Positioning adjustment mechanism, positioning adjustment system, and charging station

Abstract

A positioning adjustment mechanism is provided for positioning a mobile device at a predetermined stop position. The mobile device includes a pair of movable bodies disposed on both sides of a main body and moving on a moving surface. The positioning adjustment mechanism includes: a guide rail erected on the moving surface; a pair of guide blocks opposite to the guide rail in a width direction orthogonal to the movement direction of the mobile device, the pair of guide blocks being disposed at the bottom of the main body and corresponding portions of the pair of movable bodies near the main body, the pair of guide blocks extending from the front end of the main body closest to the predetermined stop position toward at least a portion of the main body along the movement direction. The pair of guide blocks are positioned opposite each other at the center position of the main body in the width direction, and a first distance between one of the guide blocks and its corresponding counterpart in the pair of movable bodies is smaller than a second distance between one of the guide blocks and the center position in the width direction. The guide rail includes: a widening portion whose width dimension gradually increases in the movement direction in a manner approaching a third distance between the pair of guide blocks; and a positioning portion having a first end and a second end opposite to the first end, the first end being connected to the widest end of the widening portion with the largest width dimension, the second end extending to the predetermined stop position, and both ends of the positioning portion extending parallel to the movement direction in the width direction.

Description

Technical Field

[0001] This invention relates to a positioning adjustment mechanism, a positioning adjustment system, and a charging station. Background Technology

[0002] In recent years, autonomous mobile robots (mobile devices) have been used in various environments and applications to assist in tasks performed by humans or to perform tasks in environments where humans cannot handle them.

[0003] As an example of such an autonomous mobile device, Patent Document 1 discloses a mobile device with a tracked mobile body for improving stability during movement.

[0004] Citation List Patent documents [Patent Document 1]: Japanese Unexamined Patent Application Publication No. 2021-116061 Summary of the Invention

[0005] Technical issues However, the aforementioned mobile device lacks a mechanism for stopping more accurately at the target position.

[0006] Solution to the problem This disclosure provides a positioning adjustment mechanism for positioning a mobile device at a predetermined stop position. The mobile device includes a pair of movable bodies disposed on both sides of a main body and moving on a moving surface. The positioning adjustment mechanism includes: a guide rail erected on the moving surface; and a pair of guide blocks opposite to the guide rail in a width direction orthogonal to the movement direction of the mobile device. The pair of guide blocks are disposed at the bottom of the main body and at corresponding portions of the pair of movable bodies near the main body. The pair of guide blocks extend from the front end of the main body closest to the predetermined stop position toward at least a portion of the main body along the movement direction. The pair of guide blocks are positioned opposite each other, sandwiching the center position of the main body in the width direction. A first distance between one of the guide blocks and a corresponding one of the movable bodies is smaller than a second distance between one of the guide blocks and the center position in the width direction. The guide rail includes: a widening portion, the dimension of which gradually increases in the moving direction in a manner close to a third distance between the pair of guide blocks; and a positioning portion having a first end and a second end opposite to the first end, the first end being connected to the widest end of the widening portion in the width direction where the dimension is largest, the second end extending to the predetermined stop position, and both ends of the positioning portion in the width direction extending parallel to the moving direction.

[0007] This disclosure provides a positioning adjustment system, which includes a mobile device and the positioning adjustment mechanism described above.

[0008] This disclosure provides a charging station for charging a mobile device, the mobile device including a pair of movable bodies disposed on both sides of a main body for moving on a movable surface, the charging station including: a power supply assembly including a power supply for supplying power to the mobile device; and a positioning adjustment mechanism described above, which positions the mobile device in a rechargeable position from which power is supplied by the power supply.

[0009] Effects of the present invention According to one aspect of this disclosure, the positioning accuracy of mobile devices is improved. Attached Figure Description

[0010] A more complete understanding of the embodiments of this disclosure and its many incidental advantages and features can be readily obtained and understood from the following detailed description with reference to the accompanying drawings.

[0011] [ Figure 1 ] Figure 1 It is a schematic three-dimensional diagram of the mobile device.

[0012] [ Figure 2 ] Figure 2 yes Figure 1 Side view of the mobile device shown.

[0013] [ Figure 3 ] Figure 3 It means Figure 1 The diagram shows the hardware configuration of the mobile device.

[0014] [ Figure 4A ] Figure 4A This is a schematic diagram representing the charging task mode.

[0015] [ Figure 4B ] Figure 4B This is a schematic diagram representing the charging task mode.

[0016] [ Figure 4C ] Figure 4C This is a schematic diagram representing the charging task mode.

[0017] [ Figure 4D ] Figure 4D This is a schematic diagram representing the charging task mode.

[0018] [ Figure 5 ] Figure 5 It is a schematic 3D diagram of a charging station.

[0019] [ Figure 6A ] Figure 6A This is a diagram representing a pair of guide blocks.

[0020] [ Figure 6B ] Figure 6B It means Figure 6A The diagram shows a pair of guide blocks.

[0021] [ Figure 7A ] Figure 7A This is a diagram representing a pair of guide blocks.

[0022] [ Figure 7B ] Figure 7B It means Figure 7A The diagram shows a pair of guide blocks.

[0023] [ Figure 8A ] Figure 8A yes Figure 1 The side view of the mobile device shown illustrates its posture as it moves forward.

[0024] [ Figure 8B ] Figure 8B yes Figure 1 The side view of the mobile device shown illustrates its posture as it moves forward.

[0025] [ Figure 9A ] Figure 9A This is a diagram showing a guide rail without a scooping section.

[0026] [ Figure 9B ] Figure 9B It means Figure 5 A diagram showing the function of the scooping part of the guide rail.

[0027] [ Figure 10A ] Figure 10A yes Figure 5 The floor plan of the charging station shown illustrates the function of the guide rail.

[0028] [ Figure 10B ] Figure 10B yes Figure 5 The floor plan of the charging station shown illustrates the function of the guide rail.

[0029] [ Figure 11A ] Figure 11A yes Figure 5 The floor plan of the charging station shown illustrates the function of the extended section of the guide rail.

[0030] [ Figure 11B ] Figure 11B yes Figure 5 The floor plan of the charging station shown illustrates the function of the extended section of the guide rail.

[0031] [ Figure 12A ] Figure 12A yes Figure 5 The plan view of the charging station shown illustrates the functions of the positioning section of the guide rail and the wheel stop.

[0032] [ Figure 12B ] Figure 12B yes Figure 5 The plan view of the charging station shown illustrates the functions of the positioning section of the guide rail and the wheel stop.

[0033] [ Figure 13 ] Figure 13 yes Figure 1 The mobile device shown is in Figure 5 A side view of the charging station in a charging position as shown.

[0034] [ Figure 14A ] Figure 14A It means Figure 5 The diagram shows the cross-sectional shapes of each part of the guide rail.

[0035] [ Figure 14B ] Figure 14B It means Figure 5 The diagram shows the cross-sectional shapes of each part of the guide rail.

[0036] [ Figure 14C ] Figure 14C It means Figure 5 The diagram shows the cross-sectional shapes of each part of the guide rail.

[0037] [ Figure 14D ] Figure 14D It means Figure 5 The diagram shows the cross-sectional shapes of each part of the guide rail.

[0038] [ Figure 15 ] Figure 15 yes Figure 5 An enlarged perspective view of the rotating part of the power supply platform of the charging station shown.

[0039] [ Figure 16A ] Figure 16A It means Figure 1 When the mobile device shown is in the rechargeable position Figure 15 The diagram shows the operation of the power supply station.

[0040] [ Figure 16B ] Figure 16B It means Figure 1 When the mobile device shown is in the rechargeable position Figure 15 Another diagram showing the operation of the power supply station.

[0041] [ Figure 16C ] Figure 16C It means Figure 1 When the mobile device shown is in the rechargeable position Figure 15 Another diagram showing the operation of the power supply station.

[0042] [ Figure 17 ] Figure 17 It means Figure 1 The tracked mobile body shown is Figure 5 The diagram shows the positional relationship of the wheel stop in the rechargeable position.

[0043] [ Figure 18 ] Figure 18 It means Figure 1 The diagram shows the action of a mobile device entering the charging route in the charging control.

[0044] [ Figure 19A ] Figure 19A It is a schematic representation Figure 1 The diagram shows the control during the stage when the mobile device enters the charging route.

[0045] [ Figure 19B ] Figure 19B It is a schematic representation Figure 1 The diagram shows the control of the mobile device entering another stage of the charging route.

[0046] [ Figure 19C ] Figure 19C It is a schematic representation Figure 1 The diagram shows the control of the mobile device entering another stage of the charging route.

[0047] [ Figure 19D ] Figure 19D It is a schematic representation Figure 1 The diagram shows the control of the mobile device entering another stage of the charging route.

[0048] [ Figure 19E ] Figure 19E It is a schematic representation Figure 1 The diagram shows the control of the mobile device entering another stage of the charging route.

[0049] [ Figure 19F ] Figure 19F It is a schematic representation Figure 1 The diagram shows the control of the mobile device entering another stage of the charging route.

[0050] [ Figure 20A ] Figure 20A yes Figure 5 The floor plan of the charging station shown indicates Figure 1 The mobile device shown is in directional control at the connection preparation position.

[0051] [ Figure 20B ] Figure 20B yes Figure 5 The floor plan of the charging station shown indicates Figure 1 The mobile device shown is in directional control at the connection preparation position.

[0052] [ Figure 21 ] Figure 21 yes Figure 5 The floor plan of the charging station shown indicates Figure 1 The mobile device shown is controlled in the opposite direction from the connection preparation position.

[0053] [ Figure 22 ] Figure 22 This is a schematic diagram illustrating the action of charging in a rechargeable location.

[0054] [ Figure 23A ] Figure 23A It is a schematic representation Figure 1 The diagram shows the control during the charging of the mobile device.

[0055] [ Figure 23B ] Figure 23B It is a schematic representation Figure 1 The diagram shows the control during the charging of the mobile device.

[0056] [ Figure 24 ] Figure 24 It means Figure 1 The diagram shows the action of the mobile device when it exits the charging line in the charging control.

[0057] [ Figure 25A ] Figure 25A It is a schematic representation Figure 1 The diagram shows the control during the stage when the mobile device exits the charging route.

[0058] [ Figure 25B ] Figure 25B It is a schematic representation Figure 1 The diagram shows another stage of control when the mobile device exits the charging route.

[0059] [ Figure 25C ] Figure 25C It is a schematic representation Figure 1 The diagram shows another stage of control when the mobile device exits the charging route.

[0060] [ Figure 25D ] Figure 25D It is a schematic representation Figure 1 The diagram shows another stage of control when the mobile device exits the charging route.

[0061] [ Figure 26A ] Figure 26A It is based on Figure 5 The image shows a 3D view of a modified charging station.

[0062] [ Figure 26B ] Figure 26B yes Figure 26A Another 3D view of the charging station shown.

[0063] [ Figure 27 ] Figure 27 It is based on Figure 5 A three-dimensional view of another modified charging station shown.

[0064] [ Figure 28 ] Figure 28 It is based on Figure 5 The image shows a three-dimensional view of another modified charging station.

[0065] [ Figure 29A Figure 29A It means according to Figure 5 The diagram shows the installation location of a modified example of a charging station.

[0066] [ Figure 29B ] Figure 29B It means according to Figure 5 A diagram showing the installation location of another variation of the charging station.

[0067] [ Figure 30A ] Figure 30A It means according to Figure 10A , Figure 10B A diagram of the guide portion of the first modified example shown.

[0068] [ Figure 30B ] Figure 30B It means Figure 30A The diagram shows the guide section.

[0069] [ Figure 31 ] Figure 31 It means according to Figure 10A , Figure 10B A diagram of the guide portion in a second modified example of the guide portion shown.

[0070] [ Figure 32A ] Figure 32A It means according to Figure 11A , Figure 11B A diagram of the widened portion in a modified example shown.

[0071] [ Figure 32B ] Figure 32B It means Figure 32A The diagram shows the widened portion.

[0072] [ Figure 33A ] Figure 33A It means according to Figure 5 The diagram shows a first modified example of the power supply platform.

[0073] [ Figure 33B ] Figure 33B It means Figure 33A The diagram shows the power supply station.

[0074] [ Figure 34A ] Figure 34A It means according to Figure 5 The diagram shows a second variation of the power supply platform.

[0075] [ Figure 34B ] Figure 34B It means Figure 34A The diagram shows the power supply station.

[0076] [ Figure 35A ] Figure 35A It means according to Figure 5 The diagram shows a third variation of the power supply platform.

[0077] [ Figure 35B ] Figure 35B It means Figure 35A The diagram shows the power supply station.

[0078] [ Figure 36 ] Figure 36 It is based on Figure 6A , Figure 6B A three-dimensional view of a modified example of a guide block.

[0079] [ Figure 37 ] Figure 37 It is based on Figure 5 The diagram shows a plan view of a modified guide rail.

[0080] The accompanying drawings are intended to illustrate embodiments of this disclosure and should not be construed as limiting its scope. Unless explicitly stated otherwise, the drawings should not be considered to be drawn to scale. Furthermore, in all the drawings, the same or similar reference numerals denote the same or similar parts. Detailed Implementation

[0081] In describing the embodiments shown in the accompanying drawings, specific terms have been used for clarity. However, the disclosure of this specification is not intended to be limited to the selected specific terms, and it should be understood that each specific element includes all technical equivalents that have similar functions, operate in a similar manner, and achieve similar results.

[0082] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0083] For ease of understanding, the same reference numerals are used for the same parts in all the accompanying drawings, and redundant descriptions are omitted.

[0084] The positioning adjustment system 100 of this embodiment is a system for positioning a mobile device 1 at a predetermined stopping position. The positioning adjustment system 100 includes the mobile device 1 and a positioning adjustment mechanism 200 (see reference 200) for positioning the mobile device 1 at the predetermined stopping position. Figure 1 , Figures 5-7B Details will be described later. The positioning and adjustment mechanism 200 includes a guide rail 210 and a wheel stopper 220 (see reference). Figure 5 ), and a pair of guide blocks 230a, 230b (refer to Figures 5-7B Similarly, details will be described later. The mobile device 1, including tracked mobile bodies 10a and 10b, will be described as an example of a mobile device. In the following description, the mobile device 1 will be positioned at a rechargeable position P4 of the charging station 300 according to this embodiment (e.g., Figure 13 and Figure 18 The charging task example shown is the task of locating mobile device 1.

[0085] Composition of mobile devices Reference Figures 1-3 The configuration of the mobile device 1, which includes tracked mobile bodies 10a and 10b, will be described. Figure 1 The figure shown is a schematic perspective view of the mobile device 1 used in this embodiment. Figure 2 yes Figure 1 A side view of the mobile device 1 shown. Figure 2 The diagram shows a side view of tracked mobile bodies 10a, taken from the side of tracked mobile body 10a. The other tracked mobile body 10b has the same structure.

[0086] exist Figure 1 and Figure 2 In the description, the x1, y1, and z1 directions are perpendicular to each other. The x1 and y1 directions are horizontal, and the z1 direction is vertical. The x1 direction is the front-to-back direction of the moving device 1. The direction of the moving device 1 towards the front is called the "positive x1 direction," and the direction towards the rear is called the "negative x1 direction." The y1 direction is the width direction of the moving device 1. When viewed from the front of the moving device 1, the direction towards the right and the direction towards the left are called the "positive y1 direction" and the "negative y1 direction," respectively. The direction of the moving device 1 towards the top and the direction towards the bottom can be called the "positive z1 direction" and the "negative z1 direction," respectively. In the following description, for ease of description, the positive side in the z1 direction can be called the upper side, and the negative side in the z1 direction can be called the lower side. Furthermore, for example, the front and the end on the positive side in the z1 direction can be called the "positive side" and the "positive end."

[0087] like Figure 1 As shown, the mobile device 1 includes a main body 50 located at the center in the y1 direction and a pair of moving bodies disposed on both sides of the main body 50 in the y1 direction and moving (in contact with) a moving surface. The moving bodies are tracked moving bodies 10a and 10b. Figure 1In this configuration, one tracked mobile body 10a is located in the positive y1 direction of the main body 50, and another tracked mobile body 10b is located in the negative y1 direction of the main body 50. The moving device 1 changes its direction of movement by generating a speed difference between the mobile bodies 10a and 10b. In the following description, the mobile bodies 10a and 10b are sometimes collectively referred to as mobile body 10. The tracked mobile bodies 10a and 10b each include hub motors 14a and 14b, which can be collectively referred to as hub motors 14.

