の一実施形態に係る作業用自律車両において作業に使用するスペースは、例えば、車体フレームに取り付けられて、電力供給源から供給される電力によって駆動されることで作業に使用される作業装置が配置されるスペースであってもよいし、電力供給源から電力が供給されなくても作業に使用できる器具が配置されるスペースであってもよい。上記作業装置は、例えば、特定の作業を行うための機能を有する。特定の作業は、例えば、農薬等の散布であってもよいし、草刈りであってもよいし、害虫駆除であってもよいし、農作物等への光照射であってもよい。上記作業装置は、例えば、特定の作業を行うための機能を有する装置の他に、当該装置による特定の作業をアシストする機能を有する装置を含んでいてもよい。特定の作業をアシストする機能を有する装置は、例えば、特定の作業を行うための機能を有する装置を駆動するための電力を生成するソーラーパネルであってもよいし、特定の作業を行うための機能を有する装置が外部と通信するためのパラボラアンテナであってもよい。上記作業装置は、例えば、作業の対象についての状態を検出する検出装置であってもよいし、作業を行うための可動部を有する作業機械であってもよい。作業機械は、例えば、農薬散布機であってもよいし、農作物を収穫するための機械であってもよい。上記器具は、例えば、収穫した農作物を収容するパレットである。 The space used for work in the work autonomous vehicle according to the embodiment of the present invention is, for example, a work device attached to a vehicle body frame and driven by electric power supplied from a power supply source to be used for work. It may be a space in which a power supply source is arranged, or a space in which an instrument that can be used for work is arranged even if power is not supplied from a power supply source. The working device has, for example, a function for performing a specific work. The specific work may be, for example, spraying pesticides or the like, mowing grass, exterminating pests, or irradiating agricultural products with light. The working device may include, for example, a device having a function of assisting a specific work by the device in addition to a device having a function of performing a specific work. The device having a function of assisting a specific work may be, for example, a solar panel for generating electric power for driving a device having a function of performing a specific work, or for performing a specific work. The device having a function may be a parabolic antenna for communicating with the outside. The work device may be, for example, a detection device that detects a state of a work target, or a work machine that has a movable portion for performing the work. The working machine may be, for example, a pesticide sprayer or a machine for harvesting crops. The device is, for example, a pallet for accommodating harvested crops.
　本発明の一実施形態に係る作業用自律車両において、車体フレームが有する作業スペース形成部は、例えば、車体フレームのうち上記作業装置を車体フレームに取り付けるための部分であってもよいし、車体フレームのうち上記器具を配置するための部分であってもよい。作業スペース形成部は、例えば、車体フレームのうち作業用自律車両の上下方向に対して直交する方向に延びる一対のフレーム部に含まれる。作業スペース形成部は、例えば、作業用自律車両の上下方向に対して直交する方向に見て、車体フレームの上縁のうち作業用自律車両の上縁に相当する部分を含む。作業スペース形成部は、例えば、作業用自律車両の左方向又は右方向に見て、車体フレームの前端又は後端を含む。作業スペース形成部は、例えば、作業用自律車両の上下方向に対して直交する方向に見て、作業用自律車両において作業に使用するスペースの下端を規定していてもよいし、作業用自律車両において作業に使用するスペースの上端を規定していてもよい。作業スペース形成部は、例えば、電力供給源ハウジングが車体フレームに支持される位置よりも車体の上下方向で上に位置していてもよいし、複数のドライブユニットの各々が車体フレームに支持される位置よりも車体の上下方向で上に位置していてもよいし、プロセッシングユニットハウジングが車体フレームに支持される位置よりも車体の上下方向で上に位置していてもよい。 In the work autonomous vehicle according to the embodiment of the present invention, the work space forming portion of the vehicle body frame may be, for example, a portion of the vehicle body frame for attaching the work device to the vehicle body frame. Of these, it may be a part for arranging the above-mentioned equipment. The work space forming portion is included in, for example, a pair of frame portions of the vehicle body frame extending in a direction orthogonal to the vertical direction of the work autonomous vehicle. The work space forming portion includes, for example, a portion of the upper edge of the vehicle body frame corresponding to the upper edge of the work autonomous vehicle when viewed in a direction orthogonal to the vertical direction of the work autonomous vehicle. The work space forming portion includes, for example, the front end or the rear end of the vehicle body frame when viewed to the left or right of the working autonomous vehicle. The work space forming unit may define, for example, the lower end of the space used for work in the work autonomous vehicle when viewed in a direction orthogonal to the vertical direction of the work autonomous vehicle, or the work autonomous vehicle may be defined. The upper end of the space used for work may be specified in. The work space forming portion may be located, for example, above the position where the power supply source housing is supported by the vehicle body frame in the vertical direction of the vehicle body, or a position where each of the plurality of drive units is supported by the vehicle body frame. It may be located above the vehicle body in the vertical direction, or the processing unit housing may be located above the position supported by the vehicle body frame in the vertical direction of the vehicle body.
　本発明の一実施形態に係る作業用自律車両において、作業には、例えば、人の代わりに作業用自律車両が行う作業が含まれる。なお、作業用自律車両が人の代わりに行う作業の準備は、人が行ってもよい。作業には、例えば、作業に用いる装置や器具を車体フレームに載せて運ぶことや、作業に係る荷物を車体フレームに載せて運ぶことが含まれる。作業に用いる装置は、例えば、電力供給源から供給される電力によって駆動されることで作業に使用される装置である。作業に用いる器具は、例えば、電力供給源から電力が供給されなくても作業に使用できる器具である。作業に係る荷物は、例えば、収穫済みの農作物を収容した箱である。作業には、例えば、作業用自律車両の重量が変化する作業が含まれる。作業用自律車両の重量が変化する作業には、例えば、農薬の散布等のように、作業用自律車両の重量が減少する作業や、農作物の収穫等のように、作業用自律車両の重量が増加する作業が含まれる。 In the work autonomous vehicle according to the embodiment of the present invention, the work includes, for example, work performed by the work autonomous vehicle instead of a person. A person may prepare for the work performed by the autonomous vehicle for work on behalf of the person. The work includes, for example, carrying the equipment and tools used for the work on the body frame, and carrying the luggage related to the work on the body frame. The device used for work is, for example, a device used for work by being driven by electric power supplied from a power supply source. The equipment used for work is, for example, an equipment that can be used for work even if power is not supplied from a power supply source. The luggage for work is, for example, a box containing harvested agricultural products. The work includes, for example, the work of changing the weight of the autonomous vehicle for work. Work that changes the weight of the work autonomous vehicle includes work that reduces the weight of the work autonomous vehicle, such as spraying pesticides, and work that reduces the weight of the work autonomous vehicle, such as harvesting agricultural products. Includes increasing work.
　本発明の一実施形態に係る作業用自律車両において、電力供給源は、例えば、バッテリであってもよいし、燃料電池であってもよいし、エンジン発電機であってもよい。バッテリは、１次電池であってもよいし、２次電池であってもよい。バッテリは、例えば、リチウムイオン電池であってもよいし、全固体電池であってもよい。電力供給源は、例えば、電力を生成する発電装置と、電力を蓄えるバッテリとを含んでいてもよい。電力を生成する発電装置は、例えば、エンジン発電機であってもよいし、ソーラーパネルであってもよい。電力を蓄えるバッテリは、例えば、充電及び放電が可能な２次電池である。２次電池は、例えば、リチウムイオン２次電池である。 In the working autonomous vehicle according to the embodiment of the present invention, the power supply source may be, for example, a battery, a fuel cell, or an engine generator. The battery may be a primary battery or a secondary battery. The battery may be, for example, a lithium ion battery or an all-solid-state battery. The power supply source may include, for example, a power generation device that generates electric power and a battery that stores electric power. The power generator that generates electric power may be, for example, an engine generator or a solar panel. The battery that stores electric power is, for example, a secondary battery that can be charged and discharged. The secondary battery is, for example, a lithium ion secondary battery.
　本発明の一実施形態に係る作業用自律車両において、電力供給源が、例えば、電力を生成する発電装置と、電力を蓄えるバッテリとを含む場合、電力供給源ハウジングは、電力供給源のうち電力を蓄えるバッテリが配置される空間であるバッテリ収容空間を形成し、電力供給源のうち電力を蓄えるバッテリがバッテリ収容空間に配置されるように、電力供給源のうち電力を蓄えるバッテリを収容してもよい。この場合、電力を生成する発電装置は、例えば、バッテリ収容空間とは異なる空間に配置される。要するに、電力供給源が電力を蓄えるバッテリを含む場合、電力供給源ハウジングは、電力供給源のうち電力を蓄えるバッテリが配置される空間であるバッテリ収容空間を形成し、電力供給源のうち電力を蓄えるバッテリがバッテリ収容空間に配置されるように、電力供給源のうち電力を蓄えるバッテリを収容してもよい。 In the work autonomous vehicle according to the embodiment of the present invention, when the power supply source includes, for example, a power generation device for generating electric power and a battery for storing electric power, the power supply source housing is the electric power among the electric power supply sources. A battery storage space is formed, which is a space in which a battery for storing power is arranged, and a battery for storing power among power supply sources is housed so that a battery for storing power among power supply sources is placed in the battery storage space. May be good. In this case, the power generation device that generates electric power is arranged in a space different from the battery accommodation space, for example. In short, when the power supply source includes a battery that stores power, the power supply source housing forms a battery accommodation space that is a space in which the battery that stores power is arranged among the power supply sources, and power is supplied from the power supply source. A battery that stores electricity may be accommodated among the power supply sources so that the battery to be stored is arranged in the battery accommodating space.
　本発明の一実施形態に係る作業用自律車両において、電力供給源ハウジングは、プロセッシングユニットハウジングを収容してもよい。別の表現をすれば、プロセッシングユニットハウジングは、電力供給源収容空間に配置されていてもよい。電力供給源収容空間は、電力供給源ハウジングの周囲の空間に繋がっていてもよいし、電力供給源ハウジングの周囲の空間に繋がっていなくてもよい。別の表現をすれば、電力供給源収容空間は、密閉空間であってもよいし、密閉空間でなくてもよい。なお、密閉空間とは、水又は空気の侵入が阻止又は抑制されている空間である。 In the working autonomous vehicle according to the embodiment of the present invention, the power supply source housing may accommodate the processing unit housing. In other words, the processing unit housing may be located in the power source accommodation space. The power supply source accommodation space may or may not be connected to the space around the power supply source housing or may not be connected to the space around the power supply source housing. In other words, the power supply source accommodation space may or may not be a closed space. The closed space is a space in which the intrusion of water or air is blocked or suppressed.
　本発明の一実施形態に係る作業用自律車両において、少なくとも１つの電気モータは、車輪を回転させるための動力を発生させる電気モータを含んでいればよい。少なくとも１つの電気モータは、例えば、車輪を回転させるための動力を発生させる電気モータだけであってもよいし、車輪を回転させるための動力を発生させる電気モータの他に、車輪を操舵するための動力を発生させる電気モータを含んでいてもよい。 In the working autonomous vehicle according to the embodiment of the present invention, at least one electric motor may include an electric motor that generates power for rotating the wheels. The at least one electric motor may be, for example, only an electric motor that generates power to rotate the wheels, or to steer the wheels in addition to the electric motor that generates the power to rotate the wheels. It may include an electric motor that generates the power of.
　本発明の一実施形態に係る作業用自律車両において、車輪は、例えば、ゴムタイヤを含んでいてもよい。ゴムタイヤは、例えば、空気タイヤであってもよいし、空気なしタイヤであってもよい。空気なしタイヤには、例えば、樹脂スポークが用いられていてもよい。 In the work autonomous vehicle according to the embodiment of the present invention, the wheels may include, for example, rubber tires. The rubber tire may be, for example, a pneumatic tire or a non-air tire. For example, resin spokes may be used for the airless tire.
