Automatic traveling device

Abstract

To provide a technique which can suppress an automatic traveling device from working for a long time when having abnormality in a power source.SOLUTION: An automatic traveling device comprises: a loading device; a plurality of power sources supplying the load device with electric power; an abnormality detection part which detects abnormality of the plurality of power sources; and a controller which respectively controls electric power of the plurality of power sources supplied to the loading device. The controller is, when abnormality is not detected in the plurality of power sources, activated in a normal mode where electric power is supplied from the plurality of power sources to the loading device, and is, when abnormality is detected at one or more of the plurality of power sources, activated in an abnormal mode where electric power supply is stopped from the power source in which abnormality is detected to the loading device and electric power supplied from the power source in which abnormality is not detected to the loading device is larger than that in the normal mode.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an automated driving device. [Background technology]

[0002] In a device equipped with multiple power sources, for example, as described in Patent Document 1, a technique is known in which, when at least one of the multiple power sources has an abnormality, the device is controlled to operate in an energy-saving mode that consumes less power than when all the power sources are normal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-193720 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when an abnormality occurs in the power supply, if the device is operated in energy saving mode, the amount of power remaining in the power supply decreases slowly because the amount of power consumed is small, so the device may operate for a long time with the power supply abnormal, even if this is not desirable. [Means for solving the problem]

[0005] The present disclosure has been made to solve the above-mentioned problems, and can be realized in the following forms.

[0006] According to one embodiment of the present disclosure, there is provided an automatic driving device. The automatic driving device includes a load device, a plurality of power sources that supply power to the load device, an abnormality detection unit that detects an abnormality in the plurality of power sources, and a control unit that controls power supplied to the load device from each of the plurality of power sources. When no abnormality is detected in any of the plurality of power sources, the control unit operates in a normal mode in which the plurality of power sources supply power to the load device, and when an abnormality is detected in one or more of the plurality of power sources, the control unit operates in an abnormality mode in which the control unit stops supplying power to the load device from the power source in which the abnormality is detected and increases the power supplied to the load device from the power source in which the abnormality is not detected compared to the normal mode. According to this embodiment of the automatic driving device, when an abnormality occurs in the power supply, the automatic driving device operates in an abnormal mode in which power consumption is high, and therefore, it is possible to prevent the automatic driving device from operating for a long period of time in a state in which the power supply is abnormal.

[0007] The present disclosure can be realized in various forms, for example, as a method for controlling the power supply of an automatic driving device. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing an overview of an automatic driving device. [Diagram 2] 10 is a flowchart illustrating an example of a power consumption control process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A. First embodiment: FIG. 1 is a schematic diagram showing an overview of an automatic driving device 100 in this embodiment. The automatic driving device 100 is an unmanned mobile machine configured to transport goods on land, water, or air, and is, for example, various automobiles such as two-wheeled vehicles and four-wheeled vehicles, trains, ships, boats, hovercraft, and aerial drones. In this embodiment, the automatic driving device 100 is a four-wheeled vehicle. The automatic driving device 100 includes a first system 10, a second system 20, an abnormality detection unit 30, and a control unit 40.

[0010] In this embodiment, the first system 10 is a system that drives the right drive wheels of the automatic driving device 100, and the second system 20 is a system that drives the left drive wheels of the automatic driving device 100. The first system 10 and the second system 20 are independent of each other.

[0011] The configuration of the first system 10 and the configuration of the second system 20 are the same. Therefore, in the following, the configuration of the first system 10 will be mainly described, and the description of the configuration of the second system 20 will be omitted as appropriate. As shown in FIG. 1, the components of the first system 10 and the second system 20 are given reference numerals in which the first digit "1" of the reference numeral of each component is replaced with "2". Note that when distinguishing between the components of the first system 10 and the second system 20, the prefixes "first" and "second" may be added, for example, to "first power source 11" and "second power source 21".

[0012] The first system 10 has a power source 11, a driver 12, and a motor 13. The power source 11 includes, for example, a battery and an inverter device. The power source 11 supplies power to the motor 13, which is a load device, via the driver 12. In this embodiment, the motor 13 drives the wheels of the automatic driving device 100. The driver 12 and the motor 13 are collectively referred to as a drive unit. The drive unit operates to perform automatic driving.

[0013] The abnormality detection unit 30 detects abnormalities in the power supplies 11, 21. For example, the abnormality detection unit 30 monitors the output voltages of the power supplies 11, 21, and when the output voltage is outside a predetermined normal range, determines that an abnormality has occurred and outputs a signal to the control unit 40 indicating that the power supply 11, 21 is abnormal.

[0014] The control unit 40 is made up of a computer configured with a central processing unit (CPU), RAM, ROM, etc., and realizes control of the power supplied from the first power source 11 to the first motor 13, which is a load device, and the power supplied from the second power source 21 to the second motor 23, which is a load device, by executing a program pre-installed in the storage area of ​​the control unit 40. However, part or all of these controls may be realized by a hardware circuit.

[0015] The control unit 40 operates in a "normal mode" when no abnormality is detected in any of the multiple power sources 11, 21, i.e., when no abnormality is detected in the first power source 11 and the second power source 21, and operates in an "abnormal mode" when an abnormality is detected in one or more of the multiple power sources 11, 21, i.e., when an abnormality is detected in the first power source 11 or the second power source 21. The normal mode is an operating mode in which power is supplied to the load device from all of the multiple power sources 11, 21. The abnormal mode is an operating mode in which the supply of power to the load device from the power sources 11, 21 in which an abnormality is detected is stopped, and the power supplied to the load device from the power sources 11, 21 in which no abnormality is detected is increased compared to the normal mode.