[0088] like Figure 1 and Figure 2 As shown, in order to move in a stable posture, the moving device 1 uses a triangular tracked moving body 10. Each tracked moving body 10 includes a drive wheel 13 with a built-in hub motor 14 and two rotating wheels 15a and 15b. As described above, the moving device 1 including the tracked moving body 10 has high mobility and can move stably on uneven, rough ground. On the other hand, compared with a moving device 1 including wheels, it is difficult to make fine adjustments to the position of the moving device 1 including the tracked moving body 10. Therefore, it is difficult to move the moving device 1 including the tracked moving body 10 to the target position with high precision. In addition, the moving device 1 with the tracked moving body 10 is prone to stopping in a tilted posture in the left-right and up-down directions. Therefore, in the moving device 1 with the tracked moving body 10, there is a problem of unstable stopping posture.

[0089] When the tracked mobile body 10 stops for charging, loading, unloading, or other purposes, it is required to be positioned with high precision within an error range of approximately ± tens of millimeters relative to the target position, or to maintain its posture within an error range of approximately ± a few degrees.

[0090] The composition of each part of the mobile device 1 will be further explained. Tracked mobile bodies 10a and 10b are units that serve as the means of movement for the mobile device 1. Each tracked mobile body 10a and 10b is a tracked mobile body using metal or rubber tracks. Compared to vehicles and other mobile bodies that move by tires, tracked mobile bodies have a large ground contact area, thus enabling stable movement even in environments with rough ground conditions. While tire-driven mobile bodies require space to turn, mobile devices including tracked mobile bodies can perform what is called "turning on the spot," thus enabling smooth turning even in confined spaces.

[0091] The main body 50 is a support structure that supports the tracked mobile bodies 10a and 10b to allow them to move. The main body 50 also has a controller for controlling the movement of the mobile device 1. The main body 50 includes a battery 530 (described later) for supplying power to drive the tracked mobile bodies 10a and 10b.

[0092] like Figure 1 , Figure 2 As shown, the main body 50 of the mobile device 1 is a shell having a top surface 50A, a bottom surface 50B, and a pair of side surfaces 50C and 50D. The top surface 50A is arranged with the positive z1 direction as its normal direction. The bottom surface 50B is arranged with the negative z1 direction as its normal direction. The pair of side surfaces 50C and 50D are arranged with the positive y1 direction and the negative y1 direction as their normal directions, respectively. On the top surface 50A of the main body 50, sensors for controlling the mobile device 1 are located... Figure 1 The example includes a Global Positioning System (GPS) receiver 51, a two-dimensional (2D) light detection and ranging (LiDAR) 52, a three-dimensional (3D) LiDAR 53, a pan-tilt-zoom (PTZ) camera 54, and a 360-degree camera 55.

[0093] GPS receiver 51 receives radio waves from artificial satellites to obtain current location information. Based on the location information obtained by the GPS receiver 51, the mobile device 1 can move autonomously outdoors. Furthermore, such as... Figure 1 As shown, by setting two GPS receivers 51 in the width direction (y1 direction) of the main body 50, for example, the direction in which the mobile device 1 is facing can be determined in addition to the location information.

[0094] The 2D LiDAR 52 acquires distance information about a horizontal plane by horizontally scanning with distance measuring light. In this embodiment, the 2D LiDAR 52 is positioned at the center of the main body 50 in the width direction (y1 direction) and is configured to acquire distance information within a 270° range in the horizontal direction centered on the front (x1 positive direction) of the main body 50. The mobile device 1, for example, can pre-create a map of the surrounding shape using the 2D LiDAR 52, and during movement, match the measurement results of the 2D LiDAR 52 with the map information to implement movement control towards the target location. Therefore, the mobile device 1 can autonomously move using the 2D LiDAR 52 even in spaces where GPS signals cannot be received, such as indoors.

[0095] In addition to acquiring horizontal distance information, the 3D LiDAR 53 also acquires spatial distance information, including vertical distance information. The mobile device 1 can, for example, implement movement control by using the 3D LiDAR 53 to monitor the area in front and temporarily stopping movement when it comes into contact with a person or object during movement. Furthermore, the mobile device 1 can also be configured to use the 3D LiDAR 53 to monitor both the area in front and behind for obstacle detection.

[0096] The PTZ camera 54 is a camera device with functions for panning the camera lens horizontally, tilting the camera lens vertically, and zooming in and out. The moving device 1 can utilize the various functions of the PTZ camera 54 to acquire detailed images of surrounding people, instruments, etc. For example, the PTZ camera 54 can be used in the moving device 1 to simultaneously read preset instrument values ​​within the factory grounds, automatically photograph leaks in piping, etc., while simultaneously circulating the camera.

[0097] The 360° camera 55 is an imaging device that captures images within a 360° range (i.e., in all directions of the main body 50). The mobile device 1, utilizing the 360° camera 55, can acquire images of its surroundings from all angles while in motion.

[0098] When the mobile device 1 is remotely operated by the operator, the PTZ camera 54 and the 360° camera 55 can be used to provide image information of the mobile device 1 to the operator.

[0099] The operator can observe camera images on a monitor screen and remotely operate the mobile device 1 while keeping a real-time view of its surroundings.

[0100] Buffers 56 and 57 extending in the width direction are installed on the front and rear sides of the mobile device 1. The ends of the buffers 56 and 57 in the width direction preferably extend to the outer side in the y1 direction beyond the pair of tracked mobile bodies 10a and 10b disposed on both sides of the main body 50. Contact sensors 58 and 59 (see...) Figure 3 The contact sensors 58 and 59, respectively built into the buffers 56 and 57, can detect contact with external objects such as people or obstacles. The moving device 1 can implement movement control, such as temporarily stopping movement when contact with an object is detected by the contact sensors 58 and 59 of the buffers 56 and 57.

[0101] The front portion of the main body 50 is divided into a front surface 50E and an inclined surface 50F along the z1 direction. The front surface 50E is a surface positioned at the frontmost point of the main body 50 with the positive x1 direction as its normal direction. The inclined surface 50F is positioned above the front surface 50E, and is positioned with the diagonally upward and forward (positive x1 and positive z1 directions) as its normal direction. The inclined surface 50F is formed into a rectangle with the same width as the front surface 50E. One side of the lower end of the rectangle is connected to the upper end of the front surface 50E, and one side of the upper end is connected to the front end of the top surface 50A. Opposite sides in the width direction are connected to the side surfaces 50C and 50D, respectively.

[0102] In this embodiment, a receiver 60 is provided on the inclined surface 50F of the main body 50. The receiver 60 is a device that receives power from the power supply platform 310 of the charging station 300 during a charging task. In this embodiment, the receiver 60 is a non-contact device, such as a magnetic coil, and connects to the power supply unit 315 (see reference 310) of the power supply platform 310. Figure 5 When it approaches the specified distance, it automatically contacts the battery 530 inside the main body 50 (see reference). Figure 3 Power supply was provided.

[0103] For example Figure 1 As shown, the receiver 60 is formed by a generally rectangular box-shaped housing that is erected at the same height as the inclined surface 50F. The upper surface 60A is the same as the inclined surface 50F, with the oblique front as the normal direction.

[0104] An exhaust channel 61 is provided on the front surface 50E of the main body 50, protruding forward from the front surface 50E. The front end 61A of this exhaust channel 61 is positioned further forward of the end of the receiver 60 in the x1 positive direction. That is, further forward than the lower end of the upper 60A. Thus, when the moving device 1 approaches the power supply platform 310, the front end 61A contacts a portion of the power supply platform 310 before the receiver 60 contacts the power supply platform 310. In this embodiment, the front end 61A contacts the contact receiving portion 316 of the rotating part 312 (see reference). Figure 15 (etc.) contact. That is, the exhaust channel 61 functions as a contact part that contacts the power supply station 310 when the mobile device 1 reaches the rechargeable position P4. As a contact part, the exhaust channel 61 can prevent the receiver 60 from contacting the power supply unit 315 of the power supply station 310 at the rechargeable position P4.

[0105] The mobile device 1 can also be powered manually. In this case, for example, the battery 530 can be charged directly from a dedicated charging device using a connector provided on the back of the main body 50, such as 50G.

[0106] like Figure 2 As shown, the tracked mobile body 10 has a triangular shape formed by the drive wheel 13 and two rotating wheels 15a and 15b. For example, when the size of the mobile body in the longitudinal direction is limited, the tracked mobile body 10 with a triangular shape can increase the ground contact area within a limited size in the longitudinal direction, thereby improving the stability of movement. On the other hand, in the case of so-called tank-type tracks where the upper side (drive wheel side) is longer than the lower side (rotating wheel side), when the size in the longitudinal direction is limited, the ground contact area decreases and the movement stability decreases. As described above, the tracked mobile body 10 is effective in improving the mobility of the relatively small mobile device 1.

[0107] The tracked mobile body 10 includes tracks 11, drive wheels 13, hub motors 14, sprockets 15a and 15b, idler wheels 18a and 18b, connecting rods 19, side plates 20a and 20b, and tensioner 25.

[0108] The track 11 is made of metal or rubber. The track 11 is tensioned and mounted on the drive wheel 13 and the sprockets 15a and 15b. The track 11 moves in the rotational direction of the drive wheel 13, causing the sprockets 15a and 15b to rotate as a unit, thereby rotating the tracked mobile body 10. The track 11 has multiple protrusions 11a and multiple protrusions 11b on each of its surfaces. By providing protrusions 11a on the outer surface of the track 11, the mobile body 10 can move stably over small obstacles such as stones on the road surface. Protrusions 11b are provided on the inner surface of the track 11 to prevent the track 11 from detaching from the drive wheel 13, sprockets 15a and 15b, etc.

[0109] The drive wheel 13 transmits the driving force for rotating the tracked mobile body 10 to the track 11. In the tracked mobile body 10, the hub motor 14 transmits the driving force (rotational force) to the drive wheel 13, and the drive wheel 13 transmits the driving force to the sprockets 15a and 15b via the track 11.

[0110] A hub motor 14 is integrated into the drive wheel 13, transmitting rotational force to the drive wheel 13. The hub motor 14 is driven to rotate around a motor shaft 141, which serves as the drive shaft. The rotational shaft (motor shaft 141) of the hub motor 14 is used as the rotational shaft (drive shaft) of the drive wheel 13, causing the drive wheel 13 to rotate via the rotational force of the hub motor 14. The rotational force of the hub motor 14 is transmitted as a driving force to the track 11. Specifically, the hub motor 14 causes the drive wheel 13 to rotate in the positive direction to propel the moving device 1 forward, or causes the drive wheel 13 to rotate in the negative direction to propel the moving device 1 backward.

[0111] The hub motor 14, built into the drive wheel 13, simplifies the structure of the tracked mobile body 10. For example, by eliminating the use of components such as drive chains and gears, the hub motor 14 reduces the risk of malfunctions caused by these components. In addition, the hub motor 14, built into the drive wheel 13, can generate driving force near the outer periphery of the tracked mobile body 10, thereby increasing torque.

[0112] The sprockets 15a and 15b are rotatably mounted on the tracked mobile body 10. The driving force (rotational force) transmitted from the drive wheel 13 via the track 11 causes the sprockets 15a and 15b to rotate about the sprocket shafts 151a and 151b.

[0113] The drive wheel 13 and the sprockets 15a and 15b form a triangle when viewed from the side. The track 11 is tensioned and mounted between the drive wheel 13 and the sprockets 15a and 15b, with the section of the track 11 between the sprockets 15a and 15b in contact with the ground. That is, the drive wheel 13, which houses the hub motor 14, does not contact the road surface. Even if the tracked vehicle 10 moves in, for example, a puddle, the hub motor 14 will not be submerged. Therefore, the hub motor 14 does not require a special waterproofing mechanism.

[0114] The diameter of the drive wheel 13 differs from the diameters of the rotating wheels 15a and 15b. The configuration of the moving body is preferably designed considering factors such as desired size constraints and desired mobility performance. Generally, as the diameter of the motor decreases, the torque per unit width of the motor tends to decrease across the motor's thickness (width). Therefore, the diameter of the drive wheel with the built-in hub motor is preferably larger than the diameter of the motor to achieve the desired torque performance. Thus, in a layout that satisfies the desired mobility performance and size constraints of the moving device 1 or the tracked moving body 10, the tracked moving body 10 is designed such that the diameter of the drive wheel 13, located in the upper part of the tracked moving body 10, is larger than the diameters of the rotating wheels 15a and 15b. Furthermore, increasing the diameter of the rotating wheels under size constraints reduces the ground contact area, leading to decreased mobility stability. Therefore, it is advantageous to use rotating wheels 15a and 15b with diameters smaller than that of the drive wheel 13.

[0115] Idler wheels 18a and 18b are auxiliary wheels positioned between two rotating wheels 15a and 15b, and are driven to rotate by track 11. Idler wheels 18a and 18b rotate about idler wheel shafts 181a and 181b, respectively. Connecting rod 19 is a support component that supports idler wheels 18a and 18b.

[0116] Side plate 20a supports the drive wheel 13, sprockets 15a and 15b, and idler wheels 18a and 18b in the tracked mobile body 10. Side plate 20a is installed on the side of the tracked mobile body 10 in the positive direction of the y1 direction. On the side opposite to side plate 20a, i.e., the negative side of the tracked mobile body 10 in the y1 direction, a side plate 20b of the same shape as side plate 20a is provided. The tracked mobile body 10 has a two-sided structure that uses two side plates 20a and 20b to support the drive wheel 13, sprockets 15a and 15b, etc. Side plates 20a and 20b support the drive wheel 13 using a motor shaft 141. Side plates 20a and 20b support sprockets 15a and 15b using sprocket shafts 151a and 151b, respectively. Side plates 20a and 20b support idler wheels 18a and 18b via a connecting rod shaft 191 of a connecting rod 19 that supports idler wheels 18a and 18b.

[0117] The tensioner 25, composed of an elastic component such as a spring, is connected to the motor shaft 141, which serves as the rotation shaft for the hub motor 14 and the drive wheel 13. The tensioner 25 is configured to apply tension to the track 11 by pressing the drive wheel 13 against the inside of the track 11. The tensioner 25 functions to adjust the tension applied to the track 11 from the drive wheel 13 as the tracked vehicle 10 moves. For example, the tensioner 25 functions to maintain a reference tension that is approximately constant as the tracked vehicle 10 moves, based on the tension when it is stationary. By adjusting the slack of the track 11 using the tensioner 25, normal transmission of driving force via the track 11 can be maintained within the tracked vehicle 10. By applying tension to the track 11 using the tensioner 25, the track 11 is prevented from detaching from the wheels of the tracked vehicle 10.

[0118] like Figure 1 and Figure 2 As shown, the tracked mobile body 10 has a generally symmetrical configuration with respect to the center of the drive wheels 13 in the forward and backward movement direction. Specifically, from... Figure 1 and Figure 2 In the side view shown in the y1 axis direction, the tracked mobile body 10 is approximately symmetrical with respect to the line of the motor shaft 141 of the hub motor 14 that passes through the line connecting the wheel shafts 151a and 151b perpendicular to the two wheels 15a and 15b.

[0119] For example, mobile devices moving in narrow spaces such as office corridors frequently perform forward, backward, and stationary turns. In such cases, if the shape of the tracks or the configuration of the drive wheels, sprockets, tensioners, etc., is asymmetrical in the front-to-back direction, the driving characteristics of the mobile device will change when moving forward and backward, or it may be unable to rotate around its center when turning in place. In contrast, the tracked mobile body 10 has a layout (structure) that is approximately symmetrical in the front-to-back direction. This improves the stability of the mobile device 1 during movement and simplifies control. Since the tracked mobile body 10 can be freely mounted on the left and right sides of the mobile device 1, the number of components can be reduced.

[0120] Figure 3 The diagram shown is an example of the hardware structure of mobile device 1. Figure 1As shown, the mobile device 1 has a main body 50 for controlling the processing or operation of the mobile device 1. The main body 50 includes a radio control receiver 501, a central processing unit (CPU) 502, a memory 503, a communication interface (I / F) 506, a battery 530, a motion control motor driver 540, a posture control motor driver 550, and posture control motors 555a and 555b. Furthermore, the radio control receiver 501, CPU 502, memory 503, communication I / F 506, battery 530, motion control motor driver 540, and posture control motor driver 550 are interconnected via a system bus 510. The system bus 510 is an address bus, data bus, etc., used to electrically connect the above components to each other, and transmits address signals, data signals, various control signals, etc.

[0121] The radio control receiver 501 receives action instruction signals from a transmitter, such as a personal computer (PC), used by the operator of the mobile device 1.

[0122] CPU 502 performs overall control of mobile device 1. CPU 502 is a computing device that reads the program P and various data for the operation of mobile device 1 from memory 503 and performs processing to realize the functions of mobile device 1.

[0123] The memory 503 stores the program P executed by the CPU 502 and various data used in the operation of the mobile device 1. The program P is pre-installed in the memory 503.