　本発明の一実施形態に係る作業用自律車両において、プロセッシングユニットは、例えば、ＩＣ（Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、電子部品、回路基板等の組み合わせによって実現される。プロセッシングユニットは、例えば、ＧＰＵ（Ｇｒａｐｈｉｃｓ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）を含む。プロセッシングユニットが作業用自律車両環境情報を処理することで作業用自律車両が自律移動するための経路を決定する機能には、例えば、作業用自律車両が進む方向をリアルタイムに決定する機能を含む。作業用自律車両の自律移動とは、オペレータによる車速および操舵の操作なしで所定の経路を移動することをいう。オペレータは、乗員とリモート操作を行う者を含む。なお、作業用自律車両の自律移動の開始及び終了については、オペレータが操作してもよい。作業用自律車両環境情報は、作業用自律車両が自律移動するための経路を決定するために用いるものであれば、特に限定されない。作業用自律車両環境情報は、例えば、作業用自律車両の位置に関する情報や、作業用自律車両の周囲に存在する物体の形状、作業用自律車両の周囲に存在する物体と作業用自律車両との距離等である。作業用自律車両の位置に関する情報は、作業用自律車両の傾斜に関する情報を含んでいてもよい。作業用自律車両環境情報は、例えば、作業用自律車両が存在する環境に関する情報を取得する環境情報取得装置からプロセッシングユニットに提供される。環境情報取得装置は、例えば、カメラであってもよいし、ＬＩＤＡＲ（Ｌｉｇｈｔ　Ｄｅｔｅｃｔｉｏｎ　ａｎｄ　Ｒａｎｇｉｎｇ）であってもよいし、ＧＰＳ受信機であってもよい。環境情報取得装置がカメラである場合、カメラによって撮影される作業用自律車両の周囲の画像が作業用自律車両環境情報に相当する。 In the working autonomous vehicle according to the embodiment of the present invention, the processing unit is realized by, for example, a combination of an IC (Integrated Circuit), an electronic component, a circuit board, and the like. The processing unit includes, for example, a GPU (Graphics Processing Unit). The function of determining the route for the working autonomous vehicle to move autonomously by processing the working autonomous vehicle environment information by the processing unit includes, for example, a function of determining the direction in which the working autonomous vehicle travels in real time. Autonomous movement of a work autonomous vehicle means moving on a predetermined route without an operator's operation of vehicle speed and steering. Operators include occupants and those who perform remote operations. The operator may operate the start and end of the autonomous movement of the work autonomous vehicle. The work autonomous vehicle environment information is not particularly limited as long as it is used to determine a route for the work autonomous vehicle to move autonomously. The work autonomous vehicle environment information includes, for example, information on the position of the work autonomous vehicle, the shape of an object existing around the work autonomous vehicle, and the object existing around the work autonomous vehicle and the work autonomous vehicle. Distance etc. The information regarding the position of the working autonomous vehicle may include information regarding the inclination of the working autonomous vehicle. The working autonomous vehicle environment information is provided to the processing unit from, for example, an environment information acquisition device that acquires information about the environment in which the working autonomous vehicle exists. The environment information acquisition device may be, for example, a camera, a LIDAR (Light Detection and Ringing), or a GPS receiver. When the environment information acquisition device is a camera, the image around the working autonomous vehicle taken by the camera corresponds to the working autonomous vehicle environment information.
　本発明の一実施形態に係る作業用自律車両において、プロセッシングユニット収容空間と電力供給源収容空間が別の空間であるというのは、プロセッシングユニット収容空間と電力供給源収容空間が分けられていることをいう。プロセッシングユニット収容空間と電力供給源収容空間とを分ける態様には、プロセッシングユニット収容空間と電力供給源収容空間が離れている態様と、プロセッシングユニット収容空間と電力供給源収容空間が仕切られている態様とを含む。プロセッシングユニット収容空間は、プロセッシングユニットハウジングの周囲の空間に繋がっていてもよいし、プロセッシングユニットハウジングの周囲の空間に繋がっていなくてもよい。別の表現をすれば、プロセッシングユニット収容空間は、密閉空間であってもよいし、密閉空間でなくてもよい。なお、密閉空間とは、水又は空気の侵入が阻止又は抑制されている空間である。 In the working autonomous vehicle according to the embodiment of the present invention, the processing unit accommodation space and the power supply source accommodation space are separate spaces because the processing unit accommodation space and the power supply source accommodation space are separated. To say. In the mode of separating the processing unit accommodation space and the power supply source accommodation space, there is a mode in which the processing unit accommodation space and the power supply source accommodation space are separated from each other, and a mode in which the processing unit accommodation space and the power supply source accommodation space are separated. And include. The processing unit accommodation space may or may not be connected to the space around the processing unit housing, or may not be connected to the space around the processing unit housing. In other words, the processing unit accommodation space may or may not be a closed space. The closed space is a space in which the intrusion of water or air is blocked or suppressed.
　本発明の一実施形態に係る作業用自律車両において、車体フレームは、複数の部品を組み合わせたものであってもよいし、複数の部品を一体的に成形したものであってもよい。車体フレームの材料は、アルミ、鉄などの金属であってもよいし、ＣＦＲＰなどの合成樹脂であってもよいし、それらの組み合わせであってもよい。車体フレームは、モノコック構造であってもよいし、セミモノコック構造であってもよい。車体フレームは、例えば、作業用自律車両が複数のビークルユニットを備える場合、複数のビークルユニットを連結する部材であってもよい。ここで、複数のビークルユニットは、それぞれ、例えば、複数のドライブユニットの少なくとも１つと電力供給源ハウジングとを含んで構成される。 In the working autonomous vehicle according to the embodiment of the present invention, the vehicle body frame may be a combination of a plurality of parts, or may be an integrally molded portion of the plurality of parts. The material of the vehicle body frame may be a metal such as aluminum or iron, a synthetic resin such as CFRP, or a combination thereof. The body frame may have a monocoque structure or a semi-monocoque structure. The vehicle body frame may be, for example, a member that connects a plurality of vehicle units when the working autonomous vehicle includes a plurality of vehicle units. Here, each of the plurality of vehicle units includes, for example, at least one of the plurality of drive units and a power supply source housing.
　本発明の一実施形態に係る作業用自律車両において、車体フレームが複数のドライブユニットを支持する態様には、例えば、車体フレームが複数のドライブユニットの各々を作業用自律車両の上下方向に変位可能に支持する態様や、車体フレームが複数のドライブユニットの各々を作業用自律車両の上下方向に変位不能に支持する態様が含まれる。車体フレームが複数のドライブユニットの各々を作業用自律車両の上下方向に変位可能に支持する態様には、例えば、複数のドライブユニットの各々が懸架装置を介して車体フレームに支持される態様が含まれる。車体フレームが複数のドライブユニットを支持する態様には、例えば、複数のドライブユニットの各々が車体フレームに対して着脱可能に取り付けられる態様が含まれる。車体フレームが複数のドライブユニットを支持する態様には、例えば、複数のドライブユニットの各々が電力供給源ハウジングを介して車体フレームに取り付けられる態様が含まれる。 In the working autonomous vehicle according to the embodiment of the present invention, in the embodiment in which the vehicle body frame supports a plurality of drive units, for example, the vehicle body frame supports each of the plurality of drive units so as to be displaceable in the vertical direction of the working autonomous vehicle. This includes a mode in which the vehicle body frame supports each of the plurality of drive units so as not to be displaced in the vertical direction of the working autonomous vehicle. The mode in which the vehicle body frame supports each of the plurality of drive units so as to be displaceable in the vertical direction of the working autonomous vehicle includes, for example, a mode in which each of the plurality of drive units is supported by the vehicle body frame via a suspension device. The mode in which the vehicle body frame supports the plurality of drive units includes, for example, a mode in which each of the plurality of drive units is detachably attached to the vehicle body frame. The mode in which the vehicle body frame supports the plurality of drive units includes, for example, a mode in which each of the plurality of drive units is attached to the vehicle body frame via the power supply source housing.
　本発明の一実施形態に係る作業用自律車両において、車体フレームが電力供給源ハウジングを支持する態様には、例えば、電力供給源ハウジングが車体フレームと一体形成される態様が含まれる。 In the working autonomous vehicle according to the embodiment of the present invention, the embodiment in which the vehicle body frame supports the power supply source housing includes, for example, the embodiment in which the power supply source housing is integrally formed with the vehicle body frame.
　本発明の一実施形態に係る作業用自律車両において、車体フレームがプロセシングユニットハウジングを支持する態様には、例えば、プロセシングユニットハウジングが、電力供給源ハウジング、及び／又は、複数のドライブユニットのうち少なくとも１つのドライブユニットを介して、車体フレームに取り付けられる態様が含まれる。プロセシングユニットハウジングが電力供給源ハウジングを介して車体フレームに取り付けられる態様には、例えば、プロセシングユニットハウジングが電力供給源ハウジングと一体形成され、かつ、電力供給源ハウジングが車体フレームに取り付けられる態様が含まれる。プロセシングユニットハウジングが複数のドライブユニットのうち少なくとも１つのドライブユニットを介して車体フレームに取り付けられる態様には、例えば、プロセシングユニットハウジングが複数のドライブユニットのうち少なくとも１つのドライブユニットと一体形成され、かつ、プロセシングユニットハウジングと一体形成されたドライブユニットが車体フレームに取り付けられる態様が含まれる。車体フレームがプロセシングユニットハウジングを支持する態様には、例えば、プロセシングユニットハウジングが車体フレームと一体形成される態様が含まれる。 In a working autonomous vehicle according to an embodiment of the present invention, in an embodiment in which the body frame supports the processing unit housing, for example, the processing unit housing is a power supply source housing and / or at least one of a plurality of drive units. A mode in which the vehicle body frame is attached via one drive unit is included. The mode in which the processing unit housing is attached to the vehicle body frame via the power supply source housing includes, for example, a mode in which the processing unit housing is integrally formed with the power supply source housing and the power supply source housing is attached to the vehicle body frame. Is done. In a mode in which the processing unit housing is attached to the vehicle body frame via at least one drive unit among the plurality of drive units, for example, the processing unit housing is integrally formed with at least one drive unit among the plurality of drive units, and the processing unit housing is formed. A mode in which a drive unit integrally formed with the vehicle body frame is attached to the vehicle body frame is included. The mode in which the vehicle body frame supports the processing unit housing includes, for example, a mode in which the processing unit housing is integrally formed with the vehicle body frame.
　本発明の一実施形態に係る作業用自律車両において、電力供給源ハウジング又はプロセッシングユニットハウジングの少なくとも一部は、作業用自律車両の上方向又は下方向に見て、作業スペース形成部に重なっていてもよい。 In the working autonomous vehicle according to the embodiment of the present invention, at least a part of the power supply source housing or the processing unit housing overlaps the work space forming portion when viewed upward or downward of the working autonomous vehicle. May be good.
　このような態様においては、作業用自律車両において作業に使用するスペースとして、電力供給源ハウジング又はプロセッシングユニットハウジングの上方又は下方の空間を利用することができる。 In such an embodiment, the space above or below the power supply source housing or the processing unit housing can be used as the space used for work in the autonomous vehicle for work.
　本発明の一実施形態に係る作業用自律車両において、電力供給源ハウジング及びプロセッシングユニットハウジングは、作業用自律車両の上下方向に対して直交する方向に見て、車体フレームの上端よりも下に配置されていてもよい。なお、車体フレームの上端は、作業用自律車両の上下方向に対して直交する方向に見て、車体フレームの上縁であってもよい。 In the working autonomous vehicle according to the embodiment of the present invention, the power supply source housing and the processing unit housing are arranged below the upper end of the vehicle body frame when viewed in a direction orthogonal to the vertical direction of the working autonomous vehicle. It may have been done. The upper end of the vehicle body frame may be the upper edge of the vehicle body frame when viewed in a direction orthogonal to the vertical direction of the working autonomous vehicle.
　このような態様においては、作業に使用するスペースを車体フレームの上方に確保しやすくなる。 In such an aspect, it becomes easy to secure a space used for work above the vehicle body frame.
　本発明の一実施形態に係る作業用自律車両において、プロセッシングユニットハウジングの少なくとも一部は、作業用自律車両の上下方向に対して直交する方向に見て、電力供給源ハウジングの少なくとも一部に重なっていてもよい。 In the working autonomous vehicle according to the embodiment of the present invention, at least a part of the processing unit housing overlaps with at least a part of the power supply source housing when viewed in a direction orthogonal to the vertical direction of the working autonomous vehicle. You may be.
　このような態様においては、プロセッシングユニットハウジング及び電力供給源ハウジングを作業用自律車両の上下方向に近づけて配置することができる。その結果、作業用自律車両の上下方向の長さ、つまり、作業用自律車両の高さを小さくすることができる。 In such an embodiment, the processing unit housing and the power supply source housing can be arranged close to each other in the vertical direction of the working autonomous vehicle. As a result, the vertical length of the working autonomous vehicle, that is, the height of the working autonomous vehicle can be reduced.
　本発明の一実施形態に係る作業用自律車両において、プロセッシングユニットハウジングは、作業用自律車両の左右方向の中央に配置されていてもよい。 In the working autonomous vehicle according to the embodiment of the present invention, the processing unit housing may be arranged at the center in the left-right direction of the working autonomous vehicle.
　このような態様においては、作業用自律車両が自律移動するための経路をプロセッシングユニットが決定する際の精度を向上させることができる。 In such an embodiment, it is possible to improve the accuracy when the processing unit determines the route for the autonomous vehicle for work to move autonomously.
　本発明の一実施形態に係る作業用自律車両において、プロセッシングユニットハウジングは、電力供給源ハウジングよりも高い水密性を有していてもよい。 In the working autonomous vehicle according to the embodiment of the present invention, the processing unit housing may have higher watertightness than the power supply source housing.
　このような態様においては、プロセッシングユニットハウジングが形成するプロセッシングユニット収容空間に水が浸入し難くなる。 In such an embodiment, it becomes difficult for water to enter the processing unit accommodating space formed by the processing unit housing.