[0016] 2 is a flowchart showing an example of a power consumption control process. The power consumption control process is a process in which the control unit 40 controls the consumption of power depending on whether or not an abnormality has been detected in the first power source 11 or the second power source 21. In this embodiment, this process is a process that is repeatedly performed while the automated driving device 100 is in operation.

[0017] In step S100, the control unit 40 determines whether or not the abnormality detection unit 30 has detected an abnormality in the first power source 11 or the second power source 21. If an abnormality is detected, the process proceeds to step S110. On the other hand, if no abnormality is detected, the process proceeds to step S137, where the device operates in the normal mode, and the power consumption control process ends.

[0018] In step S110, the control unit 40 determines whether the power source in which the abnormality has been detected is the first power source 11. If the first power source 11 is abnormal, the process proceeds to step S120. On the other hand, if the first power source 11 is not abnormal, the process proceeds to step S125.

[0019] In step S120, the control unit 40 stops the first system 10. More specifically, the supply of electric power from the first power source 11 to the first motor 13 is stopped.

[0020] In step S130, the control unit 40 increases the power supplied to the second motor 23 from the second power source 21 in which no abnormality is detected to a value greater than that in the normal mode, and ends the power consumption control process. That is, only the left drive wheel of the automated driving device 100 is driven with a greater output than that in the normal mode, and the automated driving device 100 rotates, for example, clockwise on the spot.

[0021] In step S125, the control unit 40 stops the second system 20. More specifically, the supply of electric power from the second power source 21 to the second motor 23 is stopped.

[0022] In step S135, the control unit 40 increases the power supplied to the first motor 13 from the first power source 11 in which no abnormality is detected to a value greater than that in the normal mode, and ends the power consumption control process. That is, only the right drive wheel of the automated driving device 100 is driven with a greater output than that in the normal mode, and the automated driving device 100 rotates, for example, counterclockwise on the spot.

[0023] According to the automated driving device 100 of the present embodiment described above, when an abnormality occurs in the power supplies 11, 21, the device operates in an abnormal mode with high power consumption, thereby making it possible to prevent the power supplies 11, 21 from operating for a long time in an abnormal state. In addition, since the power supply from the power supplies 11, 21 in which an abnormality has been detected is stopped, it is possible to prevent a chain reaction of an increase in heat generation from the power supplies 11, 21 in which no abnormality is detected by continuing the power supply from the power supplies 11, 21 in which an abnormality has been detected.

[0024] Also, only the drive wheels on one side are driven with a larger output than when there is no abnormality in the power sources 11, 21. Therefore, when there is an abnormality in the power sources 11, 21, the automatic driving device 100 rotates on the spot, and can actively consume the power of the power sources 11, 21 while notifying people around the automatic driving device 100 that there is an abnormality. Even if gas leaks from the power sources 11, 21 in which an abnormality has been detected, the rotation of the automatic driving device 100 can prevent the gas from becoming locally concentrated.

[0025] B. Other embodiments: (B1) In the above-described embodiment, the automatic driving device 100 includes two systems. However, the automatic driving device 100 may include three or more systems. Furthermore, the automatic driving device 100 may include only one system as long as it includes multiple power sources.

[0026] (B2) In the above-described embodiment, the first system 10 is a system that drives the right drive wheels of the autonomous driving device 100, and the second system 20 is a system that drives the left drive wheels of the autonomous driving device 100. However, the present invention is not limited to this, and the first system 10 may be a system that drives the front wheels of the autonomous driving device 100, and the second system 20 may be a system that drives the rear wheels of the autonomous driving device 100.

[0027] (B3) In the above-described embodiment, the first system 10 and the second system 20 may have an abnormality load device to which power is supplied only in the abnormality mode. The abnormality load device is, for example, an air-cooled fan. In this case, even if gas leaks from the power source 11, 21 in which an abnormality is detected, the gas can be stirred. In addition, if an exhaust outlet is provided on the upper part of the automatic driving device 100, the efficiency of diffusing gas into the air can be improved. In addition, as the abnormality load device, a warning display monitor, a lighting device, an alarm, etc. that notifies that there is an abnormality in the power source 11, 21 can be adopted. In this case, the control unit 40 may supply the motors 13, 23 of each power source 11, 21 with power at the same level as in the normal mode in the abnormality mode.

[0028] (B4) In the above-described embodiment, the first system 10 and the second system 20 may have load devices other than the motors 13, 23 that are supplied with power from the power sources 11, 21. In this case, the control unit 40 may cause each of the power sources 11, 21 to supply more power to the load devices other than the motors 13, 23 in the abnormal mode than in the normal mode, and supply the same amount of power to the motors 13, 23 as in the normal mode.

[0029] The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each form described in the Summary of the Invention column can be appropriately replaced or combined in order to solve the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0030] 10...first system, 11, 21...power supply, 12, 22...driver, 13, 23...motor, 20...second system, 30...abnormality detection unit, 40...control unit, 100...automatic driving device

Claims

[Claim 1] An automatic driving device, A load device; A plurality of power sources for supplying power to the load devices; an abnormality detection unit that detects an abnormality in the plurality of power sources; a control unit that controls power supplied to the load device from each of the plurality of power sources; The control unit is When no abnormality is detected in any of the plurality of power sources, the power supply device operates in a normal mode in which the plurality of power sources supplies power to the load device; An automatic driving device that operates in an abnormality mode in which, when an abnormality is detected in one or more of the multiple power sources, the supply of power from the power source in which the abnormality is detected to the load device is stopped, and the power supplied to the load device from the power source in which no abnormality is detected is increased compared to the normal mode.

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