[0124] Alternatively, program P, as an installable or executable file, can be provided after being stored on a recording medium readable by CPU 502 (computer), such as a CD-ROM, floppy disk (FD), CD-R, or DVD. Program P can be provided after being stored in a computer connected to a network such as the Internet, and downloaded to mobile device 1 via the network. Program P can be provided or distributed via a network such as the Internet. If program P is provided externally, CPU 502 reads program P via communication I / F 506. Alternatively, instead of CPU 502 operating mobile device 1 according to program P, mobile device 1 can also be operated by hardware such as an ASIC (Dedicated Application Specific Integrated Circuit) having the same computational and control functions as those implemented by program P.

[0125] The Communication I / F506 connects to and communicates with other devices or apparatuses via a communication network. The Communication I / F506 is, for example, a communication interface for a wired or wireless local area network (LAN). The Communication I / F506 may include communication interfaces for 3G, LTE, 4G, 5G, Wi-Fi, WiMAX, Wi-Fi, millimeter-wave wireless communication, etc. The mobile device 1 may include communication circuitry for performing short-range wireless communication such as Near Field Communication (NFC) or Bluetooth.

[0126] Reference Figure 1 , Figure 2 The GPS receiver 51, 2D LiDAR 52, 3D LiDAR 53, PTZ camera 54, 360° camera 55, and contact sensors 58 and 59 mounted on the main body 50 can be communicatively connected to various hardware elements within the main body 50 via the communication I / F 506.

[0127] Battery 530 is a power supply unit that supplies power for the processing or operation of the mobile device 1. For example, battery 530 supplies power to hub motors 14a, 14b and attitude control motors 555a, 555b. Battery 530 is electrically connected to receiver 60 and is charged by receiving power from power supply unit 315 of power supply platform 310 of charging station 300 via receiver 60.

[0128] The motion control motor driver 540 supplies motor drive signals to the hub motors 14a and 14b to drive the hub motors 14a and 14b.

[0129] Hub motors 14a and 14b are respectively disposed inside the drive wheels 13a of the tracked mobile body 10a and 13b of the tracked mobile body 10b, and respectively transmit rotational force to the drive wheels 13a and 13b. Hub motors 14a and 14b rotate the drive wheels 13a and 13b in the positive direction to propel the mobile device 1 forward, or rotate them in the negative direction to reverse the mobile device 1. Specifically, hub motors 14a and 14b rotate one drive wheel 13 in the positive or negative direction and stop the other drive wheel 13 to pivot the mobile device 1. Alternatively, hub motors 14a and 14b rotate one drive wheel 13 in the positive direction and the other drive wheel 13 in the negative direction to rotate the mobile device 1 in place.

[0130] The posture control motor driver 550 provides motor drive control signals to posture control motors 555a and 555b to drive them. Posture control motors 555a and 555b receive posture control signals from the posture control motor driver 550, such as adjusting the height of link 19 up and down to adjust the height of idler wheels 18a and 18b. Posture control motors 555a and 555b control the posture of the main body 50, for example, to prevent the moving device 1 from tipping over.

[0131] Figure 3 The various hardware components inside the main body 50 (e.g., weights such as the battery 530) are preferably mounted below the bottom surface 50B. This improves the posture stability of the main body 50. The main body 50 is preferably formed to a waterproof specification. This prevents water from entering the various hardware components inside the main body 50, allowing the mobile device 1 to be used outdoors even in rainy weather.

[0132] Alternatively, the system may be configured such that distance measuring devices are respectively installed on a pair of tracked mobile bodies 10a and 10b, and output information on the rotation amount of each tracked mobile body 10a and 10b to various hardware elements within the main body 50. In this case, the distance measuring devices are configured, for example, to acquire the rotation amount of the rotation shaft 141 of the hub motors 14a and 14b of each tracked mobile body 10a and 10b. The hardware elements of the main body 50 that input the rotation amount information from the distance measuring devices can derive an estimated value of the travel distance of the mobile device 1 based on the rotation amount of the rotation shaft 141.

[0133] Mobile device 1 is not limited to the aforementioned devices that move according to action commands received by radio control receiver 501; it can also move using technologies such as autonomous movement or line tracking. Alternatively, mobile device 1 can receive action instruction signals transmitted via a communication network through communication I / F 506, thereby moving based on remote operation by a user at a remote location. Furthermore, in addition to manual remote operation by an operator (user), mobile device 1 can automatically perform operations such as movement and various tasks based on a host system such as a server. In this case, mobile device 1 can receive action instruction signals from the host system via radio control receiver 501 or communication I / F 506.

[0134] Figures 1-3 The dimensions of the mobile device 1 shown are approximately 1m in length in the front-to-back direction, width in the left-to-right direction, and height.

[0135] The mobile device that is the object of the positioning adjustment system 100 in this embodiment is not limited to having Figures 1-3The moving device 1 of the tracked mobile body 10 shown. That is, the object of the positioning adjustment system 100 of this embodiment is not limited to the tracked mobile body 10 with the tensioner 25 arranged above the rotation shaft 141 of the hub motor 14. This is because fine-tuning of positioning is also difficult in tracked mobile devices with other configurations.

[0136] To cope with operations in harsh road conditions or confined spaces, autonomous mobile devices require high positioning accuracy relative to the target location. There is room for improvement in this positioning accuracy of existing autonomous mobile devices. In particular, in configurations where the direction of movement is changed between a pair of mobile bodies by setting a speed difference, as disclosed in Patent Document 1, this problem becomes significant, for example, due to the difficulty in making fine position adjustments.

[0137] Summary of the charging task As an example of a task to locate a mobile device 1 using the positioning adjustment system 100 according to the implementation method, the structure of a charging task located at a rechargeable position P4 in a charging station 300 will be described.

[0138] Figures 4A to 4D These are schematic diagrams representing the applicable modes for each charging task. Figure 4A In the basic model shown, the mobile device 1 moves, for example, along a predetermined patrol route. A specific example of a patrol route could be a route used for inspection tasks in large outdoor areas such as factories, where the inspection task involves checking multiple managed objects (e.g., the readings of measuring instruments) that require routine or periodic maintenance in a predetermined sequence.

[0139] exist Figure 4A In the basic mode, a charging route is incorporated into the patrol route. The charging route is used for temporarily deviating from the patrol route to charge the mobile device 1 at a designated charging station 300. Figure 4A In the basic mode, for example, the mobile device 1 can control its movement from the patrol route to the charging route when certain conditions are met. These conditions can be listed as, for example, when it has circled the patrol route a certain number of times or when a certain amount of time has elapsed. Thus, the mobile device 1 can continue to move autonomously while moving along the patrol route and performing inspection tasks, and at the same time, appropriately charge the battery 530 inside the main body 50.

[0140] like Figure 4BAs shown, consider an emergency situation where, during the movement of mobile device 1 along the patrol route, a sudden shortage of battery 530 or the receipt of an emergency stop command occurs. In this case, for example, mobile device 1 can also be controlled to switch its movement route to an emergency retreat route that deviates from the patrol route, so as to quickly move to charging station 300. For example, in Figure 4B In the example, the emergency retreat route is set to have a shorter travel distance to charging station 300 compared to the travel on the continued patrol route.

[0141] Furthermore, as shown in Figure 4C, multiple charging routes can be set up, and charging routes to public charging stations can be incorporated into each charging route. In the example of Figure 4C, two types of charging routes are set up: a first charging route and a second charging route. A charging route that performs charging at a single charging station shared by both routes is incorporated into each charging route. In this case, for example, as shown in Figure 4C, different mobile devices 1A and 1B are respectively configured on the first charging route and the second charging route, and control can be performed to allow the mobile devices to use the public charging station for charging at different times.

[0142] exist Figure 4D In the illustrated mode, multiple charging stations can be set up within the route, and multiple charging routes can be programmed. Figure 4D In the example, two charging stations 300a and 300b are set up on a single loop route. A first charging route is provided on this loop route for charging at charging station 300a on one side, and a second charging route is provided for charging at charging station 300b on the other side. In this case, for example... Figure 4D As shown, when performing a charging task, mobile devices 1A or 1B can be controlled to select the nearest charging route on the patrol route. For example, when mobile device 1A is in Figure 4D When the mobile device 1B is in the upper left position of the circuit route, it controls the mobile device 1A to select the first charging route, which is closer to the second charging route than the second charging route, and charges at the charging station 300a. Figure 4D When the device is in the lower right position of the circuit route, the mobile device 1B is controlled to select a second charging route that is closer to the first charging route on the circuit route, and charging is performed at the charging station 300b.

[0143] In order for the mobile device 1 to be successfully charged at the designated charging station 300 during autonomous movement, it is important to be able to accurately move the mobile device 1 to the designated rechargeable position P4 within the charging station 300. The charging station 300 according to this embodiment has a structure for solving this problem. The structure of the charging station 300 will be described below.

[0144] Structure of charging station Figure 5 This is a perspective view showing the schematic structure of the charging station 300 according to the embodiment. (Example) Figure 5 As shown, the charging station 300 includes a power supply platform 310, a floor 320, a guide rail 210, and a wheel stop 220.

[0145] exist Figure 5 In the following description, the x2, y2, and z2 directions are mutually perpendicular. The x2 and y2 directions are horizontal, while the z2 direction is vertical. The x2 direction is the configuration direction of the power supply platform 310 and the guide rail 210, and is the length direction of the guide rail 210. The positive x2 direction side is the entrance side of the charging station 300 and the front end side of the guide rail 210. The front end side of the guide rail 210 can also be referred to as the front side of the mobile device 1. The negative x2 direction side is the inner side of the entrance side of the charging station 300. The y2 direction is the width direction of the power supply platform 310 and the guide rail 210. The positive y2 direction side is the left side when viewed from the entrance side (positive x2 direction side) of the charging station 300, and the negative y2 direction side is the right side. Hereinafter, for ease of explanation, the positive z2 direction side will be referred to as the upper side, and the negative z2 direction side will be referred to as the lower side.

[0146] Floor 320 is a plate material placed on the mounting surface where the charging station 300 is located. Power supply platform 310, guide rail 210, and wheel stop 220 are fixedly mounted on the upper surface of floor 320. For example, floor 320 can be provided to secure the various elements of charging station 300 if it is not desired to damage the mounting surface.

[0147] Furthermore, for example, if the surface being set up has high resistance, such as asphalt, the resistance experienced by the tracked mobile device 10 from the road surface increases when guiding the mobile device 1 to the power supply platform 310, which may hinder the positioning accuracy of the mobile device 1. In this case, it is preferable to place a floor 320 with lower frictional resistance than the surface being set up on the surface. Examples of such a floor 320 include an aluminum plate with a thickness of about 5 mm, or a sheet material with a thickness of about 5 mm made of stainless steel and a backing of a rubber sheet with an anti-slip thickness of about 5 mm.

[0148] The power supply station 310 is a device that supplies power to the battery 530 inside the main body 50 of the mobile device 1 via the receiver 60 of the mobile device 1. When the mobile device 1 stops at the designated rechargeable position P4 (see reference...), Figure 18 and Figures 19A to 19F When the power supply station 310 is in operation, it can supply power to the mobile device 1.

[0149] The guide rail 210 is a component that guides the mobile device 1 entering the charging station 300 to the rechargeable position P4 of the power supply station 310. The guide rail 210 is, for example, oriented along a symmetrical line S1 extending in the x2 direction through the center of the power supply station 310 in the width direction (see Figure 12A). Figure 12BThe guide rails are formed symmetrically with respect to the reference line. When the charging station 300 has a floor 320, the guide rails 210 are erected on the upper surface of the floor 320. Here, "erected" means that it is set to stand upright in the direction of the normal (z2 direction) of the upper surface of the floor 320, that is, vertically upward.

[0150] The wheel stop 220 contacts the rear side of the tracked moving body 10 of the moving device when the moving device 1 reaches the rechargeable position P4, restricting the moving device 1 from moving towards the positive x2 direction (see reference). Figure 12B Moving parts. For example... Figure 5 As shown, the wheel stop 220 is a prism member extending in the y2 direction from a predetermined position in the x2 direction. The wheel stop 220 is symmetrical about line S1 passing through the center of the power supply platform 310 in the width direction (see Figure 12A). Figure 12B The wheel stop 220 is formed on both sides of approximately the same length in the y2 direction, extending at least to the area where a pair of tracked mobile bodies 10a and 10b are configured when the mobile device 1 is in the rechargeable position P4. The height dimension of the wheel stop 220 is, for example, about 20 mm.

[0151] In addition, a pair of guide blocks 230a and 230b are provided on the mobile device 1, which guide the entry direction of the mobile device 1 by contacting the guide rail 210 when entering the charging station 300.

[0152] Figure 6A and Figure 6B This is a diagram representing an example of guide blocks 230a and 230b. Figure 6A This is a perspective view of the mobile device 1 from below, showing the guide blocks 230a and 230b installed on the mobile device 1. Figure 6B From Figure 6A The diagram shows only a pair of guide blocks 230a and 230b.

[0153] like Figure 6A and Figure 6BAs shown, a pair of guide blocks 230a and 230b are positioned on the bottom surface 50B side of the main body 50 of the mobile device 1, and on the sides of the main body 50 of each of the tracked mobile bodies 10a and 10b. The pair of guide blocks 230a and 230b extend along the travel direction (x1 direction) of the main body 50 from the front end of the main body 50 closest to the stop position (rechargeable position P4). The pair of guide blocks 230a and 230b are spaced apart by a certain distance d1 (third distance) along the width direction of the main body 50 of the mobile device 1, and are arranged opposite each other in the width direction (y1 direction) of the mobile device 1. A pair of guide blocks 230a and 230b are respectively disposed on both sides (positive y1 direction side and negative y1 direction side) of the center position in the width direction of the main body 50, and are disposed in the width direction of the main body 50 such that the distance (first distance) between the disposed guide blocks 230a and 230b and the tracked mobile bodies 10a and 10b disposed on one side is less than the distance (second distance) between the disposed guide blocks 230a and 230b and the center position. In the following description, guide blocks 230a and 230b are sometimes collectively referred to as "guide block 230". More specifically, one guide block 230a is disposed in a range further towards the positive y1 direction side of the bottom surface 50B than the center position in the width direction of the main body 50, and is disposed in a position further towards one of the tracked mobile bodies 10a than the center position. The other guide block 230b is positioned on the negative y1 side of the bottom surface 50B, which is closer to the center position in the width direction of the main body 50, and is positioned closer to the other tracked mobile body 10b, which is closer to the center position.

[0154] The distance d1 between the pair of guide blocks 230a and 230b is slightly larger than the maximum value in the width direction of the guide rail 210. Therefore, with the guide rail 210 inserted between the pair of guide blocks 230a and 230b, the moving device 1 can move within the charging station 300 toward the power supply platform 310.

[0155] A pair of guide blocks 230a and 230b are each formed in a generally planar shape facing the center side of the main body 50. One guide block 230a has a contact surface 231a facing the negative y1 direction, and the other guide block 230b has a contact surface 231b facing the positive y1 direction.

[0156] like Figure 6A As shown, the bottom surface 50B of the main body 50 is a planar shape with the negative z1 direction as the normal direction. In the stationary position of the moving device 1, the distance from the setting surface to the bottom surface 50B is approximately constant over the entire area of ​​the bottom surface. The contact surfaces 231a and 231b of the guide block are set at approximately the same height from the bottom surface 50B toward the negative z1 direction, respectively, covering the entire area in the length direction (x1 direction).

[0157] Through these structures, a pair of guide blocks 230a and 230b can contact the guide rail 210 at the same height from at least one side of the mobile device 1 in the width direction (y1 direction) when the mobile device 1 enters the charging station. Thus, the pair of guide blocks 230a and 230b are arranged opposite each other on both sides of the guide rail 210 in the width direction orthogonal to the movement direction of the mobile device 1, enabling the mobile device 1 to be adjusted in the width direction along the guide rail 210 and guided towards the designated rechargeable position P4.

[0158] In other words, such as Figures 5-7B As shown, the configuration, which includes a guide rail 210 and a wheel stop 220 installed in the charging station 300, and a pair of guide blocks 230a and 230b installed in the mobile device 1, can also be described as "a positioning adjustment mechanism 200 for positioning the mobile device 1 in a predetermined stopping position (in this embodiment, a rechargeable position P4 within the charging station 300)". The mobile device 1 has a main body 50 and a pair of moving bodies (tracked moving bodies 10a and 10b) that are driven by being grounded to the moving surface on both sides of the main body 50. Furthermore, as Figure 1 , Figures 5-7B As shown, the mobile device 1 and the positioning adjustment mechanism 200 can also be described as a "positioning adjustment system 100", which includes: a mobile device 1 having a main body 50 and a pair of moving bodies (tracked moving bodies 10a, 10b) driven by the moving surfaces on both sides of the main body 50; and a positioning adjustment mechanism 200 for positioning the mobile device 1 at a predetermined stopping position (in this embodiment, the rechargeable position P4 of the charging station 300).