　本発明の一実施形態に係る作業用自律車両において、プロセッシングユニットハウジングは、例えば、開口部がシールされることで電力供給源ハウジングよりも高い水密性を有していてもよいし、ラビリンス構造を有することで電力供給源ハウジングよりも高い水密性を有していてもよい。 In the working autonomous vehicle according to the embodiment of the present invention, the processing unit housing may have higher watertightness than the power supply source housing by sealing the opening, for example, or has a labyrinth structure. By having it, it may have higher watertightness than the power supply source housing.
　本発明の一実施形態に係る作業用自律車両において、プロセッシングユニット収容空間は、送風機によって外気を取り込む強制空冷が行われない空間であってもよい。 In the working autonomous vehicle according to the embodiment of the present invention, the processing unit accommodation space may be a space in which forced air cooling that takes in outside air by a blower is not performed.
　このような態様においては、プロセッシングユニット収容空間に埃等の異物が侵入し難くなる。なお、強制空冷が行われない空間は、あくまでもプロセッシングユニットが配置される空間である。したがって、プロセッシングユニットハウジングが配置される空間は、強制空冷されていてもよい。 In such an embodiment, it becomes difficult for foreign matter such as dust to enter the processing unit storage space. The space where forced air cooling is not performed is the space where the processing unit is arranged. Therefore, the space in which the processing unit housing is arranged may be forcibly air-cooled.
　本発明の一実施形態に係る作業用自律車両において、プロセッシングユニット収容空間が強制空冷されない場合、プロセッシングユニットハウジングは、プロセッシングユニット収容空間に配置されるプロセッシングユニットの熱を逃がすための放熱部を含んでいてもよい。放熱部は、例えば、ヒートシンクである。 In the working autonomous vehicle according to the embodiment of the present invention, when the processing unit accommodation space is not forcibly air-cooled, the processing unit housing includes a heat radiating portion for dissipating heat of the processing unit arranged in the processing unit accommodation space. You may. The heat radiating unit is, for example, a heat sink.
　本発明の一実施形態に係る作業用自律車両において、プロセッシングユニットハウジング又は電力供給源ハウジングの少なくとも一部は、作業用自律車両の周囲の空間である外部空間に露出していてもよい。 In the working autonomous vehicle according to the embodiment of the present invention, at least a part of the processing unit housing or the power supply source housing may be exposed to an external space which is a space around the working autonomous vehicle.
　このような態様においては、プロセッシングユニットハウジング又は電力供給源ハウジングを作業用自律車両の周囲に存在する空気で冷却することができる。 In such an embodiment, the processing unit housing or the power supply source housing can be cooled by the air existing around the working autonomous vehicle.
　本発明の一実施形態に係る作業用自律車両において、作業用自律車両の上方向又は下方向に見て、プロセッシングユニットハウジングが電力供給源ハウジングに重ならなくてもよい。 In the working autonomous vehicle according to the embodiment of the present invention, the processing unit housing does not have to overlap the power supply source housing when viewed upward or downward of the working autonomous vehicle.
　このような態様においては、プロセッシングユニットの熱が電力供給源に影響し難くなる。 In such an embodiment, the heat of the processing unit is less likely to affect the power supply source.
　本発明の一実施形態に係る作業用自律車両において、プロセッシングユニットハウジング又は電力供給源ハウジングの少なくとも一部は、複数のドライブユニットの各々が有する少なくとも１つの車輪の上端よりも上に位置していてもよい。 In a working autonomous vehicle according to an embodiment of the present invention, even if at least a part of the processing unit housing or the power supply source housing is located above the upper end of at least one wheel of each of the plurality of drive units. Good.
　このような態様においては、プロセッシングユニットハウジングの少なくとも一部が複数のドライブユニットの各々が有する少なくとも１つの車輪の上端よりも上に位置している場合には、作業用自律車両が移動する地面からプロセッシングユニットハウジングまでの距離を確保することができる。また、電力供給源ハウジングの少なくとも一部が複数のドライブユニットの各々が有する少なくとも１つの車輪の上端よりも上に位置している場合には、作業用自律車両が移動する地面から電力供給源ハウジングまでの距離を確保することができる。 In such an embodiment, when at least a part of the processing unit housing is located above the upper end of at least one wheel of each of the plurality of drive units, the working autonomous vehicle processes from the moving ground. The distance to the unit housing can be secured. Further, when at least a part of the power supply source housing is located above the upper end of at least one wheel of each of the plurality of drive units, from the ground on which the working autonomous vehicle moves to the power supply source housing. The distance can be secured.
　この発明の上述の目的及びその他の目的、特徴、局面及び利点は、添付図面に関連して行われる以下のこの発明の実施形態の詳細な説明から一層明らかとなろう。 The above-mentioned object and other object, feature, aspect and advantage of the present invention will be further clarified from the following detailed description of the embodiments of the present invention made in connection with the accompanying drawings.
　本明細書にて使用される場合、用語「及び／又は（ａｎｄ／ｏｒ）」は１つの、又は複数の関連した列挙されたアイテム（ｉｔｅｍｓ）のあらゆる又は全ての組み合わせを含む。 As used herein, the term "and / or (and / or)" includes any or all combinations of one or more related listed items (items).
　本明細書中で使用される場合、用語「含む、備える（ｉｎｃｌｕｄｉｎｇ）」、「含む、備える（ｃｏｍｐｒｉｓｉｎｇ）」又は「有する（ｈａｖｉｎｇ）」及びその変形の使用は、記載された特徴、工程、操作、要素、成分及び／又はそれらの等価物の存在を特定するが、ステップ、動作、要素、コンポーネント、及び／又はそれらのグループのうちの１つ又は複数を含むことができる。 As used herein, the use of the terms "include, include", "include, comprising" or "having" and variations thereof are described features, processes, operations. , Elements, components and / or their equivalents, but may include one or more of steps, actions, elements, components, and / or groups thereof.
　他に定義されない限り、本明細書で使用される全ての用語（技術用語及び科学用語を含む）は、本発明が属する当業者によって一般的に理解されるのと同じ意味を有する。 Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.
　一般的に使用される辞書に定義された用語のような用語は、関連する技術及び本開示の文脈における意味と一致する意味を有すると解釈されるべきであり、本明細書で明示的に定義されていない限り、理想的又は過度に形式的な意味で解釈されることはない。 Terms such as those defined in commonly used dictionaries should be construed to have meaning consistent with the relevant technology and in the context of the present disclosure and are expressly defined herein. Unless it is, it will not be interpreted in an ideal or overly formal sense.
　本発明の説明においては、技術及び工程の数が開示されていると理解される。これらの各々は個別の利益を有し、それぞれは、他の開示された技術の１つ以上、又は、場合によっては全てと共に使用することもできる。従って、明確にするために、この説明は、不要に個々のステップの可能な組み合わせの全てを繰り返すことを控える。それにもかかわらず、明細書及び特許請求の範囲は、そのような組み合わせが全て本発明及び特許請求項の範囲内にあることを理解して読まれるべきである。 It is understood that the description of the present invention discloses the number of techniques and processes. Each of these has its own interests, and each may be used in conjunction with one or more of the other disclosed techniques, or in some cases all. Therefore, for clarity, this description refrains from unnecessarily repeating all possible combinations of individual steps. Nevertheless, the specification and claims should be read with the understanding that all such combinations are within the scope of the present invention and claims.
　以下の説明では、説明の目的で、本発明の完全な理解を提供するために多数の具体的な詳細を述べる。しかしながら、当業者には、これらの特定の詳細なしに本発明を実施できることが明らかである。本開示は、本発明の例示として考慮されるべきであり、本発明を以下の図面又は説明によって示される特定の実施形態に限定することを意図するものではない。 In the following description, for the purposes of explanation, a number of specific details will be given to provide a complete understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without these particular details. The present disclosure should be considered as an example of the invention and is not intended to limit the invention to the particular embodiments set forth in the drawings or description below.
　本発明によれば、作業用自律車両のナビゲーション制御機能を有するプロセッシングユニットが発する熱への対策と、作業用自律車両の車両サイズを大きくせずに、作業用自律車両において作業に使用するスペースを確保することとを両立させることができる作業用自律車両を提供することができる。 According to the present invention, measures against heat generated by a processing unit having a navigation control function of a work autonomous vehicle and a space used for work in the work autonomous vehicle without increasing the vehicle size of the work autonomous vehicle are provided. It is possible to provide an autonomous vehicle for work that can be compatible with securing.
本発明の実施の形態による作業用自律車両の構成要素を概念的に示す説明図である。It is explanatory drawing which conceptually shows the component | component of the work autonomous vehicle by embodiment of this invention. 本発明の実施の形態の具体例１による作業用自律車両の構成要素を概念的に示す説明図である。It is explanatory drawing which conceptually shows the component | component of the work autonomous vehicle by the specific example 1 of the Embodiment of this invention. 本発明の実施の形態の具体例１による作業用自律車両を示す平面図とＡ－Ａ断面図とを併せて示す図面である。It is a drawing which shows both the plan view which shows the work autonomous vehicle by the specific example 1 of the Embodiment 1 of this invention, and the cross-sectional view of AA. 本発明の実施の形態の具体例１による作業用自律車両の左側面図であって、電力供給源ハウジングの蓋部を取り外した状態を示す左側面図である。It is a left side view of the work autonomous vehicle according to the specific example 1 of the Embodiment 1 of this invention, and is the left side view which shows the state which the lid part of the power supply source housing is removed. 本発明の実施の形態の具体例１による作業用自律車両の正面図である。It is a front view of the work autonomous vehicle according to the specific example 1 of the Embodiment of this invention. 本発明の実施の形態の具体例１による作業用自律車両の右側面図であって、電力供給源ハウジングの蓋部を取り外した状態を示す右側面図である。It is a right side view of the work autonomous vehicle according to the specific example 1 of the embodiment of this invention, and is the right side view which shows the state which the lid part of the power supply source housing is removed. 本発明の実施の形態の具体例１による作業用自律車両の右側面図であって、電力供給源ハウジングの蓋部を取り外した状態を示すとともに、ＧＰＳ受信機の配置の一例を示す右側面図である。It is a right side view of the work autonomous vehicle according to the specific example 1 of the Embodiment of this invention, which shows the state which removed the lid part of the power supply source housing, and also shows the right side view which shows an example of the arrangement of GPS receivers. Is. 本発明の実施の形態の変形例１による作業用自律車両の構成要素を概念的に示す説明図である。It is explanatory drawing which conceptually shows the component | component of the work autonomous vehicle by the modification 1 of the Embodiment of this invention.
　以下、図面を参照しながら、本発明の実施の形態による作業用自律車両１０の詳細について説明する。なお、以下に説明する実施の形態は、あくまでも一例である。本発明は、以下に説明する実施の形態によって、何等、限定的に解釈されるものではない。 Hereinafter, the details of the working autonomous vehicle 10 according to the embodiment of the present invention will be described with reference to the drawings. The embodiments described below are merely examples. The present invention is not to be construed in any limitation by the embodiments described below.
　図１を参照しながら、本発明の実施の形態による作業用自律車両１０について説明する。図１は、作業用自律車両１０の構成要素を概念的に示す説明図である。 The working autonomous vehicle 10 according to the embodiment of the present invention will be described with reference to FIG. FIG. 1 is an explanatory diagram conceptually showing the components of the working autonomous vehicle 10.
　作業用自律車両１０は、例えば、人が着座可能な座席を備えていない。作業用自律車両１０は、例えば、人が操舵可能な操舵機構を備えていない。 The work autonomous vehicle 10 does not have, for example, a seat in which a person can sit. The working autonomous vehicle 10 is not provided with, for example, a steering mechanism that can be steered by a person.
　図１を参照して、作業用自律車両１０は、電力供給源２０と、電力供給源ハウジング３０と、複数のドライブユニット４０と、プロセッシングユニット５０と、プロセッシングユニットハウジング６０と、ビークルコントロールユニット７０と、環境情報取得装置８０と、車体フレームＢＦとを備える。 With reference to FIG. 1, the working autonomous vehicle 10 includes a power supply source 20, a power supply source housing 30, a plurality of drive units 40, a processing unit 50, a processing unit housing 60, a vehicle control unit 70, and the like. It includes an environmental information acquisition device 80 and a vehicle body frame BF.
　電力供給源２０は、ドライブユニット４０と、プロセッシングユニット５０と、ビークルコントロールユニット７０と、環境情報取得装置８０とに電力を供給する。電力供給源２０は、例えば、バッテリである。バッテリは、１次電池であってもよいし、２次電池であってもよい。なお、図１では、便宜上、１つの電力供給源２０だけを図示しているが、電力供給源２０は複数あってもよい。 The electric power supply source 20 supplies electric power to the drive unit 40, the processing unit 50, the vehicle control unit 70, and the environmental information acquisition device 80. The power supply source 20 is, for example, a battery. The battery may be a primary battery or a secondary battery. Although FIG. 1 shows only one power supply source 20 for convenience, there may be a plurality of power supply sources 20.
　電力供給源ハウジング３０は、電力供給源収容空間３０Ａを形成する。電力供給源収容空間３０Ａは、電力供給源２０が配置される空間である。電力供給源ハウジング３０は、電力供給源２０が電力供給源収容空間３０Ａに配置されるように、電力供給源２０を収容する。電力供給源収容空間３０Ａは、電力供給源ハウジング３０の周囲の空間に繋がっていてもよいし、電力供給源ハウジング３０の周囲の空間に繋がっていなくてもよい。電力供給源ハウジング３０の少なくとも一部は、作業用自律車両１０の周囲の空間である外部空間に露出していてもよい。 The power supply source housing 30 forms a power supply source accommodation space 30A. The power supply source accommodation space 30A is a space in which the power supply source 20 is arranged. The power supply source housing 30 accommodates the power supply source 20 so that the power supply source 20 is arranged in the power supply source accommodation space 30A. The power supply source accommodation space 30A may or may not be connected to the space around the power supply source housing 30 or may not be connected to the space around the power supply source housing 30. At least a part of the power supply source housing 30 may be exposed to an external space which is a space around the working autonomous vehicle 10.
　複数のドライブユニット４０は、それぞれ、電力供給源２０から供給される電力によって駆動される。複数のドライブユニット４０は、それぞれ、車体フレームＢＦに対して着脱可能に取り付けられる。複数のドライブユニット４０は、それぞれ、電気モータ４２と、モータドライバ４４と、車輪４６とを含む。以下、これらについて説明する。 Each of the plurality of drive units 40 is driven by the electric power supplied from the electric power supply source 20. Each of the plurality of drive units 40 is detachably attached to the vehicle body frame BF. The plurality of drive units 40 include an electric motor 42, a motor driver 44, and wheels 46, respectively. These will be described below.
　電気モータ４２は、電力供給源２０から供給される電力によって動力を発生させる。モータドライバ４４は、ビークルコントロールユニット７０からの信号に基づいて、駆動モータとしての電気モータ４２を制御する。車輪４６は、電気モータ４２からの動力が伝達されることで回転する。なお、図１では、便宜上、１つの電気モータ４２だけを図示しているが、電気モータ４２は複数あってもよい。複数の電気モータ４２は、例えば、車輪４６を回転させるための動力を発生させる電気モータと、車輪４６を操舵するための動力を発生させる電気モータとを含む。 The electric motor 42 generates power by the electric power supplied from the electric power supply source 20. The motor driver 44 controls the electric motor 42 as a drive motor based on the signal from the vehicle control unit 70. The wheels 46 rotate by transmitting power from the electric motor 42. Although only one electric motor 42 is shown in FIG. 1 for convenience, there may be a plurality of electric motors 42. The plurality of electric motors 42 include, for example, an electric motor that generates power for rotating the wheels 46 and an electric motor that generates power for steering the wheels 46.
　プロセッシングユニット５０は、作業用自律車両１０のナビゲーション制御機能を有している。作業用自律車両１０のナビゲーション制御機能は、作業用自律車両環境情報を取得して処理することで作業用自律車両１０が自律移動するための経路を決定する機能を含む。作業用自律車両環境情報は、作業用自律車両１０が存在する環境に関する情報である。プロセッシングユニット５０は、電力供給源２０から供給される電力によって駆動される。 The processing unit 50 has a navigation control function for the autonomous vehicle 10 for work. The navigation control function of the work autonomous vehicle 10 includes a function of determining a route for the work autonomous vehicle 10 to move autonomously by acquiring and processing the work autonomous vehicle environment information. The work autonomous vehicle environment information is information about the environment in which the work autonomous vehicle 10 exists. The processing unit 50 is driven by the electric power supplied from the electric power supply source 20.
　プロセッシングユニット５０は、例えば、ＩＣ（Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、電子部品、回路基板等の組み合わせによって実現される。プロセッシングユニット５０は、例えば、ＧＰＵ（Ｇｒａｐｈｉｃｓ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）を含む。作業用自律車両環境情報は、作業用自律車両１０が自律移動するための経路を決定するために用いられる。作業用自律車両環境情報は、例えば、作業用自律車両１０の位置に関する情報や、作業用自律車両１０の周囲に存在する物体の形状、作業用自律車両１０の周囲に存在する物体と作業用自律車両１０との距離、作業用自律車両１０の周囲の地形等である。作業用自律車両１０の位置に関する情報は、作業用自律車両１０の傾斜に関する情報を含んでいてもよい。 The processing unit 50 is realized by, for example, a combination of an IC (Integrated Circuit), electronic components, a circuit board, and the like. The processing unit 50 includes, for example, a GPU (Graphics Processing Unit). The work autonomous vehicle environment information is used to determine a route for the work autonomous vehicle 10 to move autonomously. The work autonomous vehicle environment information includes, for example, information on the position of the work autonomous vehicle 10, the shape of an object existing around the work autonomous vehicle 10, an object existing around the work autonomous vehicle 10, and work autonomy. The distance to the vehicle 10, the terrain around the autonomous vehicle 10 for work, and the like. The information regarding the position of the working autonomous vehicle 10 may include information regarding the inclination of the working autonomous vehicle 10.
　プロセッシングユニットハウジング６０は、プロセッシングユニット収容空間６０Ａを形成する。プロセッシングユニット収容空間６０Ａは、電力供給源収容空間３０Ａとは別の空間である。プロセッシングユニットハウジング６０は、プロセッシングユニット５０がプロセッシングユニット収容空間６０Ａに配置されるように、プロセッシングユニット５０を収容する。プロセッシングユニット収容空間６０Ａは、プロセッシングユニットハウジング６０の周囲の空間に繋がっていてもよいし、プロセッシングユニットハウジング６０の周囲の空間に繋がっていなくてもよい。プロセッシングユニットハウジング６０は、電力供給源ハウジング３０よりも高い水密性を有していてもよい。プロセッシングユニット収容空間６０Ａは、送風機によって外気を取り込む強制空冷が行われない空間であってもよい。プロセッシングユニットハウジング６０の少なくとも一部は、作業用自律車両１０の周囲の空間である外部空間に露出していてもよい。 The processing unit housing 60 forms a processing unit accommodating space 60A. The processing unit accommodation space 60A is a space different from the power supply source accommodation space 30A. The processing unit housing 60 accommodates the processing unit 50 so that the processing unit 50 is arranged in the processing unit accommodation space 60A. The processing unit accommodation space 60A may or may not be connected to the space around the processing unit housing 60, or may not be connected to the space around the processing unit housing 60. The processing unit housing 60 may have a higher watertightness than the power supply source housing 30. The processing unit accommodation space 60A may be a space in which forced air cooling that takes in outside air by a blower is not performed. At least a part of the processing unit housing 60 may be exposed to an external space which is a space around the working autonomous vehicle 10.
　ビークルコントロールユニット７０は、プロセッシングユニット５０が決定した経路に沿って作業用自律車両１０が移動するように、複数のドライブユニット４０を制御する。ビークルコントロールユニット７０は、例えば、ＥＣＵ（Ｅｌｅｃｔｒｉｃ　Ｃｏｎｔｒｏｌ　Ｕｎｉｔ）である。ＥＣＵは、例えば、ＩＣ（Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、電子部品、回路基板等の組み合わせによって実現される。 The vehicle control unit 70 controls a plurality of drive units 40 so that the working autonomous vehicle 10 moves along the route determined by the processing unit 50. The vehicle control unit 70 is, for example, an ECU (Electronic Control Unit). The ECU is realized by, for example, a combination of an IC (Integrated Circuit), an electronic component, a circuit board, and the like.
　環境情報取得装置８０は、作業用自律車両環境情報を取得して、当該作業用自律車両環境情報をプロセッシングユニット５０に入力する。環境情報取得装置８０は、作業用自律車両１０が存在する環境に関する情報を取得することができるものであれば、特に限定されない。環境情報取得装置８０は、例えば、カメラであってもよいし、ＬＩＤＡＲ（Ｌｉｇｈｔ　Ｄｅｔｅｃｔｉｏｎ　ａｎｄ　Ｒａｎｇｉｎｇ）であってもよいし、ＧＰＳ受信機であってもよい。環境情報取得装置８０がカメラである場合、カメラによって撮影される作業用自律車両１０の周囲の画像が作業用自律車両環境情報に相当する。 The environment information acquisition device 80 acquires the work autonomous vehicle environment information and inputs the work autonomous vehicle environment information to the processing unit 50. The environment information acquisition device 80 is not particularly limited as long as it can acquire information about the environment in which the working autonomous vehicle 10 exists. The environment information acquisition device 80 may be, for example, a camera, a LIDAR (Light Detection and Ringing), or a GPS receiver. When the environment information acquisition device 80 is a camera, the image around the work autonomous vehicle 10 taken by the camera corresponds to the work autonomous vehicle environment information.
　車体フレームＢＦは、電力供給源ハウジング３０と、複数のドライブユニット４０と、プロセッシングユニットハウジング６０とを支持する。車体フレームＢＦは、作業スペース形成部ＢＦＡを含む。作業スペース形成部ＢＦＡは、車体フレームＢＦのうち作業用自律車両１０において作業に使用するスペースＷＳを車体フレームＢＦの上方又は下方に形成するための部分である。 The body frame BF supports the power supply source housing 30, the plurality of drive units 40, and the processing unit housing 60. The body frame BF includes a work space forming portion BFA. The work space forming portion BFA is a portion of the vehicle body frame BF for forming the space WS used for work in the working autonomous vehicle 10 above or below the vehicle body frame BF.
　このような作業用自律車両１０においては、環境情報取得装置８０が取得した作業用自律車両環境情報に基づいて、プロセッシングユニット５０が作業用自律車両１０の移動経路を決定する。例えば、環境情報取得装置８０がカメラである場合、プロセッシングユニット５０は、カメラが撮影した画像を処理することで、作業用自律車両１０の移動経路を決定する。ビークルコントロールユニット７０は、プロセッシングユニット５０が決定した作業用自律車両１０の移動経路に沿って作業用自律車両１０が移動するように、複数のドライブユニット４０を制御する。 In such a work autonomous vehicle 10, the processing unit 50 determines the movement route of the work autonomous vehicle 10 based on the work autonomous vehicle environment information acquired by the environment information acquisition device 80. For example, when the environment information acquisition device 80 is a camera, the processing unit 50 determines the movement route of the work autonomous vehicle 10 by processing the image taken by the camera. The vehicle control unit 70 controls a plurality of drive units 40 so that the work autonomous vehicle 10 moves along the movement path of the work autonomous vehicle 10 determined by the processing unit 50.
　ここで、作業用自律車両１０においては、プロセッシングユニット収容空間６０Ａが電力供給源収容空間３０Ａとは別に形成されている。そのため、プロセッシングユニット５０の熱が電力供給源２０に影響を与え難くなる。また、プロセッシングユニット収容空間６０Ａと電力供給源収容空間３０Ａとを分けるようにしたので、プロセッシングユニット収容空間６０Ａと電力供給源収容空間３０Ａを必要最小限の大きさにすることができる。そのため、プロセッシングユニットハウジング６０と電力供給源ハウジング３０の各々をコンパクトにすることができる。その結果、電力供給源ハウジング３０とプロセッシングユニットハウジング６０を効率よく配置して、作業用自律車両１０において作業に使用するスペースＷＳを確保することができる。 Here, in the working autonomous vehicle 10, the processing unit accommodation space 60A is formed separately from the power supply source accommodation space 30A. Therefore, the heat of the processing unit 50 is less likely to affect the power supply source 20. Further, since the processing unit accommodation space 60A and the power supply source accommodation space 30A are separated, the processing unit accommodation space 60A and the power supply source accommodation space 30A can be made the minimum necessary size. Therefore, each of the processing unit housing 60 and the power supply source housing 30 can be made compact. As a result, the power supply source housing 30 and the processing unit housing 60 can be efficiently arranged to secure the space WS used for the work in the work autonomous vehicle 10.
（実施の形態の具体例１）
　続いて、図２～図６を参照しながら、本発明の実施の形態の具体例１による作業用自律車両１０１について説明する。図２は、作業用自律車両１０１の構成要素を概念的に示す説明図である。図３は、作業用自律車両１０１を示す平面図とＡ－Ａ断面図とを併せて示す図面である。図４は、作業用自律車両１０１の左側面図であって、電力供給源ハウジング３０の蓋部３０２を取り外した状態を示す左側面図である。図５は、作業用自律車両１０１の正面図である。図６は、作業用自律車両１０１の右側面図であって、電力供給源ハウジング３０の蓋部３０２を取り外した状態を示す右側面図である。 (Specific Example 1 of the Embodiment)
Subsequently, the working autonomous vehicle 101 according to the specific example 1 of the embodiment of the present invention will be described with reference to FIGS. 2 to 6. FIG. 2 is an explanatory diagram conceptually showing the components of the working autonomous vehicle 101. FIG. 3 is a drawing showing a plan view showing the working autonomous vehicle 101 and a sectional view taken along the line AA. FIG. 4 is a left side view of the working autonomous vehicle 101, which is a left side view showing a state in which the lid 302 of the power supply source housing 30 is removed. FIG. 5 is a front view of the working autonomous vehicle 101. FIG. 6 is a right side view of the working autonomous vehicle 101, and is a right side view showing a state in which the lid 302 of the power supply source housing 30 is removed.