[0159] Additionally, angle irons 232 are provided at the front end of the main body 50 of the moving device 1 on each of the pair of guide blocks 230a and 230b. Angle irons 232 are planar portions bent from the front end of each contact surface 231a and 231b, such that the normal direction is inclined forward (x1 direction) relative to each contact surface 231a and 231b. These angle irons 232 function as buffers to reduce contact resistance with the guide rail 210 when the moving device 1 moves forward.

[0160] Furthermore, angle irons 233 with the same structure as those on the front side are also provided at the rear end of the main body 50 of the moving device 1 on the pair of guide blocks 230a and 230b. These angle irons 233 function as buffers to reduce contact resistance with the guide rail 210 when the moving device 1 moves backward.

[0161] Figure 7A and Figure 7B This is another example of a diagram representing guide blocks 230a and 230b. Figure 7A and Figure 7BThe basic structure of the guide blocks 230a and 230b shown is similar to Figure 6A and Figure 7B The structures shown are the same. Figure 7A and Figure 7B In the example, rollers 234 are respectively provided at the front end of the main body 50 of the moving device 1 on a pair of guide blocks 230a and 230b. The rollers 234 are arranged with their rotation axis in the z1 direction and have a circumferential surface facing the x1 or y1 direction. These rollers 234 also function as buffers to reduce contact resistance with the guide rail 210 when the moving device 1 moves forward.

[0162] On the pair of guide blocks 230a and 230b, rollers 235 with the same structure as those on the front side are also provided at the rear end of the main body 50 of the moving device 1. These rollers 235 function as buffers to reduce contact resistance with the guide rail 210 when the moving device 1 moves backward.

[0163] The pair of guide blocks 230a and 230b may also be structured to extend from the front end of the main body 50 toward at least a portion of the moving direction (x1 direction) of the main body 50. In this case, angle iron 232 or roller 234 is provided only at the end on the front end side of the main body 50. In addition, in this embodiment, a configuration in which the pair of guide blocks 230a and 230b are mounted on the main body 50 is illustrated, but the pair of guide blocks 230a and 230b can be mounted outside the main body 50 as long as the above configuration can be achieved. For example, it is also possible to mount each of the pair of guide blocks 230a and 230b to each of the pair of tracked mobile bodies 10a and 10b respectively.

[0164] like Figure 5 As shown, the guide rail 210 can be divided into four parts arranged in series from the positive x2 direction. The guide rail 210 has a scooping part 211, a guiding part 212, a widening part 213, and a positioning part 214.

[0165] The scooping part 211 is formed into a cone shape at the upper corner of the front end of the guide part 212, with the height of the front end side decreasing, and is the part that scoops the bottom surface 50B of the main body 50 of the moving device 1.

[0166] The guide section 212 is a component that connects to the end of the widening section 213 on the x2 positive direction side where the width dimension is smallest, and is inserted between a pair of guide blocks 230a and 230b to guide the moving device 1 to the widening section 213. The guide section 212 is formed with a certain width such that both ends in the width direction are parallel along the traveling direction (x2 direction) of the moving device 1.

[0167] The widening section 213 is a widened portion that makes the width dimension of the guide rail 210 gradually approach the distance d1 between the pair of guide blocks 230a and 230b along the travel direction (x2 direction) of the moving device 1.

[0168] The positioning part 214 is located on the negative x1 direction side of the widened part 213 and is connected to the widened part 213. The positioning part 214 is formed such that its two ends in the width direction (y2 direction) are parallel along the traveling direction of the moving device 1. One end of the positioning part 214 is connected to the end of the widened part 213 on the negative x2 direction side where the width direction dimension is the largest, and the other end extends to the stop position (rechargeable position P4) of the moving device 1. That is, the width direction dimension d2 of the positioning part 214 (see Figure 12A) Figure 12B The width of the end of the widened portion 213 is the same as the width dimension of the end on the negative x2 side, which is the largest in the width direction. The phrase "the two ends of the positioning portion 214 are parallel in the width direction" is not limited to a pair of side surfaces 214C and 214D at both ends of the positioning portion 214 in the width direction (see Figure 12A). Figure 12B The parallelism extends throughout the entire length direction (x2 direction), including substantially parallel states such as a portion of the sides 214C and 214D being recessed towards the center side in the width direction. The same applies to the "parallelism" of the guide portion 212.

[0169] The width d2 of the positioning part 214 is the same as the width dimension of the end of the widening part 213 on the negative x2 direction side, and is formed to be a few mm shorter than the distance d1 between the pair of guide blocks 230a and 230b (see Figure 12A). Figure 12B Therefore, when the mobile device 1 reaches the rechargeable position P4, there is almost no gap between the pair of guide blocks 230a, 230b on the side of the mobile device 1 and the positioning part 214 of the guide rail 210. Thus, the positioning accuracy of the mobile device 1 in the width direction at the rechargeable position P4 can be improved.

[0170] The upper surfaces of the guide section 212, the widening section 213, and the positioning section 214 are formed coplanarly in a manner that makes them horizontal.

[0171] The functions of each part of the guide rail 210 will be explained below.

[0172] Reference Figures 8A to 9B Describe the function of the scooping unit 211. Figure 8A and Figure 8B This is a side view of the mobile device 1, showing the posture of the mobile device 1 as it moves forward. Figure 8A Indicates the posture during deceleration. Figure 8B This indicates the posture during acceleration.

[0173] like Figure 8A and Figure 8B As shown, in the mobile device 1, the tracked mobile body 10 protrudes downward from the center in the longitudinal direction (x1 direction). This structure reduces the ground contact area of ​​the tracked mobile body 10, thereby reducing the road resistance when turning in place.

[0174] The tracked mobile body 10 described in this embodiment, due to its convex shape, tends to tilt in the pitch direction by about ±5° depending on its ground contact position. For example... Figure 8A As shown, when the mobile device 1 moves forward and decelerates in the positive x1 direction, as indicated by arrow A, the tracked mobile body 10 tilts forward by about 5°, and consequently, the main body 50 connected to the tracked mobile body 10 also tilts forward by about 5°. On the other hand, for example... Figure 8B As shown, when the mobile device 1 moves forward and accelerates in the positive x1 direction, as indicated by arrow B, the tracked mobile body 10 tilts about 5° to the rear. As a result, the main body 50 connected to the tracked mobile body 10 also adopts a posture that tilts about 5° to the rear.

[0175] Therefore, such as Figure 8A As shown, in this embodiment, if deceleration occurs when the moving device 1 moves forward, the position of the front end of the bottom surface 50B of the main body 50 drops as the main body 50 tilts forward, and the distance between it and the setting surface G decreases.

[0176] Figure 9A , Figure 9B This is a side view of the moving device 1 viewed from the positive y2 axis direction, showing the function of the scooping part 211 of the guide rail 210. Figure 9A , Figure 9B In the original text, the tracked moving body 10a on the positive y2 axis side of the main body 50 is omitted. For example... Figure 9A , Figure 9B As shown, the tracked moving body 10a is connected and fixed to the side 50C of the main body 50 in the positive direction of the y2 axis via a pair of brackets 63A and 63B. Figure 9A , Figure 9B As shown, brackets 63A and 63B are respectively located at the lower end of side 50C and the front and rear ends of main body 50.

[0177] Similarly, on the negative direction side of the y2 direction of the main body 50 ( Figure 9A , Figure 9B A pair of brackets 63C and 63D are provided on the other side 50D of the paper (inside). The tracked moving body 10b is connected and fixed to the side 50D of the negative direction of the y2 direction of the main body 50 through the brackets 63C and 63D.

[0178] Figure 9AThis is a comparative example, illustrating the operation of the guide rail 210Z, which does not have a scooping part at the front end of the guide portion 212. As described above, when the moving device 1 decelerates, the front end 50B1 of the bottom surface 50B of the main body 50 descends towards the setting surface G due to the structure of the guide portion 212. To ensure the guiding performance of the guide rail 212, it is preferable to make the height dimension of the guide portion 212 of the guide rail 210 as close as possible to the distance between the bottom surface 50B of the main body 50 of the moving device 1 and the setting surface G. Thus, as... Figure 9A As shown, when the main body 50 is tilted forward in the direction of arrow A, the front end 50B1 of the bottom surface 50B of the main body 50 can also be positioned lower than the guide portion 212. In this case, the front part of the main body 50 may be locked in front of the guide portion 212 to prevent the moving device 1 from moving to the rechargeable position P4 in the direction shown by arrow C.

[0179] To avoid such adverse conditions, in guide rail 210, such as Figure 9B As shown, a scooping section 211 is provided at the front end of the guide section 212 to lower the height of the front end of the guide section 212. Therefore, even when the main body 50 is tilted forward in the direction of arrow A, and the front end 50B1 of the bottom surface 50B of the main body 50 is lower than the guide section 212, the front part of the main body 50 can be positioned above the front end of the scooping section 211. Therefore, the main body 50 scoops upward along the scooping section while moving along the guide rail 210 in the direction of arrow C and enters the guide section 212.

[0180] exist Figure 9B In the illustration, the scooping portion 211 is formed into a conical structure at the front end of the guide portion 212, but it can also be a shape other than a cone. The scooping portion 211 only needs to be formed such that the height of the front end side decreases at least at the upper corner of the front end portion of the guide portion 212. For example, the scooping portion 211 can be formed from a convex surface protruding in both the positive z2 and positive x2 directions, or it can be formed from a concave surface recessed in both the negative z2 and negative x2 directions.

[0181] Figure 10A and Figure 10B This is a plan view illustrating the function of the guide section 212 of the guide rail 210. Figure 10A This example illustrates the direction of travel of the mobile device 1 when it enters the guide section 212. Figure 10B This illustrates the direction of travel of the mobile device 1 before it passes the guide section 212.

[0182] like Figure 5 , Figure 10A and Figure 10BAs shown, the guide portion 212 is a plate-shaped component erected vertically upwards (in the positive z2 direction), having an upper surface 212A with the vertical direction as its normal and a pair of side surfaces 212B and 212C with their sides in the width direction as their normals. The dimension of the guide portion 212 in the width direction is smaller than its dimension in the height direction, and is formed to be sufficiently small relative to the distance d1 between the pair of guide blocks 230a and 230b. The guide portion 212 is formed to extend along the x2 direction with a symmetrical line S1 positioned at the center in the width direction.

[0183] like Figure 10A As shown, when the mobile device 1 enters the guide section 212, the mobile device 1 moves in the direction of arrow C. Figure 10A and Figure 10B In the example, the direction indicated by arrow C is the negative x2 direction side and the positive y2 direction side (tilted from the negative x2 direction to the positive y2 direction). That is, when viewed from the entrance side of the charging station 300, the direction of arrow C is tilted to the left relative to the positive side of the x2 direction extending from the guide rail 210. Therefore, the guide block 230b provided on the tracked moving body 10b side on the negative y2 direction side abuts against the side surface 212C of the guide part 212 on the negative y2 direction side. At this time, the angle iron 232 provided at the front end of the guide block 230b can make the guide block 230b contact the guide rail 210 surface, thus mitigating the impact on the guide rail 210 when the guide block 230b abuts.

[0184] Subsequently, if the moving device 1 continues to move in the direction of arrow C, the guide block 230b contacts the side surface 212C of the guide portion 212. Therefore, the front end of the guide block 230b moves in the negative x2 direction along the side surface 212C. This physically forces the movement of the moving device 1 in the direction of yaw to be along the direction of the guide portion 212, such as... Figure 10B As indicated by the middle arrow D, as the moving device 1 moves along the guide section 212, its direction of travel is adjusted to the negative x2 direction.

[0185] Figure 11A and Figure 11B This is a plan view illustrating the function of the widened portion 213 of the guide rail 210. Figure 11A This example illustrates the direction of travel of the mobile device 1 when it enters the widening section 213. Figure 11B This illustrates the direction of travel of the mobile device 1 before it passes the widening section 213.

[0186] like Figure 5 , Figure 11A and Figure 11BAs shown, the widening portion 213 has a vertically upright portion 213A and a horizontal portion 213B extending horizontally from the upper end of the vertical portion 213A. Both the vertical portion 213A and the horizontal portion 213B are plate-shaped components with a predetermined thickness. The horizontal portion 213B is configured to have thickness in the vertical direction, and the portion having this thickness forms a pair of side surfaces 213C and 213D in the width direction of the widening portion 213. The horizontal portion 213B is formed in a roughly isosceles triangular shape, symmetrically about the line of symmetry S1 in the width direction when viewed from the vertical direction. The portion corresponding to the base of the isosceles triangular shape becomes the end of the horizontal portion 213B on the negative x2 side, where the width dimension is largest. The portions corresponding to the two sides of the isosceles triangular shape with equal length become a pair of side surfaces 213C and 213D on both sides of the horizontal portion 213B in the width direction.

[0187] The pair of side surfaces 213C and 213D are formed in an inclined shape, so that the distance between them increases as they move towards the negative x2 direction. The angle formed by the pair of side surfaces 213C and 213D at the apex of the isosceles triangle of the horizontal part 213B of the widened part 213, that is, at the end of the positive x2 direction side, is preferably about 20° (10° on each side with the line of symmetry S1 between them).

[0188] like Figure 11A As shown, when the moving device 1 enters the widening section 213, the moving device 1 moves forward in the direction of arrow D1. Figure 11A and Figure 11B In the example, the direction of arrow D1 is the negative x2 direction and the positive y2 direction. When viewed from the entrance side (negative x2 direction side) of the charging station 300, it is tilted to the left relative to the extension direction (x2 direction) of the guide rail 210. Therefore, the guide block 230b provided on the tracked mobile body 10b side on the negative y2 direction side contacts the side surface 213D of the widening section 213 on the negative y2 direction side. At this time, the angle iron 232 provided at the front end of the guide block 230b bends towards the extension direction of the side surface 213D of the widening section 213, thus reducing the contact angle between the guide block 230b and the side surface 213D of the widening section 213. As a result, the contact resistance between the guide block 230b and the guide rail 210 can be eased, allowing the guide block 230b to move easily along the side surface 213D of the widening section 213.

[0189] As the moving device 1 continues to travel in the direction of arrow D1, since the guide block 230b contacts the side surface 213D of the widened portion 213, the front end of the guide block 230b moves in the negative x2 direction along the side surface 213D. Thus, as... Figure 11B As indicated by the middle arrow E, as the moving device 1 moves along the widened portion 213, its direction of travel is further adjusted to face the negative x2 direction.

[0190] Depending on the initial state of the mobile device 1 entering the charging station 300, such as the entry angle and the position in the width direction, it is possible that the pair of guide blocks 230a and 230b of the mobile device 1 will not contact the guide portion 212 of the guide rail 210 but will directly contact the widening portion 213. Even in such a case, the angle iron 232 provided at the front end of the guide block 230a or guide block 230b can make the guide block 230a or guide block 230b contact the side surface 213C or side surface 213D of the widening portion 213 of the guide rail 210, thereby mitigating the impact on the guide rail 210 when the guide blocks 230a and 230b come into contact.

[0191] As referenced above Figures 10A to 11B The angle iron 232 described with reference to FIG6 and the roller 234 described with reference to FIG7 function as buffers to reduce the contact resistance between the guide blocks 230a, 230b and the guide rail 210.

[0192] Figure 12A and Figure 12B This is a plan view illustrating the functions of the positioning part 214 of the guide rail 210 and the wheel stop 220. Figure 12A This indicates the state when the moving device 1 has moved to the position in front of the wheel stop 220 of the positioning part 214. Figure 12B This indicates the state of mobile device 1 when it reaches the rechargeable position P4.

[0193] like Figure 5 , Figure 12A and Figure 12B As shown, the positioning part 214 has a vertical part 214A that is erected vertically upwards and a horizontal part 214B that extends horizontally from the upper end of the vertical part 214A. Both the vertical part 214A and the horizontal part 214B are plate-shaped components with a predetermined thickness. The horizontal part 214B is provided to have thickness in the vertical direction, and the portion having this thickness becomes a pair of side surfaces 214C and 214D in the width direction of the positioning part 214. The horizontal part 214B is formed into a generally rectangular shape, such that it is linearly symmetrical in the width direction about the line of symmetry S1 when viewed from the vertical direction. Of the two sets of opposite sides of the rectangle, the portion corresponding to the first set of opposite sides opposite the x2 direction becomes one end connected to the end of the widened part 213 on the x2 negative direction side and the other end extending to the rechargeable position P4, respectively. On the other hand, the portion corresponding to the second set of opposite sides opposite the y2 direction becomes a pair of side surfaces 214C and 214D on both sides of the width direction of the horizontal part 214B. A pair of side surfaces 214C and 214D are formed such that the distance between them in the x2 direction is equal.

[0194] The wheel stop 220 is disposed at a predetermined position in the extension direction (x2 direction) of the positioning portion 214, extending along the width direction (y2 direction). The position of the wheel stop 220 in the x2 direction is as follows: Figure 12BAs shown, the mobile device 1 is configured to contact the rear of the tracked mobile body 10 when it reaches the rechargeable position P4.