　以下の説明では、作業用自律車両１０１の前方向を前方向Ｆと定義する。作業用自律車両１０１の後方向を後方向Ｂと定義する。作業用自律車両１０１の左方向を左方向Ｌと定義する。作業用自律車両１０１の右方向を右方向Ｒと定義する。作業用自律車両１０１の上方向を上方向Ｕと定義する。作業用自律車両１０１の下方向を下方向Ｄと定義する。作業用自律車両１０１の前後方向を前後方向ＦＢと定義する。作業用自律車両１０１の左右方向を左右方向ＬＲと定義する。作業用自律車両１０１の上下方向を上下方向ＵＤと定義する。なお、作業用自律車両１０１の各方向は、作業用自律車両１０１が前進する方向を基準にしている。 In the following description, the front direction of the work autonomous vehicle 101 is defined as the front direction F. The rear direction of the work autonomous vehicle 101 is defined as the rear direction B. The left direction of the work autonomous vehicle 101 is defined as the left direction L. The right direction of the work autonomous vehicle 101 is defined as the right direction R. The upward direction of the work autonomous vehicle 101 is defined as the upward direction U. The downward direction of the work autonomous vehicle 101 is defined as the downward direction D. The front-rear direction of the work autonomous vehicle 101 is defined as the front-rear direction FB. The left-right direction of the work autonomous vehicle 101 is defined as the left-right direction LR. The vertical direction of the work autonomous vehicle 101 is defined as the vertical direction UD. Each direction of the work autonomous vehicle 101 is based on the direction in which the work autonomous vehicle 101 moves forward.
　図３～図６に示すように、作業用自律車両１０１は、複数（本具体例１では、２つ）のビークルユニット１２と、車体フレームとしてのアタッチメント１４とを含む。 As shown in FIGS. 3 to 6, the work autonomous vehicle 101 includes a plurality of (two in this specific example 1) vehicle units 12 and an attachment 14 as a vehicle body frame.
　図３及び図５に示すように、複数のビークルユニット１２は、左右方向ＬＲに並んで配置されている。複数のビークルユニット１２は、それぞれ、電力供給源ハウジング３０と、複数のドライブユニット４０とを備える。なお、図２では、便宜上、１つのビークルユニット１２だけを図示している。 As shown in FIGS. 3 and 5, the plurality of vehicle units 12 are arranged side by side in the left-right direction LR. Each of the plurality of vehicle units 12 includes a power supply source housing 30 and a plurality of drive units 40. Note that FIG. 2 shows only one vehicle unit 12 for convenience.
　図３、図４及び図６に示すように、電力供給源ハウジング３０は、複数（本具体例１では、４つ）の電力供給源２０を収容する。つまり、電力供給源ハウジング３０は、複数の電力供給源２０を収容するための電力供給源収容空間２０Ａを形成する。複数の電力供給源２０は、それぞれ、リチウムイオン２次電池である。複数の電力供給源２０は、１つの電力供給源２０と、３つの電力供給源２０とに分けて配置されている。１つの電力供給源２０は、上段に配置されている。３つの電力供給源２０は、下段に配置されている。なお、図２では、便宜上、１つの電力供給源２０だけを図示している。 As shown in FIGS. 3, 4, and 6, the power supply source housing 30 accommodates a plurality of (four in the present specific example 1) power supply sources 20. That is, the power supply source housing 30 forms a power supply source accommodation space 20A for accommodating a plurality of power supply sources 20. Each of the plurality of power supply sources 20 is a lithium ion secondary battery. The plurality of power supply sources 20 are divided into one power supply source 20 and three power supply sources 20. One power supply source 20 is arranged in the upper stage. The three power supply sources 20 are arranged in the lower stage. Note that FIG. 2 illustrates only one power supply source 20 for convenience.
　図３～図６に示すように、電力供給源ハウジング３０は、全体として箱形状を有する。電力供給源ハウジング３０は、本体部３０１と、蓋部３０２（図５参照）とを含む。本体部３０１の開口が蓋部３０２によって覆われることで、複数の電力供給源２０が配置される電力供給源収容空間３０Ａが形成される。電力供給源ハウジング３０の少なくとも一部は、作業用自律車両１０１の周囲の空間である外部空間に露出されている。電力供給源ハウジング３０の少なくとも一部は、複数のドライブユニット４０の各々が有する車輪４６の上端よりも上に位置している。 As shown in FIGS. 3 to 6, the power supply source housing 30 has a box shape as a whole. The power supply source housing 30 includes a main body portion 301 and a lid portion 302 (see FIG. 5). By covering the opening of the main body 301 with the lid 302, a power supply source accommodation space 30A in which a plurality of power supply sources 20 are arranged is formed. At least a part of the power supply source housing 30 is exposed to an external space which is a space around the work autonomous vehicle 101. At least a portion of the power source housing 30 is located above the upper ends of the wheels 46 of each of the plurality of drive units 40.
　図４に示すように、電力供給源ハウジング３０は、ビークルコントロールユニット７０をさらに収容する。ビークルコントロールユニット７０は、複数のビークルユニット１２の各々を制御する。 As shown in FIG. 4, the power supply source housing 30 further accommodates the vehicle control unit 70. The vehicle control unit 70 controls each of the plurality of vehicle units 12.
　図３、図４及び図６に示すように、複数（本具体例１では、２つ）のドライブユニット４０は、それぞれ、複数（本具体例１では、２つ）の電気モータ４２１、４２２（図２参照）と、複数（本具体例１では、２つ）のモータドライバ４４１、４４２と、１つの車輪４６とを含む。なお、図２では、便宜上、１つのドライブユニット４０だけを図示している。 As shown in FIGS. 3, 4 and 6, the plurality of (two in the present specific example 1) drive units 40 are each of the plurality of (two in the present specific example 1) electric motors 421 and 422 (FIG. 3). 2), a plurality of motor drivers 441 and 442 (two in the present specific example 1), and one wheel 46. Note that FIG. 2 shows only one drive unit 40 for convenience.
　電気モータ４２１は、車輪４６を車軸４６１（図４及び図６参照）回りに回転させるための動力を発生させる。つまり、電気モータ４２１は、車輪４６を車軸４６１回りに回転させるための駆動モータとして機能する。 The electric motor 421 generates power for rotating the wheel 46 around the axle 461 (see FIGS. 4 and 6). That is, the electric motor 421 functions as a drive motor for rotating the wheel 46 around the axle 461.
　電気モータ４２２は、車輪４６を車軸４６１（図４及び図６参照）に対して直交する方向（具体的には、上下方向ＵＤ）に延びる軸線回りに回転させるための動力を発生させる。つまり、電気モータ４２２は、車輪４６を操舵するための操舵モータとして機能する。 The electric motor 422 generates power for rotating the wheels 46 around an axis extending in a direction orthogonal to the axle 461 (see FIGS. 4 and 6) (specifically, in the vertical direction UD). That is, the electric motor 422 functions as a steering motor for steering the wheels 46.
　図２に示すように、モータドライバ４４１は、ビークルコントロールユニット７０からの信号に基づいて、駆動モータとしての電気モータ４２１を制御する。つまり、電気モータ４２１は、モータドライバ４４１によって駆動される。 As shown in FIG. 2, the motor driver 441 controls the electric motor 421 as the drive motor based on the signal from the vehicle control unit 70. That is, the electric motor 421 is driven by the motor driver 441.
　図２に示すように、モータドライバ４４２は、ビークルコントロールユニット７０からの信号に基づいて、操舵モータとしての電気モータ４２２を制御する。つまり、電気モータ４２２は、モータドライバ４４２によって駆動される。 As shown in FIG. 2, the motor driver 442 controls the electric motor 422 as the steering motor based on the signal from the vehicle control unit 70. That is, the electric motor 422 is driven by the motor driver 442.
　ここで、複数のドライブユニット４０は、それぞれ、図３～図６に示すように、ケース４５をさらに備える。ケース４５は、複数（本実施の形態では、２つ）の電気モータ４２１、４２２と、複数（本具体例１では、２つ）のモータドライバ４４１、４４２とを収容する。 Here, each of the plurality of drive units 40 further includes a case 45 as shown in FIGS. 3 to 6. The case 45 accommodates a plurality of (two in the present embodiment) electric motors 421 and 422 and a plurality of (two in the present embodiment 1) motor drivers 441 and 442.
　図３～図６に示すように、車輪４６は、車軸４６１回りに回転可能な状態で配置されている。車輪４６は、車軸４６１に対して直交する方向（具体的には、上下方向ＵＤ）に延びる軸線回りに回転可能な状態で配置されている。 As shown in FIGS. 3 to 6, the wheels 46 are arranged so as to be rotatable around the axle 461. The wheels 46 are arranged so as to be rotatable around an axis extending in a direction orthogonal to the axle 461 (specifically, the vertical direction UD).
　図２に示すように、車輪４６には、電気モータ４２１の動力が伝達される。これにより、車輪４６は、車軸４６１回りに回転する。電気モータ４２１の動力は、例えば、減速機構を介して、車輪４６に伝達される。 As shown in FIG. 2, the power of the electric motor 421 is transmitted to the wheels 46. As a result, the wheel 46 rotates around the axle 461. The power of the electric motor 421 is transmitted to the wheels 46 via, for example, a reduction mechanism.
　図２に示すように、車輪４６には、電気モータ４２２の動力が伝達される。これにより、車輪４６は、操舵される。電気モータ４２２の動力は、例えば、リンク機構を介して、車輪４６に伝達される。 As shown in FIG. 2, the power of the electric motor 422 is transmitted to the wheels 46. As a result, the wheels 46 are steered. The power of the electric motor 422 is transmitted to the wheels 46 via, for example, a link mechanism.
　図３、図４及び図６に示すように、複数のドライブユニット４０は、上方向Ｕ又は下方向Ｄに見て、電力供給源ハウジング３０の前後に１つずつ配置されている。つまり、複数のドライブユニット４０のうち電力供給源ハウジング３０の前に配置されるドライブユニット４０が有する車輪４６は、上方向Ｕ又は下方向Ｄに見て、電力供給源ハウジング３０よりも前に配置される。また、複数のドライブユニット４０のうち電力供給源ハウジング３０の後に配置されるドライブユニット４０が有する車輪４６は、上方向Ｕ又は下方向Ｄに見て、電力供給源ハウジング３０よりも後に配置される。 As shown in FIGS. 3, 4, and 6, a plurality of drive units 40 are arranged one by one in front of and behind the power supply source housing 30 when viewed in the upward direction U or the downward direction D. That is, among the plurality of drive units 40, the wheels 46 of the drive unit 40 arranged in front of the power supply source housing 30 are arranged in front of the power supply source housing 30 when viewed in the upward direction U or the downward direction D. .. Further, among the plurality of drive units 40, the wheels 46 of the drive unit 40 arranged after the power supply source housing 30 are arranged after the power supply source housing 30 when viewed in the upward direction U or the downward direction D.
　複数のドライブユニット４０１は、それぞれ、懸架装置４８を介して電力供給源ハウジング３０に取り付けられている。つまり、作業用自律車両１０１は、複数の懸架装置４８をさらに備える。 Each of the plurality of drive units 401 is attached to the power supply source housing 30 via the suspension device 48. That is, the working autonomous vehicle 101 further includes a plurality of suspension devices 48.
　図３、図４及び図６に示すように、懸架装置４８は、所謂ダブルウィッシュボーン式の懸架装置である。懸架装置４８は、上アーム４８１と、下アーム４８２と、ショックアブソーバ４８３とを含む。 As shown in FIGS. 3, 4 and 6, the suspension device 48 is a so-called double wishbone suspension device. The suspension device 48 includes an upper arm 481, a lower arm 482, and a shock absorber 483.
　図３、図４及び図６に示すように、上アーム４８１の第１端部は、ケース４５に取り付けられている。この状態で、上アーム４８１は、ケース４５に対して揺動可能である。上アーム４８１の第２端部は、電力供給源ハウジング３０に取り付けられている。この状態で、上アーム４８１は、ケース４５に対して揺動可能である。 As shown in FIGS. 3, 4 and 6, the first end of the upper arm 481 is attached to the case 45. In this state, the upper arm 481 can swing with respect to the case 45. The second end of the upper arm 481 is attached to the power supply source housing 30. In this state, the upper arm 481 can swing with respect to the case 45.
　図３、図４及び図６に示すように、下アーム４８２の第１端部は、ケース４５に取り付けられている。この状態で、下アーム４８２は、ケース４５に対して揺動可能である。下アーム４８２の第２端部は、電力供給源ハウジング３０に取り付けられている。この状態で、下アーム４８２は、電力供給源ハウジング３０に対して揺動可能である。 As shown in FIGS. 3, 4 and 6, the first end of the lower arm 482 is attached to the case 45. In this state, the lower arm 482 can swing with respect to the case 45. The second end of the lower arm 482 is attached to the power supply source housing 30. In this state, the lower arm 482 is swingable with respect to the power supply source housing 30.
　図３、図４及び図６に示すように、ショックアブソーバ４８３の第１端部は、下アーム４８２に取り付けられている。この状態で、ショックアブソーバ４８３は、下アーム４８２に対して揺動可能である。ショックアブソーバ４８３の第２端部は、電力供給源ハウジング３０に取り付けられている。この状態で、ショックアブソーバ４８３は、電力供給源ハウジング３０に対して揺動可能である。 As shown in FIGS. 3, 4 and 6, the first end of the shock absorber 483 is attached to the lower arm 482. In this state, the shock absorber 483 can swing with respect to the lower arm 482. The second end of the shock absorber 483 is attached to the power supply source housing 30. In this state, the shock absorber 483 can swing with respect to the power supply source housing 30.
　ここで、電力供給源ハウジング３０は、図３に示すように、複数（本具体例１では、２つ）の取付部３０３を含む。複数の取付部３０３は、電力供給源ハウジング３０の前面及び後面に１つずつ取り付けられている。電力供給源ハウジング３０の前面は、電力供給源ハウジング３０の表面のうち電力供給源ハウジング３０を後方向Ｂに見たときに見える面である。電力供給源ハウジング３０の後面は、電力供給源ハウジング３０の表面のうち電力供給源ハウジング３０を前方向Ｆに見たときに見える面である。複数の取付部３０３は、それぞれ、複数（本具体例１では、２つ）の取付部３０３１、３０３２を含む。取付部３０３には、ドライブユニット４０が取り付けられる。具体的には、取付部３０３１には、上アーム４８１及び下アーム４８２の各々の第２端部が取り付けられる。取付部３０３２には、ショックアブソーバ４８３の第２端部が取り付けられる。つまり、取付部３０３には、ドライブユニット４０が取り付けられる。 Here, as shown in FIG. 3, the power supply source housing 30 includes a plurality of (two in the present specific example 1) mounting portions 303. The plurality of mounting portions 303 are mounted one by one on the front surface and the rear surface of the power supply source housing 30. The front surface of the power supply source housing 30 is a surface of the surface of the power supply source housing 30 that can be seen when the power supply source housing 30 is viewed in the rear direction B. The rear surface of the power supply source housing 30 is a surface of the surface of the power supply source housing 30 that is visible when the power supply source housing 30 is viewed in the forward direction F. The plurality of mounting portions 303 include a plurality of mounting portions 3031 and 3032, respectively (two in the present specific example 1). The drive unit 40 is attached to the attachment portion 303. Specifically, the second ends of the upper arm 481 and the lower arm 482 are attached to the attachment portion 3031. The second end portion of the shock absorber 483 is attached to the attachment portion 3032. That is, the drive unit 40 is attached to the attachment portion 303.
　図３～図６に示すように、アタッチメント１４は、複数（本具体例１では、２つ）のビークルユニット１２を連結する。アタッチメント１４は、全体として矩形の枠形状を有している。 As shown in FIGS. 3 to 6, the attachment 14 connects a plurality of (two in the present specific example 1) vehicle units 12. The attachment 14 has a rectangular frame shape as a whole.
　図３を参照しながら、アタッチメント１４について説明する。アタッチメント１４は、前部１４Ｆと、後部１４Ｂと、左部１４Ｌと、右部１４Ｒとを含む。前部１４Ｆ及び後部１４Ｂは、それぞれ、左右方向ＬＲに延びている。前部１４Ｆ及び後部１４Ｂは、前後方向ＦＢに並んでいる。前部１４Ｆ及び後部１４Ｂは、互いに平行である。左部１４Ｌ及び右部１４Ｒは、それぞれ、前後方向ＦＢに延びている。左部１４Ｌ及び右部１４Ｒは、左右方向ＬＲに並んでいる。左部１４Ｌ及び右部１４Ｒは、互いに平行である。前部１４Ｆの左端部は、左部１４Ｌの前端部に接続されている。前部１４Ｆの右端部は、右部１４Ｒの前端部に接続されている。後部１４Ｂの左端部は、左部１４Ｌの後端部に接続されている。後部１４Ｂの右端部は、右部１４Ｒの後端部に接続されている。 The attachment 14 will be described with reference to FIG. The attachment 14 includes a front portion 14F, a rear portion 14B, a left portion 14L, and a right portion 14R. The front portion 14F and the rear portion 14B each extend in the left-right direction LR. The front portion 14F and the rear portion 14B are arranged in the front-rear direction FB. The front 14F and the rear 14B are parallel to each other. The left portion 14L and the right portion 14R each extend in the front-rear direction FB. The left portion 14L and the right portion 14R are arranged in the left-right direction LR. The left portion 14L and the right portion 14R are parallel to each other. The left end portion of the front portion 14F is connected to the front end portion of the left portion 14L. The right end of the front 14F is connected to the front end of the right 14R. The left end of the rear 14B is connected to the rear end of the left 14L. The right end of the rear 14B is connected to the rear end of the right 14R.
　アタッチメント１４は、複数（本具体例１では、４つ）の補強部１４Ａをさらに含む。複数の補強部１４Ａは、複数（本具体例１では、２つ）の第１補強部１４Ａ１と、複数（本具体例１では、２つ）の第２補強部１４Ａ２とを含む。 The attachment 14 further includes a plurality of (four in this specific example 1) reinforcing portions 14A. The plurality of reinforcing portions 14A includes a plurality of (two in the present specific example 1) first reinforcing portions 14A1 and a plurality of (two in the present specific example 1) second reinforcing portions 14A2.
　複数の第１補強部１４Ａ１は、それぞれ、左右方向ＬＲに延びている。複数の第１補強部１４Ａ１は、前後方向ＦＢに並んでいる。複数の第１補強部１４Ａ１は、互いに平行である。複数の第１補強部１４Ａ１は、それぞれ、左部１４Ｌと右部１４Ｒとを連結している。 The plurality of first reinforcing portions 14A1 extend in the left-right direction LR, respectively. The plurality of first reinforcing portions 14A1 are arranged in the front-rear direction FB. The plurality of first reinforcing portions 14A1 are parallel to each other. The plurality of first reinforcing portions 14A1 connect the left portion 14L and the right portion 14R, respectively.
　複数の第２補強部１４Ａ２は、それぞれ、前後方向ＦＢに延びている。複数の第２補強部１４Ａ２は、左右方向ＬＲに並んでいる。複数の第２補強部１４Ａ２は、互いに平行である。複数の第２補強部１４Ａ２は、それぞれ、前部１４Ｆと後部１４Ｂとを連結している。複数の第２補強部１４Ａ２は、それぞれ、複数の第１補強部１４Ａ１の各々と交差している。 Each of the plurality of second reinforcing portions 14A2 extends in the front-rear direction FB. The plurality of second reinforcing portions 14A2 are arranged in the left-right direction LR. The plurality of second reinforcing portions 14A2 are parallel to each other. The plurality of second reinforcing portions 14A2 connect the front portion 14F and the rear portion 14B, respectively. The plurality of second reinforcing portions 14A2 intersect with each of the plurality of first reinforcing portions 14A1.
　ここで、複数の第１補強部１４Ａ１は、それぞれ、電力供給源ハウジング３０の上面に取り付けられている。これにより、複数のビークルユニット１２が連結されている。つまり、複数の第１補強部１４Ａ１は、それぞれ、上連結部として機能する。なお、作業用自律車両１０１においては、電力供給源ハウジング３０の上に配置されるプレート１５とともに、複数の第１補強部１４Ａ１が電力供給源ハウジング３０に取り付けられる。 Here, the plurality of first reinforcing portions 14A1 are each attached to the upper surface of the power supply source housing 30. As a result, the plurality of vehicle units 12 are connected. That is, each of the plurality of first reinforcing portions 14A1 functions as an upper connecting portion. In the work autonomous vehicle 101, a plurality of first reinforcing portions 14A1 are attached to the power supply source housing 30 together with the plate 15 arranged on the power supply source housing 30.
　アタッチメント１４は、作業スペース形成部１４Ｓを含む。作業スペース形成部１４Ｓは、アタッチメント１４のうち作業用自律車両１０１において作業に使用するスペースＷＳをアタッチメント１４の上方又は下方に形成するための部分である。本具体例では、作業スペース形成部１４Ｓは、アタッチメント１４のうち作業用自律車両１０１において作業に使用するスペースＷＳをアタッチメント１４の上方に形成するための部分である。この場合、作業スペース形成部１４Ｓは、作業用自律車両１０１の上下方向ＵＤに対して直交する方向に見て、アタッチメント１４の上縁に相当する部分を含む。つまり、作業用自律車両１０１においては、作業スペース形成部１４Ｓが、前部１４Ｆ、後部１４Ｂ、左部１４Ｌ及び右部１４Ｒの各々の上面を含む部分によって実現されている。 Attachment 14 includes a work space forming portion 14S. The work space forming portion 14S is a portion of the attachment 14 for forming the space WS used for work in the working autonomous vehicle 101 above or below the attachment 14. In this specific example, the work space forming unit 14S is a part of the attachment 14 for forming the space WS used for work in the work autonomous vehicle 101 above the attachment 14. In this case, the work space forming portion 14S includes a portion corresponding to the upper edge of the attachment 14 when viewed in a direction orthogonal to the vertical direction UD of the work autonomous vehicle 101. That is, in the work autonomous vehicle 101, the work space forming portion 14S is realized by a portion including the upper surfaces of the front portion 14F, the rear portion 14B, the left portion 14L, and the right portion 14R.
　また、作業用自律車両１０１は、車体フレームとしてのアタッチメント１６をさらに含む。アタッチメント１６は、複数のビークルユニット１２の各々が有する電力供給源ハウジング３０を連結する。 Further, the work autonomous vehicle 101 further includes an attachment 16 as a vehicle body frame. The attachment 16 connects the power supply source housing 30 included in each of the plurality of vehicle units 12.
　アタッチメント１６は、前部１６Ｆと、後部１６Ｂとを含む。前部１６Ｆ及び後部１６Ｂは、それぞれ、一対の側面取付部１６１と、左右方向連結部１６２とを含む。一対の側面取付部１６１は、それぞれ、上下方向ＵＤに延びている。一対の側面取付部１６１は、それぞれ、複数のビークルユニット１２の各々が有する電力供給源ハウジング３０の側面に取り付けられている。具体的には、一対の側面取付部１６１のうち一方の側面取付部１６１は、複数のビークルユニット１２のうち左に位置するビークルユニット１２が有する電力供給源ハウジング３０の右面に取り付けられている。一対の側面取付部１６１のうち他方の側面取付部１６１は、複数のビークルユニット１２のうち右に位置するビークルユニット１２が有する電力供給源ハウジング３０の左面に取り付けられている。電力供給源ハウジング３０の右面は、電力供給源ハウジング３０の表面のうち電力供給源ハウジング３０を左方向Ｌに見たときに見える面である。電力供給源ハウジング３０の左面は、電力供給源ハウジング３０の表面のうち電力供給源ハウジング３０を右方向Ｒに見たときに見える面である。左右方向連結部１６２は、左右方向ＬＲに延びている。左右方向連結部１６２は、一対の側面取付部１６１を連結している。これにより、前部１６Ｆ及び後部１６Ｂは、それぞれ、複数のビークルユニット１２の各々が有する電力供給源ハウジング３０を連結している。 Attachment 16 includes a front portion 16F and a rear portion 16B. The front portion 16F and the rear portion 16B each include a pair of side mounting portions 161 and a left-right connecting portion 162, respectively. Each of the pair of side mounting portions 161 extends in the vertical direction UD. Each of the pair of side mounting portions 161 is mounted on the side surface of the power supply source housing 30 included in each of the plurality of vehicle units 12. Specifically, one side mounting portion 161 of the pair of side mounting portions 161 is mounted on the right surface of the power supply source housing 30 included in the vehicle unit 12 located on the left side of the plurality of vehicle units 12. The other side mounting portion 161 of the pair of side mounting portions 161 is mounted on the left surface of the power supply source housing 30 included in the vehicle unit 12 located on the right side of the plurality of vehicle units 12. The right side of the power supply source housing 30 is a surface of the surface of the power supply source housing 30 that can be seen when the power supply source housing 30 is viewed in the left direction L. The left surface of the power supply source housing 30 is a surface of the surface of the power supply source housing 30 that can be seen when the power supply source housing 30 is viewed in the right direction R. The left-right connecting portion 162 extends in the left-right direction LR. The left-right connecting portion 162 connects a pair of side mounting portions 161. As a result, the front portion 16F and the rear portion 16B each connect the power supply source housing 30 included in each of the plurality of vehicle units 12.