[0195] As described above, the distance d2 between the pair of side surfaces 214C and 214D of the positioning part 214, i.e., the width dimension of the positioning part 214, and the width dimension of the end of the widening part 213 on the negative x2 side, which has the largest width dimension, are formed to be a few mm shorter than the distance d1 between the pair of guide blocks 230a and 230b. Therefore, as Figure 12A As shown, when the moving device 1 enters the positioning section 214 through the widening section 213, a pair of guide blocks 230a and 230b are directly opposite a pair of side surfaces 214C and 214D of the positioning section 214, respectively. Therefore, the traveling direction of the moving device 1 is... Figure 11A and Figure 11B The widened portion 213, as indicated by the arrow E, is adjusted from the direction of the arrow E to the direction directly opposite the power supply station 310, i.e., the negative x2 direction. Subsequently, the pair of side surfaces 214C and 214D also extend at equal intervals along the x2 direction. Therefore, even if the moving device 1 moves the positioning portion 214 further to the negative x2 direction, the direction of travel remains in the direction of the arrow F.

[0196] As described above, the horizontal portion 214B of the positioning part 214 is formed to be symmetrical about the line of symmetry S1 in the width direction when viewed from above. Therefore, the pair of guide blocks 230a and 230b, which are respectively arranged on the outer side of the pair of side surfaces 214C and 214D in the y2 direction, are also arranged to be symmetrical about the line of symmetry S1 in the width direction. As a result, the width direction position of the moving device 1 is positioned so that the center position of the moving device 1 in the width direction is aligned with the center position of the guide rail 210 and the power supply platform 310 in the width direction.

[0197] like Figure 12A As shown, the wheel stop 220 is positioned midway along the extending direction of the positioning section 214. Therefore, the moving device 1 can be positioned by the positioning section 214 before passing the wheel stop 220, which applies a load to the motor. Furthermore, it is preferable that the moving device 1 temporarily stops or decelerates before passing the wheel stop 220.

[0198] Subsequently, the moving device 1 continues to move in the direction of arrow F, and when the tracked moving body 10 passes the wheel stop 220, it is as follows: Figure 12BAs indicated by arrow G, it advances further in the same direction as arrow F, finally reaching the rechargeable position P4 opposite to the power supply platform 310. At this time, since the width dimension d2 of the ends of the positioning part 214 and the widening part 213 on the negative x2 direction side is formed to be about a few mm shorter than the distance d1 between the pair of guide blocks 230a and 230b, there is almost no gap between the pair of guide blocks 230a and 230b on the moving device 1 side and the positioning part 214 of the guide rail 210, which can improve the positioning accuracy of the moving device 1 in the width direction at the rechargeable position P4.

[0199] The moving device 1 preferably stops or slows down temporarily after passing the wheel stop 220, and then reduces its speed to move to the rechargeable position P4.

[0200] Figure 13 This is a side view showing the state of mobile device 1 arriving at the rechargeable position P4 of charging station 300. (See image below.) Figure 13 As shown, when the mobile device 1 reaches the rechargeable position P4, since the rear of the tracked mobile body 10 is in contact with the wheel stop 220, the position of the tracked mobile body 10 in the x2 direction can be maintained more stably.

[0201] Figure 14A and Figure 14B This is a diagram showing the cross-sectional shape of each part of the guide rail 210. In Figure 14, the cross-sectional shape of each part of the guide rail (scooping part 211, guiding part 212, widening part 213, positioning part 214) is shown when cut with the y2-z2 plane and viewed from the negative x2 direction side.

[0202] Figure 14A This indicates the cross-sectional shape of the inlet position of guide rail 210 and its positional relationship with the moving device 1. Figure 14A In the rectangular cross-section shown, a pair of opposite sides in the y2 direction represent a pair of side surfaces 212B and 212C of the guide portion 212, and the upper side of the rectangular cross-section represents the plane of the scooping portion 211. Furthermore, in Figure 14A In, such as Figure 8A As shown in the figure, the height position of the front end of the bottom surface 50B of the main body 50 when the moving device 1 is tilted forward is illustrated by a dashed line. Figure 14A As shown, when the moving device 1 tilts forward, the height of the scooping part 211 is lower than the front end of the bottom surface 50B of the main body 50 to prevent the scooping part 211 from colliding with the front end.

[0203] exist Figure 14B The diagram illustrates the cross-sectional shape of the guide portion 212 of the guide rail 210 and its positional relationship with the moving device 1. For example... Figure 14BAs shown, the cross-sectional shape of the guide portion 212 is approximately rectangular with its long side along the height direction. A pair of opposite sides along the y2 direction of the rectangle represent a pair of side surfaces 212B and 212C of the guide portion 212, and the upper side of the rectangular cross-section represents the upper surface 212A of the guide portion 212. Figure 14B As shown, the height of the guide part 212 is specified to be a few millimeters in distance from the bottom surface 50B of the main body 50 of the moving device 1.

[0204] exist Figure 14C The diagram illustrates the relationship between the cross-sectional shape of the widened portion 213 of the guide rail 210 and the position of the moving device 1. For example... Figure 14C As shown, the cross-sectional shape of the widened portion 213 is T-shaped. The rectangular portion extending from the floor 320 in the z2 direction represents the vertical portion 213A of the widened portion 213, and the rectangular portion extending from the upper end of the vertical portion 213A in the y2 direction represents the horizontal portion 213B of the widened portion 213. In the rectangle of the horizontal portion 213B, a pair of opposite sides in the y2 direction represent a pair of side surfaces 213C and 213D of the widened portion 213.

[0205] like Figure 11A and Figure 14C As shown, the y2 direction positions of the pair of side surfaces 213C and 213D of the widened portion 213 are configured such that the gap between them and the guide blocks 230a and 230b gradually decreases as the portion moves in the negative x2 direction. As shown in Figure 14C, the height dimension of the widened portion 213 is specified such that the gap between the upper surface of the horizontal portion 213B and the bottom surface 50B of the main body 50 of the moving device 1 is approximately a few millimeters. The upper surface of the horizontal portion 213B of the widened portion 213 is formed to be coplanar with the upper surface 212A of the guide portion 212.

[0206] exist Figure 14D The diagram illustrates the relationship between the cross-sectional shape of the positioning part 214 of the guide rail 210 and the position of the moving device 1. For example... Figure 14D As shown, the cross-sectional shape of the positioning part 214 is T-shaped. The rectangular portion extending from the floor 320 in the z2 direction represents the vertical portion 214A of the positioning part 214, and the rectangular portion extending from the upper end of the vertical portion 214A in the y2 direction represents the horizontal portion 214B of the positioning part 214. In the rectangle of the horizontal portion 214B, a pair of opposite sides in the y2 direction represent a pair of side surfaces 214C and 214D of the positioning part 214.

[0207] like Figure 14DAs shown, the gaps between the pair of side surfaces 214C, 214D of the positioning part 214 and the guide blocks 230a, 230b are each specified to be approximately a few millimeters. Furthermore, the height dimension of the positioning part 214 is specified such that the gap between the upper surface of the horizontal part 214B and the bottom surface 50B of the main body 50 of the moving device 1 is approximately a few millimeters. Additionally, the upper surface of the horizontal part 214B of the positioning part 214 is formed to be coplanar with the upper surface of the horizontal part 213B of the widened part 213 and the upper surface 212A of the guide part 212.

[0208] Thus, based on the structure that guides the mobile device 1 along the guide rail 210 to the rechargeable position P4, at the rechargeable position P4, the final gap between the guide blocks 230a, 230b and the guide rail 210 and the bottom surface 50B of the main body becomes a few millimeters, thereby enabling high-precision positioning of the mobile device 1 in both the width and height directions.

[0209] Reference Figure 5 and Figure 15 The structure of the power supply station 310 will be described. Figure 15 This is a magnified three-dimensional view of the rotating part 312 of the power supply platform 310.

[0210] The power supply platform 310 has a base 311 erected vertically upward from the floor 320 and a rotating part 312 connected to the base 311 and capable of rotating relative to the base 311 by an external force. A first beam 311A ​​extending along the y2 direction is provided at the upper end of the base 311, and the rotating part 312 is connected to the first beam 311A ​​with the extension direction (y2 direction) of the first beam 311A ​​as its axis of rotation. The rotating part 312 is connected to the first beam 311A, for example, via a plurality of hinges 313 arranged along the entire length of the first beam 311A.

[0211] like Figure 15 As shown, the rotating part 312 is a plate-shaped component having a first flat part 312A, an inclined part 312B, a second flat part 312C, and a protrusion 312D. The rotating part 312 is formed, for example, from an aluminum sheet.

[0212] The first planar portion 312A, viewed from the x2 direction, is formed into a generally rectangular shape with opposite sides extending along both the y2 and z2 directions. A hinge 313 is provided on the upper edge of the rectangular shape on the z2 positive direction side of the first planar portion 312A. Thus, the rotating portion 312 rotates about the upper edge of the rectangular shape of the first planar portion 312A as its axis of rotation. The first planar portion 312A is arranged such that the x2 positive direction is taken as its normal direction.

[0213] The inclined portion 312B is configured to connect to the lower side of the first planar portion 312A, and is arranged such that the downward angle (positive x2 direction and negative z2 direction) is the normal direction. The inclined portion 312B is formed into a rectangle with the same width dimension as the first planar portion 312A, and one side of the upper end of the rectangle is connected to the lower end of the first planar portion 312A.

[0214] The second planar portion 312C is configured to connect to the lower part of the inclined portion 312B, such that the positive x2 direction is the normal direction. Therefore, the second planar portion 312C is configured parallel to the first planar portion 312A. Since the inclined portion 312B is located between the second planar portion 312C and the first planar portion 312A, the second planar portion 312C is positioned on the negative x2 direction side compared to the first planar portion 312A. The second planar portion C is formed into a rectangular shape with a width dimension smaller than that of the inclined portion B, and is located at the center of the inclined portion B in the width direction.

[0215] The protrusion 312D connects to the lower part of the second planar portion 312C. The protrusion 312D is formed to have the same width as the second planar portion 312C. The protrusion 312D has a horizontal portion 312D1 formed by protruding from the lower end of the second planar portion 312C in the positive x2 direction, and a vertical portion 312D2 formed by bending downward at approximately a right angle from the end of the horizontal portion 312D1 on the positive x2 direction side. Therefore, the vertical portion 312D2 becomes a surface with the positive x2 direction as its normal direction. The x2 direction dimension of the horizontal portion 312C1 is set such that the vertical portion 312D2 is positioned between the first planar portion 312A and the second planar portion 312C in the x2 direction.

[0216] like Figure 5 and Figure 15 As shown, a box-shaped storage section 314 is provided on the main surface of the inclined section 312B in the x2 positive direction. The power supply unit 315 is fixedly installed and stored inside the storage section 314. The power supply unit 315, like the receiver 60, is formed with a roughly rectangular shell and is erected at the same height as the inclined section 312B. The front surface 315A is the same as the inclined section 312B, with the downward direction as the normal direction.

[0217] On the x2 positive direction side of the vertical portion 312D2 of the protrusion 312D, a contact bearing portion 316 is provided that protrudes further into the x2 positive direction. The contact bearing portion 316 is an element that withstands contact with the moving device 1 (especially the front end 61A of the exhaust channel 61) when the moving device 1 approaches the rechargeable position P4. The contact bearing portion 316 is preferably formed of an elastomer such as rubber so as to mitigate the impact on the moving device 1 side during contact.

[0218] like Figure 15As shown, a mark 317 is printed or pasted on the x2 positive direction side of the first planar portion 312A. The mark 317 is used to detect the position of the power supply station 310 by the 2D LiDAR 52 of the mobile device 1 when the mobile device 1 approaches the power supply station 310. Therefore, the mark 317 includes, for example, a barcode with a retroreflective (laser easily reflective) strip disposed on a black substrate. To enable the 2D LiDAR 52 to easily detect the mark 317, it is preferable that the arrangement of the barcode of the mark 317 is self-correlated.

[0219] The height position of marker 317 is preferably consistent with the height position of 2D LiDAR 52. Therefore, 2D LiDAR 52 can detect marker 317 more easily.

[0220] The marking 317 may not necessarily be provided only on the first plane portion 312A; it may be provided outside the first plane portion 312A, and the number may be increased. For example, if the distance from the entrance of the charging station 300 to the power supply station 310 is large, and the angular resolution of 2D LiDAR 52 in the marking 317 of the area of ​​the first plane portion 312A is insufficient, a marking 317 larger than that of the first plane portion 312A may be made and provided on the base 311 of the power supply station 310, for example.

[0221] Mark 317 can function as an indicator of the predetermined stopping position (rechargeable position P4) of the mobile device 1, and other types of marks such as two-dimensional barcodes, prescribed patterns, and graphics can also be used.

[0222] Alternatively, a 3D LiDAR 53 can be used to implement both the reading of marker 317 and obstacle detection. In this case, it is preferable that the height position of marker 317 coincides with the height position of the 3D LiDAR 53. This allows the 3D LiDAR 53 to detect marker 317 more easily.

[0223] like Figure 5 As shown, the second beam portion 311B, extending in the y2 direction, is positioned at the midpoint of the height direction of the base portion 312, and at the same height as the second planar portion 312C. The position of the second beam portion 311B in the x2 direction is closer to the negative x2 direction side than that of the first beam portion 311A, and is configured to abut against the positive x2 direction side of the second planar portion 312C of the rotating portion when the rotating portion 312 extends vertically downwards without external force. Thus, through the contact between the second beam portion 311B and the second planar portion 312C, the rotation of the rotating portion 312 from its position towards the positive x2 direction side from the first planar portion 312A and the second planar portion 312C is restricted from further rotating towards the positive x2 direction side.

[0224] A pair of stopping devices 318 are provided at the base 311. The pair of stopping devices 318 are arranged at the same height position and at equal distances from the center in the y2 direction of the power supply platform 310. The stopping devices 318 are devices for absorbing impact when the moving device 1 makes contact, and for this function, they are provided with a damping mechanism, for example. In the damping mechanism, a mechanism that can absorb the kinetic energy assumed according to the weight and speed of the moving device 1 is suitable. In the case of this embodiment, for example, the damping mechanism has a stroke of about 15 mm and also has a built-in spring that can apply energy to the moving device 1 side when the moving device 1 makes contact.

[0225] On the other hand, such as Figure 1 As shown, the moving device 1 is located on the front side, and a pair of frames 62 are provided at a position where they can abut against the pair of stopping devices 318. Figure 2 As shown, the frame 62 can also be located on the rear side of the mobile device 1.

[0226] like Figure 5 As shown, the power supply unit 310 includes a power supply controller 319. The power supply controller 319 obtains power from, for example, an indoor socket, supplies power to the power supply unit 315, and controls the operation of the power supply unit 315.

[0227] Figures 16A-16C This diagram illustrates the operation of the power supply station 310 when the mobile device 1 reaches the rechargeable position P4. Figures 16A-16C The progression from when the mobile device 1 reaches the rechargeable position P4 to when the mobile device 1 is positioned is represented by three stages.

[0228] exist Figure 16A The illustration shows the mobile device 1 approaching the rechargeable position P4, and the frame 62 of the mobile device 1 just before it reaches the position where it contacts the stop device 318 of the power supply station 310. In this state, the distance between the upper surface 60A of the receiver 60 of the mobile device 1 and the front surface 315A of the power supply unit 315 of the power supply station 310 is greater than the distance that can be charged, therefore, charging cannot be performed.

[0229] exist Figure 16A In this state, the main surface of the second planar portion 312C of the rotating part 312 of the power supply station 310 in the x2 positive direction comes into contact with the second beam portion 311B of the base 311. As a result, further rotation of the rotating part 312 in the x2 positive direction is restricted, and the posture of the rotating part 312 is maintained at a constant position.

[0230] exist Figure 16BIn the diagram, the mobile device 1 is approaching the rechargeable position P4, and the frame 62 of the mobile device 1 has reached a position where it contacts the stop device 318 of the power supply platform 310. In this state, the damping mechanism of the stop device 318 has not yet been compressed, and the spring is in its maximum length position. At this time, the distance between the upper surface 60A of the receiver 60 of the mobile device 1 and the front surface 315A of the power supply unit 315 of the power supply platform 310 is greater than that between the two positions. Figure 16A The distance becomes closer, becoming a distance where charging is possible.

[0231] exist Figure 16B In this state, also with Figure 16A Similarly, the main surface of the second planar portion 312C of the rotating portion 312 of the power supply platform 310 in the x2 positive direction contacts the second beam portion 311B of the base 311. As a result, further rotation of the rotating portion 312 in the x2 positive direction is restricted, and the posture of the rotating portion 312 is maintained at a constant position.

[0232] exist Figure 16C The diagram shows the mobile device 1 in the rechargeable position P4. In this state, as indicated by arrow H, the mobile device 1... Figure 16B The position moves further towards the negative x2 direction. Through this movement, the frame 62 of the moving device 1 presses the stop device 318 of the power supply platform 310 towards the negative x2 direction, compressing the damping mechanism of the stop device 318 and pushing the spring to its minimum length position. At this time, the exhaust channel 61 of the moving device 1 also presses the contact bearing portion 316 of the power supply platform 310 towards the negative x2 direction. Therefore, as shown by arrow I, the rotating portion 312 of the power supply platform 310 rotates about the axis of the hinge 313 towards the negative x2 direction and the positive z2 direction, and the second flat portion 312C of the rotating portion 312 also moves away from the second beam portion 311B towards the negative x2 direction. Thus, relative to the forward movement of the receiver 60 of the moving device 1, the power supply unit 315 of the power supply platform 310 can be moved backward. Therefore, the upper surface 60A of the receiver 60 of the moving device 1 is closer to the front surface 315A of the power supply unit 315 of the power supply platform 310 than... Figure 16B They get closer, but won't collide, maintaining a distance that allows them to continue charging.

[0233] exist Figure 16C In this state, because the damping mechanism of the stopping device 318 is compressed and the spring is pushed in, the damping mechanism of the stopping device 318, as shown by arrow J, becomes energized in the positive x2 direction. This force J is transmitted to the moving device 1 via the frame 62, resulting in the moving device 1 being pushed in the positive x2 direction as a whole.

[0234] Figure 17 This is a diagram showing the positional relationship between the tracked mobile body 10 at the rechargeable position P4 and the wheel stop 220. Figure 17The enlarged view shows the rear of the tracked mobile body 10 and the wheel stop 220. Figure 17 The diagram also shows... Figure 16C The arrow represents the force J shown.

[0235] like Figure 17 As shown, the wheel stop 220 restricts the movement of the tracked mobile body 10 in the positive x2 direction by contacting the rear of the tracked mobile body 10 when the mobile device 1 moves to the rechargeable position P4. In this state, as described above, when the damping mechanism of the stopping device 318 applies pressure to the mobile device 1 in the positive x2 direction, the tracked mobile body 10 is further pushed by the wheel stop 220. As a result, the tracked mobile body 10 can make stronger contact with the wheel stop 220, thus suppressing the occurrence of swaying in the forward and backward direction of the mobile device 1 and improving the positioning accuracy in the forward and backward direction at the rechargeable position P4.

[0236] Figure 17 The example illustrates the state in which the outer protrusion 11a of the track 11 contacts the wheel stop 220, but the contact portion between the track 11 and the wheel stop 220 is not limited to this. For example, the recess 11c between the two protrusions 11a of the track 11, that is, the outer surface of the track 11, can also contact the wheel stop 220.

[0237] Charging control The following is for reference Figures 18-25D This explains the charging control performed by the control device of mobile device 1 during the charging task. Figure 3 The various elements within the main body 50 shown, such as the motor driver 540 for motion control, the memory 503 for reading program P, and the CPU 502, function as control devices.

[0238] First, the requirements for the connection operation of the mobile device 1 to the charging station 300 in this embodiment will be explained. The requirements are defined as follows: (1) The mobile device 1 moves autonomously from the starting position of the charging route toward the charging station 300.

[0239] (2) The mobile device 1 does not perform obstacle detection before leaving the charging station 300.

[0240] (3) The mobile device 1 performs I / O operation on the receiver 60 and sets it to a state where it can start charging.

[0241] (4) The mobile device 1 stops at the rechargeable position P4.

[0242] (5) The mobile device 1 begins charging after reaching the rechargeable position P4.

[0243] (6) The mobile device 1 monitors and adjusts the rechargeable position P4 until charging is finished.

[0244] (7) Mobile device 1 detects the end of charging.

[0245] (8) The mobile device 1 performs I / O operation on the receiver 60 and ends the charging process.

[0246] (9) The mobile device 1 moves backward from the charging station 300 to the starting position P1 of the charging route.

[0247] The following description of a series of charging control measures satisfies the above-mentioned requirements.

[0248] Figure 18 This is a schematic diagram illustrating the actions involved in entering the charging circuit during charging control. Figure 18 In the example, considering factors such as motion stability in rainy weather, the charging station 300 is installed indoors. Therefore, it is considered that the mobile device 1 may be unable to detect its own position using the GPS receiver 51 when approaching the charging station 300. Furthermore, in the building where the charging station 300 is installed, the installation area of ​​the charging station 300 is set to be distinct from areas where other robots are prohibited from entering.

[0249] like Figure 18 As shown in Figure 4, the mobile device 1 traveling on the tour route mainly uses the information received by the GPS receiver 51 to control its position and orientation.

[0250] When the mobile device 1 traveling on the route reaches the charging route entrance P1 (initial position), the control mode switches to charging task, changing to control without using the GPS receiver 51. The mobile device 1 uses pre-acquired map information to determine the location information of the charging route entrance P1, for example, it can use the information received by the GPS receiver 51 to detect that it has arrived at the charging route entrance P1.

[0251] When switching to the charging task, the mobile device 1 mainly uses the received information from the 2D LiDAR 52 to control its position and orientation. First, at the charging route entrance P1, it detects the distance and direction to the power supply station 310 of the charging station 300, and then changes direction towards the power supply station 310.

[0252] Next, it moves to the connection preparation position P2 at the entrance of charging station 300. At connection preparation position P2, it uses the received information from the 2D LiDAR 52 to make final adjustments to its position and angle. Then, it moves towards the power supply platform 310, enters the guide rail 210, and makes minor adjustments to its direction and width. If it reaches the wheel stop position P3 in front of the wheel stop 220, it slows down or temporarily stops.

[0253] The part connecting to position P2 is also consistent with the reference. Figure 5 Similarly, the floor 320 described above is preferably a surface with low frictional resistance. This allows the moving device 1 to be easily rotated from the connection preparation position P2, and the orientation angle of the moving device 1 relative to the guide rail 210 to be easily adjusted.

[0254] Then, it passes the wheel stop 220 and finally reaches the rechargeable position P4 (stop position), directly facing the power supply platform 310. At this time, the mobile device 1 becomes rechargeable.

[0255] Preferably, the distance from the charging route inlet P1 to the connection preparation position P2 is more than 2m, the distance from the connection preparation position P2 to the wheel stop position P3 is about 1.5m, and the distance from the wheel stop position P3 to the charging position P4 is about 0.6m. The distance from the wheel stop position P3 to the charging position P4 is basically the same as the front-rear dimension of the moving device 1, and therefore, it is appropriately changed according to the size of the moving device 1.

[0256] Figures 19A-19F This is a schematic diagram showing the control at each stage when entering the charging route. For example, the motor driver 540 for movement control and the CPU 502, which is a control device, control the movement by executing the program P read from the memory 503.

[0257] exist Figure 19A In the first stage shown, mobile device 1 uses a 2D LiDAR 52 to search for the location of charging station 300 at charging route entrance P1. Specifically, a reference is detected using a 2D LiDAR 52. Figure 15 The marker 317, set on the power supply station 310, is used to identify the location of the charging position P4. During the charging operation, a 3D LiDAR 53 can be used to implement obstacle detection, different from normal movement. In this function, for example, if a situation arises where the temporarily identified marker 317 is no longer visible after the charging route entrance P1 (e.g., a person is standing on the path leading to the charging position P4), the moving device 1 stops.

[0258] exist Figure 19B In the second stage shown, the mobile device 1 moves from the charging route inlet P1 to the connection preparation position P2. During the interval up to the connection preparation position P2, the mobile device 1 performs autonomous movement based on target tracking, targeting a location target (e.g., marker 317).

[0259] exist Figure 19CIn the third stage shown, the mobile device 1 uses a 2D LiDAR 52 to confirm the position and angle (direction) of the marker 317 at the connection preparation position P2. After confirming the position and angle of the marker 317, the mobile device 1 performs a stationary turn as needed to adjust the angle.

[0260] Reference Figures 20A-21 The direction control of the moving device 1 at the connection preparation position P2 will be explained.

[0261] Figure 20A and Figure 20B These are all floor plans of charging station 300, illustrating the directional control of the connection preparation position P2. For example... Figure 20A As shown, consider the case where the guide rail 230 disengages from the space K between the pair of guide blocks 230a and 210b of the mobile device 1 when the mobile device 1 approaches the front end (collecting part 211 and guide part 212) of the guide rail 210. In this case, even if the mobile device 1 continues to move forward as before, the guide rail 210 cannot enter the space K between the pair of guide blocks 230a and 230b. Therefore, it is necessary to guide the orientation of the mobile device 1 within the range where the guide rail 210 is housed in the space K.

[0262] Therefore, as Figure 20B As shown, at the connection preparation position P2 near the front end of the mobile device 1 close to the guide rail 210, as indicated by arrow L, the mobile device 1 is turned in place, adjusting its orientation so that the guide rail 210 is housed within the space K between a pair of guide blocks 230a and 230b. The amount of rotation of the mobile device 1 at this time can be set, for example, based on the direction of the marker 317 detected by the 2D LiDAR 52.

[0263] Figure 21 This is a plan view showing another example of directional control for connecting to the ready position P2. The building where the charging station 300 is installed could be, for example, a garage. In the case of a garage, it is anticipated that in addition to the charging station 300, there may be pillars, cars, bicycles, other storage lockers, etc., within the building. Therefore, situations where obstacles arise in detecting the target position of the power supply station 310 and the current position of the moving device 1 are considered. As countermeasures, for example... Figure 21 As shown, it can also be configured such that a landmark 330, such as a pole with a characteristic shape such as a star-shaped cross-section, is added near the entrance of the charging station 300. In this configuration, by recognizing the shape of the landmark 330 using a 2D LiDAR 52, more information can be added for target position detection of the power supply station 310 and current position detection of the mobile device 1, thereby improving detection accuracy.

[0264] exist Figure 19DIn the fourth stage shown, the moving device 1 travels in a straight line at low speed toward mark 317. At this time, the moving device 1 enters the guide rail 210 and moves while making fine adjustments to its position in the width direction and its direction of movement via the guide rail 210. In the fourth stage, the moving device 1 can also move toward mark 317 for distance measurement.

[0265] exist Figure 19E In the fifth stage shown, the mobile device 1 uses a 2D LiDAR 52 to measure the distance between itself and the marker 317 and moves forward. Based on the distance information to the marker 317, it temporarily slows down or stops at the wheel stop position P3 in front of the wheel stop 220.

[0266] exist Figure 19F In the sixth stage shown, the moving device 1 moves at low speed in a straight line from the wheel stop position P3 towards the rechargeable position P4. At this time, the moving device 1 uses a 2D LiDAR 52 to measure the distance between itself and the marker 317 and moves forward. Based on the distance information to the marker 317, it determines that it has reached the rechargeable position P4 and stops when the distance to the marker 317 is below a certain threshold (assuming no motor). In the fourth stage, the receiver 60 is activated to transition to a rechargeable state.

[0267] In the sixth stage, in addition to parking control at the rechargeable position P4 based on the distance to the aforementioned marker 317, a function can be added to detect the load increase of the hub motor 14 of the moving device 1 and stop it. (See reference...) Figure 16C As explained, when the mobile device 1 reaches the rechargeable position P4, the frame 62 of the mobile device 1 pushes the stop device 318 of the power supply platform 310 in the negative x2 direction, compressing the damping mechanism of the stop device 318. At this time, although the hub motor 14 is driving, the load on the hub motor 14 increases because the forward movement of the mobile device 1 is restricted. Therefore, in the above-described additional function, when the increased load on the hub motor 14 is detected when the mobile device 1 pushes the damping mechanism of the stop device 318 of the power supply platform 310, the hub motor 14 is stopped. By adding this function, it is possible to prevent the mobile device 1 from traveling excessively to a position further inward than the rechargeable position P4.

[0268] Furthermore, for example, if there are obstacles on the path leading to the rechargeable position P4, the movement of the mobile device 1 may be physically obstructed, preventing it from reaching the rechargeable position P4. By providing the aforementioned additional function, in such a situation, if the motor load rises above a predetermined threshold, the motor can be stopped even if the mobile device 1 has not reached the rechargeable position P4. This reduces the load on the hub motor 14 that is excessively high, preventing malfunctions of the hub motor 14.

[0269] In the sixth stage, the mobile device 1 can also travel from the wheel stop position P3 towards the rechargeable position P4. In the sixth stage, when the mobile device 1 reaches the rechargeable position P4, instead of setting it to a motor-free state to stop the hub motor 14 of the mobile device 1, it can be configured to perform stop control, for example, keeping the hub motor 14 stopped with a speed command of 0, or using an excitation brake.

[0270] Figure 22 This is a diagram illustrating the operation when P4 is charging in the rechargeable position. For example... Figure 22 As shown, during charging, the mobile device 1 maintains its position at the rechargeable position P4. At this time, the mobile device 1 monitors and corrects its forward and backward position.

[0271] Figure 23A and Figure 23B This is a schematic diagram illustrating the control during charging. The main function during charging is to maintain... Figure 23A The state shown is as follows. In this state, charging begins first, and during charging, the distance to marker 317 is continuously detected using 2D LiDAR 52 to monitor whether the mobile device 1 maintains its positioning toward the rechargeable location P4.

[0272] If the mobile device 1 detects that it has left the rechargeable position P4 during charging, it temporarily stops charging. Then, the mobile device 1 travels in a straight line at low speed (distance measurement) and returns to the rechargeable position P4. As an example of such deviation from the rechargeable position P4 during charging, one could mention a situation where the tracked mobile body 10 is in a motorless state during charging, and therefore, under the influence of a large external force such as an earthquake, the tracked mobile body 10 might pass the wheel stop 220 and deviate to the x2 positive direction.

[0273] Mobile device 1 resumes charging after returning to the rechargeable position P4.

[0274] If, for some reason, the mobile device 1 cannot be kept in the rechargeable position P4, such as Figure 23B As shown, the mobile device 1 moves past the wheel stop 230 and backs to the wheel stop position P3, moving away from the wheel stop 220. In this case, the mobile device 1 ends the charging mode and notifies the administrator.

[0275] Figure 24 This is a schematic diagram illustrating the action of exiting the charging circuit in the charging control. For example... Figure 24As shown, after charging is complete, the mobile device 1 moves backward from the charging position P4 and returns to the connection preparation position P2. In the connection preparation position P2, the orientation changes by 180°, with the positive x2 direction now facing forward. Then, the obstacle detection function of the 3D LiDAR 53 is switched on, and the device moves forward to the charging route entrance P1 where the GPS receiver 51 can receive GPS signals.

[0276] When mobile device 1 reaches the charging route entrance P1, it returns from there to the normal patrol route. During the patrol route, mobile device 1 mainly uses the information received by GPS receiver 51 to control its own position and orientation.

[0277] Figures 25A-25D This is a schematic diagram illustrating the control process at each stage when the charging route exits.

[0278] exist Figure 25A In the first stage shown, charging ends when the remaining amount of the battery 530 in the main body 50 of the mobile device 1 reaches a certain value or above, thereby stopping the operation of the receiver 60.

[0279] exist Figure 25B In the second stage shown, the mobile device 1 ends the charging mode and receives a patrol start command, for example, from a host device. The patrol start command is an instruction for moving along a prescribed patrol route and performing inspection tasks, and is, for example, an instruction received periodically. The mobile device 1 is configured, for example, not to respond even if a patrol start command is received during the implementation of the charging mode, but is configured to respond according to the instruction after the charging mode ends.

[0280] In the second phase, according to the cycle start command, mobile device 1 first moves backward at low speed in a straight line (range measurement) to the connection preparation position P2. At this time, mobile device 1 continues to use the 2D LiDAR 52 to detect the distance between marker 317 and itself and moves backward to the connection preparation position P2.

[0281] exist Figure 25C In the third stage shown, the mobile device 1 changes direction by 180° from the connection preparation position P2. Additionally, the obstacle detection function of the 3D LiDAR 53 is activated.

[0282] exist Figure 25D In the fourth stage shown, the mobile device 1 moves in a straight line (distance measurement) toward the charging route entrance P1 that can receive GPS.

[0283] The variations are explained.

[0284] Figure 26A as well as Figure 26B This is a diagram showing charging station 300A and charging station 300B, which are modified examples of the configuration of charging station 300. It can also be shown as... Figure 26A As shown in the charging station 300A, it is configured such that counterweights, such as ballasts 340, are provided on the floor 320 and on both sides of the guide rail 210 in the width direction.

[0285] When the floor 320 has a structure with rubber installed on the lower surface of an aluminum plate, the overall weight of the floor 320 is relatively light. Therefore, for example, due to collisions between the moving device 1 and the guide rail 210, the charging station 300 may sometimes move together with the floor 320. As a solution to this problem, one could also... Figure 26A As shown in the charging station 300A, it is configured such that the floor 320 is pressed down by the ballast 340. Figure 26A In the example, as ballast 340, eight 10 kg water tanks are prepared, with four tanks arranged in series on each side of the guide rail 210 along the x2 direction. This allows the load of the ballast 340 to be applied evenly throughout the entire floor 320, effectively suppressing any shifting of the floor 320.