　アタッチメント１６は、複数（本具体例１では、２つ）の前後方向連結部１６３をさらに含む。複数の前後方向連結部１６３は、それぞれ、前後方向ＦＢに延びている。複数の前後方向連結部１６３は、互いに平行である。複数の前後方向連結部１６３は、それぞれ、前部１６Ｆ及び後部１６Ｂの各々が有する左右方向連結部１６２を連結している。 The attachment 16 further includes a plurality of (two in this specific example 1) front-rear direction connecting portions 163. Each of the plurality of front-rear direction connecting portions 163 extends in the front-rear direction FB. The plurality of front-rear connecting portions 163 are parallel to each other. The plurality of front-rear direction connecting portions 163 connect the left-right direction connecting portions 162 of each of the front portion 16F and the rear portion 16B, respectively.
　ここで、作業用自律車両１０１は、図３に示すように、プロセッシングユニットハウジング６０をさらに備える。図３を参照しながら、プロセッシングユニットハウジング６０について説明する。 Here, the working autonomous vehicle 101 further includes a processing unit housing 60, as shown in FIG. The processing unit housing 60 will be described with reference to FIG.
　プロセッシングユニットハウジング６０は、プロセッシングユニット５０を収容する。プロセッシングユニットハウジング６０は、プロセッシングユニット５０を収容するためのプロセッシングユニット収容空間６０Ａを形成する。プロセッシングユニットハウジング６０は、電力供給源ハウジング３０よりも小さい。プロセッシングユニットハウジング６０は、全体として箱形状を有する。 The processing unit housing 60 accommodates the processing unit 50. The processing unit housing 60 forms a processing unit accommodating space 60A for accommodating the processing unit 50. The processing unit housing 60 is smaller than the power supply source housing 30. The processing unit housing 60 has a box shape as a whole.
　プロセッシングユニットハウジング６０は、電力供給源ハウジング３０よりも高い水密性を有している。特に、作業用自律車両１０１においては、プロセッシングユニット収容空間６０Ａは、送風機によって外気を取り込む強制空冷が行われない空間である。別の表現をすれば、プロセッシングユニット収容空間６０Ａは、密閉空間である。プロセッシングユニットハウジング６０の少なくとも一部は、作業用自律車両１０の周囲の空間である外部空間に露出していている。 The processing unit housing 60 has higher watertightness than the power supply source housing 30. In particular, in the working autonomous vehicle 101, the processing unit accommodation space 60A is a space in which forced air cooling that takes in outside air by a blower is not performed. In other words, the processing unit accommodation space 60A is a closed space. At least a part of the processing unit housing 60 is exposed to an external space which is a space around the working autonomous vehicle 10.
　プロセッシングユニットハウジング６０は、アタッチメント１６に取り付けられている。具体的には、プロセッシングユニットハウジング６０は、複数の前後方向連結部１６３に取り付けられている。つまり、プロセッシングユニットハウジング６０は、電力供給源ハウジング３０に接続された部材に取り付けられている。別の表現をすれば、プロセッシングユニットハウジング６０は、電力供給源ハウジング３０に対して間接的に取り付けられている。 The processing unit housing 60 is attached to the attachment 16. Specifically, the processing unit housing 60 is attached to a plurality of front-rear connecting portions 163. That is, the processing unit housing 60 is attached to a member connected to the power supply source housing 30. In other words, the processing unit housing 60 is indirectly attached to the power supply source housing 30.
　プロセッシングユニットハウジング６０は、左方向Ｌ又は右方向Ｒに見て、電力供給源ハウジング３０に重なる。つまり、作業用自律車両１０１の上下方向ＵＤに対して直交する方向に見て、プロセッシングユニットハウジング６０の少なくとも一部は、電力供給源ハウジング３０に重なる。特に、作業用自律車両１０１においては、プロセッシングユニットハウジング６０の全体が、左方向Ｌ又は右方向Ｒに見て、電力供給源ハウジング３０に重なる。 The processing unit housing 60 overlaps the power supply source housing 30 when viewed in the left direction L or the right direction R. That is, at least a part of the processing unit housing 60 overlaps the power supply source housing 30 when viewed in a direction orthogonal to the vertical UD of the working autonomous vehicle 101. In particular, in the working autonomous vehicle 101, the entire processing unit housing 60 overlaps the power supply source housing 30 when viewed in the left direction L or the right direction R.
　また、作業用自律車両１０１においては、複数の電力供給源２０のうち上段に配置された１つの電力供給源２０の上端がプロセッシングユニット５０の下端よりも上に位置している。そのため、作業用自律車両１０１の上下方向ＵＤに対して直交する方向に見て、プロセッシングユニット５０の少なくとも一部が電力供給源２０に重なる。 Further, in the work autonomous vehicle 101, the upper end of one power supply source 20 arranged at the upper stage of the plurality of power supply sources 20 is located above the lower end of the processing unit 50. Therefore, at least a part of the processing unit 50 overlaps the power supply source 20 when viewed in a direction orthogonal to the vertical UD of the work autonomous vehicle 101.
　また、作業用自律車両１０１においては、左方向Ｌ又は右方向Ｒに見て、電力供給源ハウジング３０に設けられた取付部３０３１の下端が、プロセッシングユニットハウジング６０の下端よりも下に位置している。取付部３０３１の上端が、プロセッシングユニットハウジング６０の上端よりも上に位置している。 Further, in the work autonomous vehicle 101, the lower end of the mounting portion 3031 provided in the power supply source housing 30 is located below the lower end of the processing unit housing 60 when viewed in the left direction L or the right direction R. There is. The upper end of the mounting portion 3031 is located above the upper end of the processing unit housing 60.
　また、作業用自律車両１０１においては、左方向Ｌ又は右方向Ｒに見て、電力供給源ハウジング３０に設けられた取付部３０３１の下端が、プロセッシングユニット５０の下端よりも下に位置している。取付部３０３１の上端が、プロセッシングユニット５０の上端よりも上に位置している。そのため、作業用自律車両１０の上下方向ＵＤに対して直交する方向に見て、プロセッシングユニット５０の少なくとも一部が取付部３０３１に重なる。 Further, in the work autonomous vehicle 101, the lower end of the mounting portion 3031 provided in the power supply source housing 30 is located below the lower end of the processing unit 50 when viewed in the left direction L or the right direction R. .. The upper end of the mounting portion 3031 is located above the upper end of the processing unit 50. Therefore, at least a part of the processing unit 50 overlaps the mounting portion 3031 when viewed in a direction orthogonal to the vertical UD of the working autonomous vehicle 10.
　また、作業用自律車両１０１においては、上方向Ｕ又は下方向Ｄに見て、プロセッシングユニットハウジング６０が電力供給源ハウジング３０に重ならない。つまり、作業用自律車両１０１においては、上方向Ｕ又は下方向Ｄに見て、プロセッシングユニット５０が複数の電力供給源２０の何れにも重ならない。 Further, in the work autonomous vehicle 101, the processing unit housing 60 does not overlap the power supply source housing 30 when viewed in the upward direction U or the downward direction D. That is, in the working autonomous vehicle 101, the processing unit 50 does not overlap any of the plurality of power supply sources 20 when viewed in the upward direction U or the downward direction D.
　また、作業用自律車両１０１においては、上方向Ｕ又は下方向Ｄに見て、プロセッシングユニットハウジング６０は、電力供給源ハウジング３０の前に配置されるドライブユニット４０が有する車輪４６よりも後であって、かつ、電力供給源ハウジング３０の後に配置されるドライブユニット４０が有する車輪４６よりも前に位置する。 Further, in the working autonomous vehicle 101, when viewed in the upward direction U or the downward direction D, the processing unit housing 60 is behind the wheels 46 of the drive unit 40 arranged in front of the power supply source housing 30. It is located in front of the wheels 46 of the drive unit 40 located behind the power supply source housing 30.
　また、作業用自律車両１０１においては、図３及び図４に示すように、取付部３０３１の下端は、車輪４６の上端よりも上に位置している。取付部３０３１の下端は、プロセッシングユニットハウジング６０の下端よりも下に位置している。つまり、プロセッシングユニットハウジング６０は、車輪４６よりも上に位置している。別の表現をすると、プロセッシングユニット５０の少なくとも一部は、車輪４６よりも上に位置している。 Further, in the work autonomous vehicle 101, as shown in FIGS. 3 and 4, the lower end of the mounting portion 3031 is located above the upper end of the wheel 46. The lower end of the mounting portion 3031 is located below the lower end of the processing unit housing 60. That is, the processing unit housing 60 is located above the wheels 46. In other words, at least a portion of the processing unit 50 is located above the wheels 46.
　作業用自律車両１０１は、図５及び図７に示すように、環境情報取得装置８０として、カメラ８２と、ＧＰＳ受信機８６とを備える。また、作業用自律車両１０１は、慣性計測装置（ＩＭＵ）８４をさらに備える。図７は、作業用自律車両１０１の右側面図であって、電力供給源ハウジング３０の蓋部３０２を取り外した状態を示すとともに、ＧＰＳ受信機８６の配置の一例を示す右側面図である。 As shown in FIGS. 5 and 7, the working autonomous vehicle 101 includes a camera 82 and a GPS receiver 86 as the environmental information acquisition device 80. In addition, the working autonomous vehicle 101 further includes an inertial measurement unit (IMU) 84. FIG. 7 is a right side view of the work autonomous vehicle 101, showing a state in which the lid 302 of the power supply source housing 30 is removed, and is a right side view showing an example of the arrangement of the GPS receiver 86.
　カメラ８２は、作業用自律車両１０１の周囲を撮影する。カメラ８２は、アタッチメント１４に取り付けられたバンパー１８に配置されている。カメラ８２が撮影した画像は、プロセッシングユニット５０に入力される。プロセッシングユニット５０は、入力された画像を処理することで、作業用自律車両１０１の移動経路を決定する。 The camera 82 photographs the surroundings of the autonomous vehicle 101 for work. The camera 82 is arranged on the bumper 18 attached to the attachment 14. The image taken by the camera 82 is input to the processing unit 50. The processing unit 50 determines the movement route of the working autonomous vehicle 101 by processing the input image.
　プロセッシングユニット５０が作業用自律車両１０１の移動経路を決定する際には、作業用自律車両１０１の位置情報を参照する。作業用自律車両１０１の位置情報は、ＧＰＳ受信機８６が受信したＧＰＳ信号に基づいて取得される。ＧＰＳ受信機８６が受信したＧＰＳ信号は、ＧＰＳモデム８７を経由して伝送される。図７に示す例では、ＧＰＳ受信機８６及びＧＰＳモデム８７がアタッチメント１４に取り付けられた支柱８９に取り付けられている。作業用自律車両１０１では、慣性計測装置８４が取得した情報を用いて、作業用自律車両１０１の位置情報が適宜補正される。なお、作業用自律車両１０１では、慣性計測装置８４は、ハウジング８３に収容された状態で、プロセッシングユニットハウジング６０の下に配置されている。 When the processing unit 50 determines the movement route of the working autonomous vehicle 101, it refers to the position information of the working autonomous vehicle 101. The position information of the work autonomous vehicle 101 is acquired based on the GPS signal received by the GPS receiver 86. The GPS signal received by the GPS receiver 86 is transmitted via the GPS modem 87. In the example shown in FIG. 7, the GPS receiver 86 and the GPS modem 87 are attached to the support columns 89 attached to the attachment 14. In the working autonomous vehicle 101, the position information of the working autonomous vehicle 101 is appropriately corrected by using the information acquired by the inertial measurement unit 84. In the working autonomous vehicle 101, the inertial measurement unit 84 is arranged under the processing unit housing 60 in a state of being housed in the housing 83.
　作業用自律車両１０１では、外部と通信する際に、ＷｉＦｉアンテナ８５及び無線ＬＡＮ通信用ルーター８８が用いられる。図７に示す例では、ＷｉＦｉアンテナ８５がアタッチメント１４に取り付けられた支柱８９に取り付けられている。無線ＬＡＮ通信用ルーター８８は、電力供給源ハウジング３０に収容されている。 In the work autonomous vehicle 101, the WiFi antenna 85 and the wireless LAN communication router 88 are used when communicating with the outside. In the example shown in FIG. 7, the WiFi antenna 85 is attached to the support column 89 attached to the attachment 14. The wireless LAN communication router 88 is housed in the power supply source housing 30.
　なお、プロセッシングユニット５０に入力される信号が伝送される配線、プロセッシングユニット５０から出力される信号が伝送される配線、ビークルコントロールユニット７０に入力される信号が伝送される配線、ビークルコントロールユニット７０から出力される信号が伝送される配線等は、アタッチメント１４、１６を利用して配策される。 The wiring for transmitting the signal input to the processing unit 50, the wiring for transmitting the signal output from the processing unit 50, the wiring for transmitting the signal input to the vehicle control unit 70, and the wiring from the vehicle control unit 70. Wiring and the like through which the output signal is transmitted are arranged by using the attachments 14 and 16.