[0286] Or such as Figure 26B As shown in the charging station 300B, a structure without a floor 320 can also be adopted. For example, if anchors can be installed on the mounting surface G of the charging station 300B, the minimum structure of the charging station 300B can be configured such that only the power supply platform 310, guide rail 210, and wheel stop 220 are directly mounted on the mounting surface G. When applying the charging station 300B, a mounting surface G with low friction, such as a painted garage floor, is preferred.

[0287] Figure 27 This is a diagram showing another variation of the configuration of the charging station 300. It can also be shown as... Figure 27 As shown in the charger 300J, it is configured without the wheel stop 220. In the above embodiment, the wheel stop 220 is, for example... Figure 5 As shown, it is a component that extends in the y2 direction from a predetermined position in the x2 direction, and contacts the rear side of the tracked mobile body 10 of the mobile device when the mobile device 1 reaches the rechargeable position P4, thereby restricting the movement of the mobile device 1 in the positive x2 direction.

[0288] In the above embodiment, the advantage of providing the wheel stop 220 is that when the moving device 1 reaches the rechargeable position P4, the rear of the tracked moving body 10 is in contact with the wheel stop 220, thereby stabilizing the posture of the moving device 1 at the rechargeable position P4. Therefore, as explained with reference to FIG16, the upper surface 60A of the receiver 60 of the moving device 1 and the front surface 315A of the power supply 315 of the power supply platform 310 can be easily arranged opposite each other, and the gap between the upper surface 60A of the receiver 60 and the front surface 315A of the power supply 315 can be easily controlled. The reason for needing such gap control is that, as... Figure 2 As shown, in the tracked mobile body 10 of the above embodiment, the central portion in the front-to-back direction (x1 direction) protrudes downward. More specifically, this is because the idler wheels 18a and 18b provided between the two rotating wheels 15a and 15b are configured to protrude in the negative z1 direction relative to the rotating wheels 15a and 15b.

[0289] With such a tracked mobile body 10 structure, in the mobile device 1 of the above embodiment, as referred to Figure 8A and Figure 8B As explained, the vehicle body tilts more forward or backward when moving.

[0290] Therefore, for example, compared to the tracked mobile body 10 of the above embodiment, when a tracked mobile body with a small protrusion of idler wheels 18a, 18b relative to rotating wheels 15a, 15b in the negative z1 direction is applied to the mobile device 1, the longitudinal tilt of the vehicle body that may occur during movement can be suppressed. In this case, as in the above embodiment, the necessity to control the longitudinal tilt of the mobile device 1 at the rechargeable position P4 and the necessity to control the gap between the upper surface 60A of the receiver 60 and the front surface 315A of the power supply 315 are reduced. Therefore, as in the above embodiment, Figure 27 As shown in the charging station 300J, even without the wheel stopper 220, when the mobile device 1 reaches the charging position P4, the upper surface 60A of the receiver 60 of the mobile device 1 can be arranged opposite to the front surface 315A of the power supply 315 of the power supply station 310.

[0291] In the absence of a wheel stopper 220, it is preferable to keep the hub motor 14 of the moving device 1 at a speed command of 0 when the moving device 1 reaches the rechargeable position P4, or to perform stop control using an excitation brake or the like. This allows the moving device 1 to be positioned more reliably at the rechargeable position P4.

[0292] In addition, such as Figure 27 As shown, the guide rail 210J may also be configured without the scooping part 211. In the guide rail 210 of the above embodiment, the scooping part 211 is formed in a cone shape at the upper corner of the front end portion of the guide part 212, with the height of the front end side decreasing, and is the part that scoops up the bottom surface 50B of the main body 50 of the moving device 1.

[0293] The advantage of providing the scooping part 211 in the above embodiment is that, as shown in the reference... Figure 9A and Figure 9BAs explained above, when the moving device 1 enters the guide rail 210, even if the main body 50 of the moving device 1 is tilted forward and the height of the front end 50B1 of the bottom surface 50B of the main body 50 is lower than that of the guide portion 212, it can still be lifted upward along the scooping portion 211 and enter the guide portion 212.

[0294] As described above, for example, compared to the tracked mobile body 10 of the above embodiment, when a tracked mobile body with a smaller protrusion of idler wheels 18a, 18b relative to rotating wheels 15a, 15b in the negative z1 direction is applied to the mobile device 1, the longitudinal tilt of the vehicle body that may occur during movement can be suppressed. In this case, as in the above embodiment, when the mobile device 1 enters the guide rail 210, it is less likely that the height of the front end 50B1 of the bottom surface 50B of the main body 50 of the mobile device 1 will be lower than that of the guide portion 212. Therefore, as Figure 27 As shown in the charging station 300J, even if the structure of not providing the scooping part 211 on the guide rail 210J is adopted, the moving device 1 can enter the guide part 212 of the guide rail 210J.

[0295] Figure 28 This diagram illustrates another variation of the configuration of charging station 300. (As shown in...) Figure 28 In the charging station 300K shown, it can also be configured such that the width of the floor 320K in the y2 direction is reduced to the same extent as the width of the power supply platform 310. According to this structure, the overall size of the charging station 300K can be miniaturized.

[0296] Alternatively, the charging station 300 of the embodiment can be configured to be divided into multiple parts. For example, a structure in which the power supply platform 310, floor 320, guide rail 210, and wheel stop 220 of the charging station 300 are configured as different components, and the charging station 300 is assembled into a single unit by assembling the various components. According to this structure, the charging station 300 can be easily transported.

[0297] Figure 29A and Figure 29B This is a diagram showing a modified example of the installation location of the charging station 300. In the above embodiment, as... Figure 18 As illustrated in the diagram, the charging station 300 is exemplified by being located on the inner side of the structure from the building entrance, but the location is not limited to this. For example... Figure 29A Like the charging station 300C shown, it can also be installed near the entrance of a building. Specific examples of such a location include entrances to parking garages with access via a road. Figure 29A In the case of the example, the front end of the guide rail 210 is located near the entrance of the building, thus allowing for a larger restricted area for robots.

[0298] Or it could also be configured as follows: Figure 29B As shown in the charging station 300D, the power supply station 310 is positioned from the building entrance inwards, similar to the embodiment described above. However, the guide portion 212a of the guide rail 210A is extended compared to the guide portion in the embodiment described above, thereby positioning the front end of the guide rail 210 near the building entrance. Figure 29B In the case of the example, the front end of the guide rail 210A is located near the entrance of the building, so the moving device can be guided by the guide rail, thereby moving more safely.

[0299] Figure 30A and Figure 30B This is a diagram showing a first modified example of the guide section 212. (See diagram below.) Figure 30A As shown in the charging station 300E, there may also be a situation where the power supply station 310 is located inside the building entrance, further inside than the robot-restricted area. In this case, the path of the mobile device 1 from the building entrance to the power supply station 310 becomes a roughly L-shaped path, first moving in the y2 direction and then changing direction in the x2 direction. That is, at the connection preparation position P2 at the building entrance, the mobile device 1 cannot visually identify the power supply station 310, and therefore cannot detect the mark 317 set on the power supply station 310.

[0300] exist Figure 30A In the charging station 300E, the guide portion 212b of the guide rail 210B is longer than the guide portion in the above embodiment, and has straight portions 212b1, 212b3 and curved portions 212b2, which are connected to form the station. Figure 30A In the example, the guide section 212b is formed by connecting the straight section 212b1, the curved section 212b2, and the straight section 212b3 in sequence from the connection preparation position P2 at the entrance of the building to form a guide section 212b.

[0301] like Figure 30B As shown, the pair of guide blocks 230a and 230b of the moving device 1 are arranged at a distance d1 apart. Therefore, even if the guiding direction changes at the curved portion 212b2 of the guide portion 212b, the curved portion 212b2 can be housed between the pair of guide blocks 230a and 230b, and thus the moving direction can be changed along the curved portion 212b2.

[0302] exist Figure 30A In the charging station 300E, as described above, the marker 317 set on the power supply station 310 cannot be detected at the connection preparation position P2 at the building entrance. Therefore, movement control to the position of marker 317 cannot be implemented using the 2D LiDAR 52. Therefore, as... Figure 30AAs shown, additional markers 350 need to be set on the movement path. For example, the inner side of the curved section 212b2 that can be visually identified from the connection preparation position P2 at the entrance of the building can be listed as a location for setting markers 350.

[0303] Figure 31 This is a diagram showing the guide portion 212C of guide rail 210C, which is another variation of guide rail 210. Figure 31 The configuration of the charging station 300F shown is... Figure 30A The configuration shown is the same. Figure 31 In the charging station 300F shown, the guide portion 212C of the guide rail 210c is longer than the guide portion 212 of the above embodiment, and has a plurality of straight portions 212c1, 212c2 that extend in different directions and are spaced apart from each other. Figure 31 In the guide section 212c shown, the straight section 212c1 extends from the connection preparation position P2 at the building entrance along the y2 direction, and the straight section 212c2 extends inside the straight section 212c1 along the x2 direction, and the two are separated from each other in the boundary area.

[0304] exist Figure 31 The charging station 300F shown also has a mark 350, which is different from the mark 317 on the power supply station 310. For example, the location where the mark 350 is set can be the inside of the boundary portion of the straight section 212c1, 212c2, which can be visually confirmed from the connection preparation position P2 at the entrance of the building.

[0305] exist Figure 31 In the charging station 300F, the mobile device 1 first uses a 2D LiDAR 52 to control its movement towards the position of mark 350, moving along the straight section 212c1 of the guide section 212c in the negative x2 direction until it reaches the boundary between the two straight sections 212c1 and 212c2. Next, at this boundary, the 2D LiDAR 52 detects mark 317 on the power supply station 310. Therefore, the mobile device 1 uses the 2D LiDAR 52 to detect the direction of mark 317 and rotates towards the negative x2 direction where mark 317 is located. Then, using the 2D LiDAR 52, it controls its movement towards the position of mark 317, moving along the straight section 212c2 of the guide section 212c in the negative x2 direction until it reaches the power supply station 310.

[0306] Reference Figure 32A and Figure 32B The description includes a guide rail 210D comprising an extended portion 213d according to another variation of the guide rail 210. Figure 32A Indicates based on reference Figure 5 The shapes of the guide rail 210 and the widening portion 213 in the embodiments described above.

[0307] like Figure 32B As shown in the guide rail 210D, it can also be configured such that the length of the widened portion 213d in the x2 direction is longer than the length in the x2 direction of the embodiment described above. Also, as... Figure 32A and Figure 32B As shown, the pair of guide blocks 230a and 230b of the moving device 1 are arranged apart by a certain distance d1. Therefore, as Figure 32B As shown, even if the x2 dimension of the widened portion 213d is elongated and its shape changes, the widened portion 213d can be housed between a pair of guide blocks 230a and 230b without specifically changing the structure of the guide blocks 230a and 230b on the moving device 1 side. Therefore, it can move along the widened portion 213d.

[0308] Figure 33A and Figure 33B They respectively represent according to Figure 5 A diagram showing a variation of the power supply / receiving mechanism. Figure 33A The mobile device 1G shown has a non-contact receiver 60G disposed on the bottom surface 50B of the main body 50.

[0309] In this case, as shown in Figure 33 B, a non-contact power supply 315G is disposed on the upper surface of the positioning part 214 of the guide rail 210 in the charging station 300G. The non-contact power supply 315G is positioned such that when the mobile device 1G reaches the rechargeable position P4 and contacts the pair of stopping devices 318, it is directly opposite the non-contact receiver 60G on the side of the mobile device 1G, that is, when viewed from the z2 direction, it overlaps with the non-contact receiver 60G.

[0310] exist Figure 33A and Figure 33B In the structure described above, the dimensions of each part are set such that a gap of about a few millimeters is left between the upper surface of the guide rail 210 and the bottom surface 50B of the main body 50 of the mobile device 1G. Therefore, by simply positioning the mobile device 1G at the rechargeable position P4, the non-contact receiver 60G and the non-contact power supply 315G can be configured at a suitable rechargeable distance, and charging can be carried out more reliably.

[0311] Figure 34A and Figure 34B They respectively represent according to Figure 5 The diagram shows another variation of the power supply / receiving mechanism. It can also be configured as follows: Figure 34A As shown in the mobile device 1H, a positive electrode plate 60H1 and a negative electrode plate 60H2 of a contact receiver are disposed on the bottom surface 50B of the main body 50. For example, the positive electrode plate 60H1 and the negative electrode plate 60H2 are both formed into rectangles of approximately the same shape with the x1 direction as the long side, and are disposed at a predetermined distance apart in the y1 direction.

[0312] In this case, such as Figure 34B As shown, in the charging station 300H, a positive electrode plate 315H1 and a negative electrode plate 315H2 of a contact power supply are disposed on the upper surface of the positioning part 214 of the guide rail 210. The positive electrode plate 315H1 and the negative electrode plate 315H2 are positioned such that when the mobile device 1G reaches the rechargeable position P4 and contacts a pair of stopping devices 318, they are directly opposite the positive electrode plate 60H1 and the negative electrode plate 60H2 of the contact power receiver on the mobile device 1G side; that is, when viewed from the z2 direction, the positive electrode plate 315H1 overlaps with the positive electrode plate 60H1 and the negative electrode plate 315H2 overlaps with the negative electrode plate 60H2. Furthermore, it is preferable that the positive electrode plate 315H1 and the negative electrode plate 315H2 on the charging station 300H side are formed, for example, by a leaf spring, thereby enabling more reliable contact with the positive electrode plate 60H1 and the negative electrode plate 60H2 on the mobile device 1H side.

[0313] Figure 35A and Figure 35B They respectively represent according to Figure 5 A diagram showing another variation of the power supply / receiving mechanism. It can also be seen as... Figure 35A As shown in the mobile device 1I, it is configured to use a pair of guide blocks 230a and 230b as the positive electrode plate 60I1 and negative electrode plate 60I2 of the contact receiver. In this case, the pair of guide blocks 230a and 230b are made of metal.

[0314] In this case, such as Figure 35B As shown, in the charging station 300I, a positive electrode plate 315I1 and a negative electrode plate 315I2 of a contact power supply are respectively disposed on a pair of side surfaces 214C and 214D of the positioning part 214 of the guide rail 210. The positive electrode plate 315I1 and the negative electrode plate 315I2 are positioned so that when the moving device 1I reaches the charging position P4 and contacts a pair of stopping devices 318, they are directly opposite the positive electrode plate 60I1 and the negative electrode plate 60I2 of the contact power receiver on the moving device 1I side, i.e., the guide blocks 230a and 230b. Furthermore, it is preferable that the positive electrode plate 315I1 and the negative electrode plate 315I2 on the charging station 300I side are formed, for example, by a leaf spring, thereby enabling more reliable contact with the positive electrode plate 60I1 and the negative electrode plate 60I2 on the moving device 1I side.

[0315] Alternatively, instead of using the entire pair of guide blocks 230a and 230b as the positive electrode plate 60I1 and negative electrode plate 60I2 of the contact receiver, only a portion of the guide blocks 230a and 230b can be used as the positive electrode plate 60I1 and negative electrode plate 60I2.

[0316] Figure 36 This is a perspective view showing a modified example of guide blocks 230a and 230b. For example... Figure 36 As shown, in the modified example of the mobile device 1L, similar to the mobile device 1 of the above embodiment, the tracked mobile body 10a is connected by a pair of brackets 63A, 63B (see reference). Figure 9A and Figure 9B A bracket 63A (first connector) is fixed to the side 50C on the positive y1 direction side of the main body 50. The bracket 63A is disposed between the main body 50 and the tracked mobile body 10a, and is positioned at the front end (positive x1 direction side) of the side 50C along the travel direction (x1 direction) of the mobile device 1. Conversely, a bracket 63B (second connector) is disposed between the main body 50 and the tracked mobile body 10a, and is positioned at the rear end (negative x1 direction side) of the side 50C along the travel direction (x1 direction) of the mobile device 1.

[0317] exist Figure 36 The other tracked mobile body 10b, omitted from the illustration, is connected via a pair of brackets 63C and 63D (see reference). Figure 9A and Figure 9B A bracket 63C (third connector) is fixed to the side 50D on the negative y1 direction side of the main body 50. A bracket 63C (third connector) is disposed between the main body 50 and the tracked mobile body 10b, and is disposed at the front end (positive x1 direction side) of the side 50D along the travel direction (x1 direction) of the mobile device 1. On the other hand, a bracket 63D (fourth connector) is disposed between the main body 50 and the tracked mobile body 10b, and is disposed at the rear end (negative x1 direction side) of the side 50D along the travel direction (x1 direction) of the mobile device 1.

[0318] exist Figure 36 In a modified example, the lower ends 64A-64D extending from each bracket 63A-63D toward the bottom surface 50B of the main body 50 are integrally formed with each bracket 63A-63D. By arranging the lower ends 64A-64D in this way, as... Figure 36 As shown, lower ends 64A and 64C are positioned at the same location on the front end side in the x1 direction and are positioned opposite each other at a certain distance in the y1 direction. Similarly, lower ends 64B and 64D are positioned at the same location on the rear end side in the x1 direction and are positioned opposite each other at a certain distance in the y1 direction.

[0319] exist Figure 36 In the modified example, lower ends 64A and 64C function as a first pair of guide blocks, while lower ends 64B and 64D function as a second pair of guide blocks. That is, in Figure 36 In a modified example, the moving device 1L becomes a structure with two pairs of guide blocks.

[0320] The first pair of guide blocks (lower ends 64A and 64C) are positioned on the bottom surface 50B side of the main body 50 and on the side of the main body 50 of each pair of tracked mobile bodies 10a and 10b, extending from the front end of the main body 50 closest to the stop position (rechargeable position P4) towards a portion of the main body 50 along the travel direction. The second pair of guide blocks (lower ends 64B and 64D) are positioned on the bottom surface 50B side of the main body 50 and on the side of the main body 50 of each pair of tracked mobile bodies 10a and 10b, extending from the rear end of the main body 50 furthest from the stop position (rechargeable position P4) towards a portion of the main body 50 along the travel direction.

[0321] The pair of guide blocks in the first pair (lower end 64A, lower end 64C) and the pair of guide blocks in the second pair (lower end 64B, lower end 64D) can perform the same function as the pair of guide blocks 230a, 230b in the above embodiment.

[0322] By integrally forming the lower ends 64A-64D of the guide blocks and the brackets 63A-63D, which serve as connecting parts between the tracked mobile bodies 10a and 10b and the main body 50, the number of openings required for mounting each component to the main body 50 can be reduced. This provides advantages in terms of water resistance and strength of the main body 50 of the mobile device 1L. Furthermore, since the guide blocks do not need to be manufactured as separate components, the number of parts can be reduced, thus decreasing manufacturing time and costs for the mobile device 1L.

[0323] like Figure 36 The variations shown and the above embodiments (refer to) Figures 6A to 7B In this way, in the positioning adjustment mechanism 200, the moving devices 1 and 1L only need to have a structure in which at least one pair of guide blocks are arranged opposite each other on both sides of the guide rail 210 in the width direction orthogonal to the traveling direction of the moving device.

[0324] In the case where only one pair of guide blocks 230a and 230b are provided as in the above embodiment, the pair of guide blocks 230a and 230b are equivalent to "a first pair of guide blocks, which are configured to extend from the front end of the main body 50 closest to the stop position (rechargeable position P4) toward at least a portion of the main body 50 in the direction of travel on the bottom surface 50B side of the main body 50 and the respective main body 50 side of the pair of tracked moving bodies 10a and 10b".

[0325] Figure 37 This is a plan view showing a modified example of the guide rail. According to... Figure 37The modified charging station 300M shown includes a guide rail 210M. The guide rail 210M has a plurality of rollers 215, portions of which protrude outwards from both sides of the widening portion 213 and the positioning portion 214 in the width direction (y2 direction), and are rotatably arranged along the travel direction (x2 direction) of the moving device 1. Figure 37 In the diagram, the circumference of each roller 215 is represented by a circle, and the axis of rotation is represented by the center point of the circle. Additionally, in... Figure 37 In the example, a portion of the circumferential surface of each roller 215 is provided to protrude from both sides of the guide rail 210M in the width direction.

[0326] exist Figure 37 In this configuration, multiple pairs of rollers 215 are provided on both sides of the widened portion 213 and the positioning portion 214 in the width direction, arranged at the same position in the x2 direction. Furthermore, it is preferable that the multiple pairs of rollers 215 are arranged such that the distance between each pair of rollers and the adjacent roller pair is approximately constant.

[0327] exist Figure 37 In the modified guide rail 210M, by providing rollers 215 on the side, when the moving device 1 moves along the guide rail 210M, the guide blocks 230a and 230b of the moving device 1 contact the rollers 215, and the rollers 215 rotate in the traveling direction. Therefore, when the moving device 1 moves along the guide rail 210M, the resistance from the widened portion 213 and the positioning portion 214 of the guide rail 210M is reduced, thus allowing the moving device 1 to be guided more smoothly to the rechargeable position P4.

[0328] The positioning of the moving device 1 in the width direction (y2 direction) up to the rechargeable position P4 is determined by the width of the guide rail 210 and the distance d1 between the guide blocks 230a and 230b of the moving device 1 (refer to...). Figures 6A to 7B The positional deviation of the moving device 1 reduces charging efficiency. Wear and tear on the guide blocks 230a, 230b or the guide rail 210 may also reduce charging efficiency. Therefore, as... Figure 37 As shown in the modified example of guide rail 210M, if roller 215 is provided on the side of the guide rail, the wear of guide blocks 230a, 230b and guide rail 210M can be suppressed, thus eliminating problems such as reduced charging efficiency.

[0329] The present embodiment has been described above with reference to specific examples. However, this disclosure is not limited to these specific examples. Structures in which those skilled in the art appropriately make design changes to these specific examples, as long as they possess the features of this disclosure, are also included within the scope of this disclosure. The components, their configurations, conditions, shapes, etc., provided in the foregoing specific examples are not limited to the illustrated content and can be appropriately changed. The components provided in the foregoing specific examples can be appropriately combined as long as they do not create technical contradictions.

[0330] In the above embodiment, the structure of the positioning adjustment mechanism 200 (guide rail 210, wheel stop 220, guide blocks 230a, 230b) according to this embodiment is exemplified in the charging station 300. However, the positioning adjustment mechanism 200 according to this embodiment can also be applied to purposes other than the charging station 300. For example, if the task is to position the mobile device 1 at a predetermined stopping position such as the charging position P4, the positioning accuracy of the mobile device 1 can be improved by applying the positioning adjustment mechanism 200 according to this embodiment.

[0331] In the above embodiment, an example is illustrated where the charging station 300 is located indoors where GPS signals cannot be received. As a means of controlling the movement of the mobile device 1 to the rechargeable position P4 at the charging station 300, an example is illustrated by using a 2D LiDAR 52 mounted on the mobile device 1 to detect the position and orientation of markers 317 and 350, and guiding the mobile device 1 to the rechargeable position P4 based on this detection information. However, the 2D LiDAR 52 is an example of a detection unit that detects the position and orientation of markers 317 and 350 in an environment where GPS signals cannot be received. Components other than the 2D LiDAR 52 can also be used as detection units. For example, the following structure can be listed: using reference... Figure 1 The detection information of the 3D LiDAR 53 described herein, or the images captured by a camera device such as a PTZ camera 54 or a 360° camera 55, are used to detect the position or orientation of the markers 317 and 350.

[0332] The above embodiments are illustrative and do not limit the invention. Therefore, many additional modifications and variations can be made in light of the above teachings. For example, within the scope of the invention, elements and / or features of different illustrative embodiments can be combined with and / or substituted for each other.

[0333] This invention can be implemented in any convenient form, such as using dedicated hardware or a combination of dedicated hardware and software. This invention can be implemented by computer software executed via one or more networked process devices. Process devices include any programmable device, such as a general-purpose computer, a personal digital assistant, a Wireless Application Protocol (WAP) or third-generation (3G) compatible mobile phone, etc. Since this invention can be implemented by software, all aspects of this invention include computer software that can be implemented on a programmable device. The computer software can be provided to the programmable device using any conventional carrier medium (carrier device). Carrier media include transient carrier media, such as electrical, optical, microwave, acoustic, or radio frequency signals carrying computer code. An example of such transient media is Transmission Control Protocol / Internet Protocol (TCP / IP) signals carrying computer code over an IP network such as the Internet. Carrier media can also include storage media for storing process-readable code, such as floppy disks, hard disks, compact optical disc read-only memory (CD-ROM), magnetic tape devices, or solid-state storage devices.

[0334] The functions of the elements disclosed herein can be performed using circuitry or processing circuitry, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), digital signal processors (DSPs), field-programmable gate arrays (FPGAs), conventional circuitry, and / or combinations thereof configured or programmed to perform the disclosed functions. A processor can be processing circuitry or circuitry that includes transistors and other circuitry therein. In this disclosure, a circuit, unit, or device is hardware that performs or is programmed to perform the stated functions. The hardware can be any hardware disclosed herein or otherwise known that is programmed or configured to perform the stated functions.

[0335] There exists a memory that stores a computer program, including computer instructions. These computer instructions provide the logic and operational flow that enables hardware (e.g., one or more processing circuits) to perform the methods disclosed herein. The computer program may be implemented in known formats as a computer-readable storage medium, a computer program product, a storage device, a recording medium such as a CD-ROM or DVD, and / or a memory of an FPGA or ASIC.

[0336] This patent application is based on and claims priority to Japanese Patent Application No. 2023-211285, filed with the Japan Patent Office on December 14, 2003, and Japanese Patent Application No. 2024-144225, filed with the Japan Patent Office on August 26, 2024, the entire disclosure of which is incorporated herein by reference. List of reference numerals 1, 1A, 1B, 1L: Mobile devices 10, 10a, 10b: Tracked mobile vehicles (mobile vehicles) 14: In-wheel motor 50: Main Body 50B: Bottom surface 52:2D LiDAR (detector) 60: Receiver 63A~63D: Brackets (First~Fourth Connectors) 64A, 64C: Lower end (first pair of guide blocks) 64B, 64D: Lower end (second pair of guide blocks) 100: Positioning Adjustment System 200: Positioning Adjustment Mechanism 210, 210A~210D, 210J, 210M: Guide rails 211: Gathering Section 212: Guidance Department 212b1, 212b3: Straight section 212b2: Bend 212c1, 212c2: Straight section 213: Widening section 214: Positioning Department 215: Roller 220: Wheel stop 230a, 230b: Bootstrap blocks (the first pair of bootstrap blocks) 232, 233: Angle iron (buffer) 234, 235: Rollers (buffers) 300, 300A~300K, 300M: Charging stations 312: Rotating part 315: Power Supply 316: Contact bearing part 317: Marker (Indicator) 320, 320K: Flooring 540: Motion control motor driver (controller) P1: Charging route entry (initial position) P4: Rechargeable position (stop position)

Claims

1. A positioning adjustment mechanism for positioning a mobile device at a predetermined stop position, the mobile device comprising a pair of movable bodies disposed on both sides of a main body and moving on a moving surface, the positioning adjustment mechanism comprising: The guide rail is erected on the moving surface; A pair of guide blocks are positioned opposite the guide rail in a width direction orthogonal to the direction of movement of the moving device. The pair of guide blocks are disposed on the bottom of the main body and on corresponding portions of the pair of moving bodies near the main body. The pair of guide blocks extend from the front end of the main body closest to the predetermined stop position toward at least a portion of the main body along the direction of movement. in, The pair of guide blocks are positioned opposite each other at the center position in the width direction, sandwiching the main body. A first distance between one of the guide blocks and the corresponding one of the moving bodies is smaller than a second distance between one of the guide blocks and the center position in the width direction. The guide rail includes: The widened portion, the dimension of which in the width direction gradually increases in the direction of movement in a manner approximating a third distance between the pair of guide blocks; and The positioning part has a first end and a second end opposite to the first end, the first end being connected to the widest end of the widening part, which has the largest dimension in the width direction, and the second end extending to the predetermined stop position. Wherein, the two ends of the positioning part in the width direction extend parallel to the moving direction.

2. The positioning adjustment mechanism according to claim 1, in, The guide rail further includes a guide portion having one end and a width-direction end, the one end being connected to the narrowest end of the widening portion opposite to the widest end, and the width-direction end extending parallel to the direction of movement. The guide portion is inserted between the pair of guide blocks to guide the moving device to the widened portion.

3. The positioning adjustment mechanism according to claim 2, in, The guide rail further includes a scooping portion located at the upper corner of the front end of the guide portion, and The height of the scooping part decreases towards the front end, scooping up the bottom of the main body of the mobile device.

4. The positioning adjustment mechanism according to claim 1, further comprising a wheel stop, which contacts the rear end of the pair of moving bodies when the moving device reaches the predetermined stop position.

5. The positioning adjustment mechanism according to claim 1, in, The pair of guide blocks include a buffer located at the front end of the main body to reduce contact resistance with the guide rail.

6. The positioning adjustment mechanism according to claim 5, in, The pair of guide blocks extend from the front end of the body along the direction of movement throughout the body, and further include another buffer at the rear end of the body.

7. The positioning adjustment mechanism according to claim 2, in, The guide rail includes a straight section and a curved section, and The straight portion is connected to the curved portion.

8. The positioning adjustment mechanism according to claim 2, in, The guide portion of the guide rail includes multiple straight sections extending in different directions, and The plurality of straight sections are spaced apart from each other.

9. The positioning adjustment mechanism according to claim 1, in, The moving device creates a speed difference between the pair of moving bodies to change the direction of movement.

10. The positioning adjustment mechanism according to claim 9, in, The pair of moving bodies includes tracked moving bodies.

11. The positioning adjustment mechanism according to claim 1, It further includes another pair of guide blocks that are opposite each other across the guide rail in the width direction. in, The other pair of guide blocks are positioned opposite each other across the center position of the body in the width direction. A first distance between one of the other pair of guide blocks and the corresponding one of the pair of moving bodies is smaller than a second distance between one of the other pair of guide blocks and the center position in the width direction. The other pair of guide blocks are disposed at the bottom of the main body and at corresponding portions of the pair of movable bodies near the main body. The other pair of guide blocks extends from the rear end of the body furthest from the predetermined stop position toward at least a portion of the body along the direction of movement.

12. The positioning adjustment mechanism according to claim 11, in, The mobile device includes: A first connector and a second connector are disposed between the main body and one of the pair of movable bodies to connect the latter to the main body. The first connector is disposed at the front end of the main body in the direction of movement, and the second connector is disposed at the rear end of the main body in the direction of movement. A third connector and a fourth connector are disposed between the main body and the other of the pair of movable bodies to connect the other of the pair of movable bodies to the main body. The third connector is disposed at the front end of the main body in the direction of movement, and the fourth connector is disposed at the rear end of the main body in the direction of movement. The pair of guide blocks extend from the first connector and the third connector respectively below the bottom of the body. The other pair of guide blocks extend from the second connector and the fourth connector respectively below the bottom of the body.

13. The positioning adjustment mechanism according to claim 1, in, The guide rail further includes a plurality of rollers on both sides of the widening portion and the positioning portion in the width direction, such that each of the plurality of rollers protrudes from the widening portion or the positioning portion in the width direction. The plurality of rollers rotate in the direction of movement.

14. A positioning adjustment system, comprising: Mobile devices; and The positioning adjustment mechanism according to any one of claims 1 to 13 positions the moving device at the predetermined stop position.

15. The positioning adjustment system according to claim 14, in, The mobile device includes: A detector for detecting the distance and direction of the indicator at the predetermined stop position; and The controller is configured to control the movement of the mobile device. The controller is configured as follows: The mobile device is moved to an initial position controlled by GPS signals, wherein the mobile device stops at a predetermined stop position; and Based on the detection result of the indicator obtained by the detector, the mobile device is moved to the predetermined stop position.

16. The positioning adjustment system according to claim 15, in, The mobile device further includes a drive source for driving the pair of moving bodies, and The controller is configured to stop the mobile device in response to detecting an increase in the load of the drive source.

17. A charging station for charging a mobile device, the mobile device including a pair of movable bodies disposed on both sides of a main body for movement on a moving surface, the charging station comprising: A power supply assembly, including a power supply for supplying power to the mobile device; and The positioning adjustment mechanism according to any one of claims 1 to 13 positions the mobile device in a rechargeable position where it is powered by the power supply.

18. The charging station according to claim 17, in, The mobile device further includes a receiver disposed on the front side of the mobile device to receive power from the power supply. The power supply unit provides power via a non-contact method and includes a rotating part on which the power supply unit is mounted. The rotating part rotates in the moving direction of the mobile device and includes a contact receiving part to contact the mobile device before the receiving device contacts the power supply, and is pushed in the moving direction by the mobile device when it reaches the rechargeable position. The contact bearing portion, which is pushed in the direction of movement, causes the rotating portion to rotate in the direction of movement and in a direction away from the moving device, so as to maintain the distance between the power supply and the receiver at a rechargeable distance from which the receiver receives power from the power supply.

19. The charging station according to claim 17, in, The positioning adjustment mechanism includes a floor mounted on the mounting surface, the power supply assembly and the guide rail mounted on the floor, and The floor includes a board material having a lower coefficient of friction than the mounting surface.

20. The charging station according to claim 19, in, The dimension of the floor in the width direction is substantially equal to the dimension of the power supply assembly in the width direction.

Images