　このような作業用自律車両１０１においては、プロセッシングユニット５０が決定した作業用自律車両１０１の移動経路に沿って作業用自律車両１０１が移動するように、ビークルコントロールユニット７０がモータドライバ４４１、４４２を介して電気モータ４２１、４２２を制御する。これにより、作業用自律車両１０１の自律移動が実現される。 In such a work autonomous vehicle 101, the vehicle control unit 70 sets the motor drivers 441 and 442 so that the work autonomous vehicle 101 moves along the movement path of the work autonomous vehicle 101 determined by the processing unit 50. The electric motors 421 and 422 are controlled via the electric motors 421 and 422. As a result, the autonomous movement of the work autonomous vehicle 101 is realized.
　ここで、作業用自律車両１０１においては、プロセッシングユニット収容空間６０Ａが電力供給源収容空間３０Ａとは別に形成されている。そのため、プロセッシングユニット５０の熱が電力供給源２０に影響を与え難くなる。また、プロセッシングユニット収容空間６０Ａと電力供給源収容空間３０Ａとを分けるようにしたので、プロセッシングユニット収容空間６０Ａと電力供給源収容空間３０Ａを必要最小限の大きさにすることができる。そのため、プロセッシングユニットハウジング６０と電力供給源ハウジング３０の各々をコンパクトにすることができる。その結果、電力供給源ハウジング３０とプロセッシングユニットハウジング６０を効率よく配置して、作業用自律車両１０において作業に使用するスペースＷＳを確保することができる。 Here, in the working autonomous vehicle 101, the processing unit accommodation space 60A is formed separately from the power supply source accommodation space 30A. Therefore, the heat of the processing unit 50 is less likely to affect the power supply source 20. Further, since the processing unit accommodation space 60A and the power supply source accommodation space 30A are separated, the processing unit accommodation space 60A and the power supply source accommodation space 30A can be made the minimum necessary size. Therefore, each of the processing unit housing 60 and the power supply source housing 30 can be made compact. As a result, the power supply source housing 30 and the processing unit housing 60 can be efficiently arranged to secure the space WS used for the work in the work autonomous vehicle 10.
（実施の形態の変形例１）
　図８を参照しながら、本発明の実施の形態の変形例１による作業用自律車両１０２について説明する。図８は、作業用自律車両１０２の構成要素を概念的に示す説明図である。 (Modification 1 of the embodiment)
The working autonomous vehicle 102 according to the first modification of the embodiment of the present invention will be described with reference to FIG. FIG. 8 is an explanatory diagram conceptually showing the components of the working autonomous vehicle 102.
　電力供給源ハウジング３０は、プロセッシングユニットハウジング６０を収容してもよい。別の表現をすれば、プロセッシングユニットハウジング６０は、電力供給源収容空間３０Ａに配置されていてもよい。 The power supply source housing 30 may accommodate the processing unit housing 60. In other words, the processing unit housing 60 may be arranged in the power supply source accommodation space 30A.
（その他の実施形態）
　本明細書において記載と図示の少なくとも一方がなされた実施形態及び変形例は、本開示の理解を容易にするためのものであって、本開示の思想を限定するものではない。上記の実施形態及び変形例は、その趣旨を逸脱することなく変更・改良され得る。 (Other embodiments)
The embodiments and variations in which at least one of the description and the illustration is made in the present specification are for facilitating the understanding of the present disclosure and do not limit the idea of the present disclosure. The above embodiments and modifications can be changed or improved without departing from the spirit of the present invention.
　当該趣旨は、本明細書に開示された実施形態に基づいて当業者によって認識されうる、均等な要素、修正、削除、組み合わせ（例えば、実施形態及び変形例に跨る特徴の組み合わせ）、改良、変更を包含する。特許請求の範囲における限定事項は当該特許請求の範囲で用いられた用語に基づいて広く解釈されるべきであり、本明細書あるいは本願のプロセキューション中に記載された実施形態及び変形例に限定されるべきではない。そのような実施形態及び変形例は非排他的であると解釈されるべきである。例えば、本明細書において、「好ましくは」、「よい」という用語は非排他的なものであって、「好ましいがこれに限定されるものではない」、「よいがこれに限定されるものではない」ということを意味する。 Such gist is an equal element, modification, deletion, combination (eg, combination of features across embodiments and variations), improvement, modification that can be recognized by one of ordinary skill in the art based on the embodiments disclosed herein. Including. The limitations of the claims should be broadly construed based on the terms used in the claims and are limited to the embodiments and variations described herein or in the process of the present application. Should not be done. Such embodiments and variations should be construed as non-exclusive. For example, in the present specification, the terms "preferably" and "good" are non-exclusive and are "preferable but not limited to" and "good but not limited thereto". It means "no".
　上記実施の形態の具体例１において、作業用自律車両１０１が備えるビークルユニット１２の数は、３つ以上であってもよい。 In the specific example 1 of the above embodiment, the number of vehicle units 12 included in the work autonomous vehicle 101 may be three or more.
　上記実施の形態の具体例１では、ビークルコントロールユニット７０が電力供給源ハウジング３０内に配置されているが、ビークルコントロールユニット７０は、例えば、電力供給源ハウジング３０の外に配置されていてもよい。 In the first embodiment of the above embodiment, the vehicle control unit 70 is arranged inside the power supply source housing 30, but the vehicle control unit 70 may be arranged outside the power supply source housing 30, for example. ..
　上記実施の形態の具体例１では、ビークルユニット１２が複数のドライブユニット４０を備えており、複数のドライブユニット４０の各々が駆動モータと操舵モータを含んでいるが、例えば、複数のドライブユニット４０の何れかは駆動モータ又は操舵モータだけを含んでいてもよい。 In the first embodiment of the above embodiment, the vehicle unit 12 includes a plurality of drive units 40, and each of the plurality of drive units 40 includes a drive motor and a steering motor. For example, any one of the plurality of drive units 40. May include only the drive motor or the steering motor.
１０　作業用自律車両
１０１　作業用自律車両
１２　ビークルユニット
１４　アタッチメント
１６　アタッチメント
２０　電力供給源
３０　電力供給源ハウジング
３０Ａ　電力供給源収容空間
４０　ドライブユニット
４２　電気モータ
４２１　電気モータ
４２２　電気モータ
４６　車輪
５０　プロセッシングユニット
６０　プロセッシングユニットハウジング
６０Ａ　プロセッシングユニット収容空間
ＢＦ　車体フレーム
ＢＦＡ　作業スペース形成部

  10 Autonomous vehicle for work 101 Autonomous vehicle for work 12 Vehicle unit 14 Attachment 16 Attachment 20 Power supply source 30 Power supply source housing 30A Power supply source accommodation space 40 Drive unit 42 Electric motor 421 Electric motor 422 Electric motor 46 Wheel 50 Processing unit 60 Processing Unit housing 60A Processing unit accommodation space BF Body frame BFA Work space forming part

Claims (8)

  1. 　作業用自律車両であって、
    　電力供給源と、
    　前記電力供給源が配置される空間である電力供給源収容空間を形成し、前記電力供給源が前記電力供給源収容空間に配置されるように、前記電力供給源を収容する電力供給源ハウジングと、
    　前記電力供給源から供給される電力によって各々が駆動される複数のドライブユニットであって、各々が、前記電力供給源から供給される電力によって動力を発生させる少なくとも１つの電気モータと、前記少なくとも１つの電気モータからの動力が伝達されることで回転する車輪とを含む複数のドライブユニットと、
    　前記電力供給源から供給される電力によって駆動され、前記作業用自律車両が存在する環境に関する情報である作業用自律車両環境情報を取得して処理することで前記作業用自律車両が自律移動するための経路を決定する機能を含む前記作業用自律車両のナビゲーション制御機能を有する処理装置が実装された回路基板を含むプロセッシングユニットと、
    　前記電力供給源収容空間とは別の空間であって、前記プロセッシングユニットが配置される空間であるプロセッシングユニット収容空間を形成し、前記プロセッシングユニットが前記プロセッシングユニット収容空間に配置されるように、前記プロセッシングユニットを収容するプロセッシングユニットハウジングであって、前記電力供給源ハウジングとは別部材として形成されているプロセッシングユニットハウジングと、
    　前記電力供給源ハウジングと、前記複数のドライブユニットと、前記プロセッシングユニットハウジングとを支持する車体フレームであって、その上方又は下方に前記作業用自律車両において作業に使用するスペースを形成するための作業スペース形成部を含む車体フレームとを備える、作業用自律車両。     It is an autonomous vehicle for work
    Power source and
    A power supply source housing that forms a power supply source accommodating space, which is a space in which the power supply source is arranged, and accommodates the power supply source so that the power supply source is arranged in the power supply source accommodating space. ,
    A plurality of drive units, each of which is driven by the electric power supplied from the power supply source, each of which is an electric motor that generates power by the electric power supplied from the electric power supply source, and at least one of the electric motors. Multiple drive units, including wheels that rotate by transmitting power from an electric motor,
    The work autonomous vehicle is driven by the electric power supplied from the power supply source, and the work autonomous vehicle moves autonomously by acquiring and processing the work autonomous vehicle environment information which is information about the environment in which the work autonomous vehicle exists. A processing unit including a circuit board on which a processing device having a navigation control function of the work autonomous vehicle including a function of determining the route of the above-mentioned work is mounted.
    The processing unit housing space, which is a space different from the power supply source housing space and is a space in which the processing unit is arranged, is formed, and the processing unit is arranged in the processing unit housing space. A processing unit housing for accommodating the processing unit, which is formed as a separate member from the power supply source housing, and a processing unit housing.
    A work space for forming a space used for work in the work autonomous vehicle above or below the vehicle body frame that supports the power supply source housing, the plurality of drive units, and the processing unit housing. An autonomous vehicle for work, which includes a body frame including a forming portion.
  2. 　請求項１に記載の作業用自律車両であって、
    　前記プロセッシングユニットハウジングの少なくとも一部は、前記作業用自律車両の上下方向に対して直交する方向に見て、前記電力供給源ハウジングの少なくとも一部に重なる、作業用自律車両。     The work autonomous vehicle according to claim 1.
    A working autonomous vehicle in which at least a part of the processing unit housing overlaps at least a part of the power supply source housing when viewed in a direction orthogonal to the vertical direction of the working autonomous vehicle.
  3. 　請求項１又は２に記載の作業用自律車両であって、
    　前記プロセッシングユニットハウジングは、前記作業用自律車両の左右方向の中央に配置されている、作業用自律車両。     The work autonomous vehicle according to claim 1 or 2.
    The processing unit housing is a work autonomous vehicle arranged at the center in the left-right direction of the work autonomous vehicle.
  4. 　請求項１～３の何れか１項に記載の作業用自律車両であって、
    　前記プロセッシングユニットハウジングは、前記電力供給源ハウジングよりも高い水密性を有する、作業用自律車両。     The work autonomous vehicle according to any one of claims 1 to 3.
    The processing unit housing is a work autonomous vehicle having a higher watertightness than the power supply source housing.
  5. 　請求項１～４の何れか１項に記載の作業用自律車両であって、
    　前記プロセッシングユニット収容空間は、送風機によって外気を取り込む強制空冷が行われない空間である、作業用自律車両。     The work autonomous vehicle according to any one of claims 1 to 4.
    The processing unit accommodation space is an autonomous vehicle for work, which is a space in which forced air cooling that takes in outside air by a blower is not performed.
  6. 　請求項１～５の何れか１項に記載の作業用自律車両であって、
    　前記プロセッシングユニットハウジング又は前記電力供給源ハウジングの少なくとも一部は、前記作業用自律車両の周囲の空間である外部空間に露出している、作業用自律車両。     The work autonomous vehicle according to any one of claims 1 to 5.
    A working autonomous vehicle in which at least a part of the processing unit housing or the power supply source housing is exposed to an external space which is a space around the working autonomous vehicle.
  7. 　請求項１～６の何れか１項に記載の作業用自律車両であって、
    　前記作業用自律車両の上方向又は下方向に見て、前記プロセッシングユニットハウジングが前記電力供給源ハウジングに重ならない、作業用自律車両。     The work autonomous vehicle according to any one of claims 1 to 6.
    A working autonomous vehicle in which the processing unit housing does not overlap the power supply source housing when viewed upward or downward of the working autonomous vehicle.
  8. 　請求項１～７の何れか１項に記載の作業用自律車両であって、
    　前記プロセッシングユニットハウジング又は前記電力供給源ハウジングの少なくとも一部は、前記複数のドライブユニットの各々が有する前記少なくとも１つの車輪の上端よりも上に位置している、作業用自律車両。

          The work autonomous vehicle according to any one of claims 1 to 7.
    A working autonomous vehicle in which at least a portion of the processing unit housing or the power source housing is located above the upper end of the at least one wheel of each of the plurality of drive units.
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