Autonomous traveling vehicle device and vehicle height adjustment method for autonomous traveling vehicle device

Abstract

To provide an autonomous traveling vehicle device and a vehicle height adjustment method for the autonomous traveling vehicle device that allow vehicle height to be easily changed.SOLUTION: In an autonomous traveling vehicle device 100, an upper bracket 141 and a lower bracket 144 which rotatably hold a rotary shaft 148 are attached to a first axle 123 and a second axle 124 which are chassis-side wheel mounting portions for attaching wheels 130a-130d to a base frame 101 constituting a chassis. The rotary shaft 148 holds the wheels 130a-130d. The lower bracket 144 is detachably attached to the first axle 123 or the second axle 124 via a hanging portion 146 detachably attached to and extending downward from the first axle 123 or the second axle 124.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an autonomous vehicle device that travels on a road surface and a method for adjusting the vehicle height of an autonomous vehicle device. [Background technology]

[0002] Conventionally, there have been autonomous vehicle devices that travel autonomously indoors, such as in a factory, or outdoors, such as on a farm, while avoiding detected objects, such as obstacles, that exist in the vehicle's direction of travel. For example, Patent Document 1 below discloses a vehicle platform that travels autonomously on farms, factories, or roads and includes a body frame for carrying and supporting loads, such as luggage or various equipment. In this case, the body frame is configured to support the wheels by sandwiching support members that extend vertically and support the wheels between an upper member extending in the vehicle width direction from the top surface of the end of a rod-shaped axle and a lower member extending in the vehicle width direction from the bottom surface of the end. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-176798

[0004] However, the vehicle platform described in Patent Document 1 has a problem in that it is difficult to change the vehicle height. For example, in the case of a vehicle platform, there are cases where it is desired to assemble or maintain the vehicle platform at a vehicle height that corresponds to the intended use of the vehicle platform, but there is a problem in that it is difficult to change the vehicle height.

[0005] The present invention has been made to address the above-mentioned problems, and its purpose is to provide an autonomous vehicle device and a method for adjusting the vehicle height of an autonomous vehicle device that can easily change the vehicle height.

[0006] In order to achieve the above object, the present invention is characterized in that it is an autonomous vehicle device that travels autonomously on a road surface, comprising: a chassis-side wheel mounting member for mounting wheels to a chassis; a rotating shaft that extends in the vertical direction and has a wheel mounting portion to which the wheel is attached; an upper bracket that has an upper receiving portion that rotatably and detachably holds the upper end of the rotating shaft and is connected to the chassis-side wheel mounting member; and a lower bracket that has a lower receiving portion that rotatably and detachably holds the lower end of the rotating shaft and is positioned opposite below the upper receiving portion, and the lower bracket is detachably attached to the chassis-side wheel mounting member via a hypophysis portion that is detachably attached to the chassis-side wheel mounting member and extends downward from the chassis-side wheel mounting member.

[0007] According to the features of the present invention configured as described above, the autonomous vehicle device has the lower bracket detachably attached to the chassis-side wheel mounting member and the pituitary portion extending downward from the chassis-side wheel mounting member, and the rotating shaft detachably attached to the upper support portion and the lower support portion, respectively. Therefore, the vehicle height of the autonomous vehicle device can be easily raised or lowered by preparing and switching between pituitaries of different lengths and rotating shafts of different lengths and wheel mounting portion positions.

[0008] Another feature of the present invention is that in the autonomous vehicle device, the hypophysis portion is formed integrally with the lower receiving portion.

[0009] According to this, in the autonomous vehicle device, the pituitary portion is formed integrally with the lower receiving portion, and therefore the pituitary portion is formed as part of the configuration of the lower bracket, thereby reducing the number of parts.

[0010] Another feature of the present invention is that in the autonomous vehicle device, the hypophysis portion is configured as a separate body from the lower receiving portion.

[0011] According to this, since the pituitary portion of the autonomous vehicle device is configured as a separate body from the lower support portion, the vehicle height can be adjusted by simply replacing the pituitary portion without having to replace the lower bracket.

[0012] Another feature of the present invention is that the autonomous vehicle device further includes a damper for attenuating impacts applied to the chassis, the damper being connected to the chassis and the pituitary gland, respectively.

[0013] According to this, the vehicle device has dampers for attenuating the impact on the chassis connected to the chassis and the pituitary gland, respectively, which increases the freedom in attaching the dampers and makes it easier to attach dampers with long strokes.

[0014] Another feature of the present invention is that in the autonomous vehicle device, the upper bracket and the lower bracket are formed to have the same shape.

[0015] According to this, in the vehicle device, the upper bracket and the lower bracket are formed to have the same shape, and therefore the parts can be standardized, thereby reducing the manufacturing and management burdens.

[0016] Furthermore, the present invention can be implemented not only as an invention of an autonomous vehicle device, but also as an invention of a vehicle height adjustment method for an autonomous vehicle device.

[0017] Specifically, the vehicle height adjustment method for an autonomous vehicle device includes a chassis-side wheel mounting member for mounting wheels to a chassis provided on the autonomous vehicle device that travels on a road surface; a rotating shaft that extends in the vertical direction and has a wheel mounting portion to which the wheels are attached; an upper bracket that has an upper receiving portion that rotatably and detachably holds the upper end of the rotating shaft and is connected to the chassis-side wheel mounting member; and a lower bracket that rotatably and detachably holds the lower end of the rotating shaft and has a lower receiving portion that is arranged opposite to the lower of the upper receiving portion and is detachably attached to the chassis-side wheel mounting member. Therefore, the method preferably includes a lower bracket replacement process in which a separate lower bracket is prepared, which is configured separately from the lower bracket and has a separate lower support portion corresponding to the lower support portion, and which has a separate pituitary portion that extends downward relative to the chassis-side wheel mounting member and is connected to the separate lower support portion, so that the distance of the separate lower support portion from the upper support portion is formed at a different distance from the lower support portion, and is replaced with the lower bracket; and a first rotating shaft replacement process in which a separate rotating shaft is prepared, which is configured separately and has a length different from the rotating shaft, and has a separate wheel mounting portion corresponding to the wheel mounting portion formed at a different position in the up-down direction from the wheel mounting portion, and is replaced with the rotating shaft.

[0018] According to this, the vehicle height adjustment method for a vehicle can easily adjust the vehicle height by preparing and replacing a separate lower bracket having a separate-side pituitary portion relative to the lower bracket and a separate rotation axle having a length different from that of the rotation axle, which is formed separately and has a separate-side wheel mounting portion corresponding to the wheel mounting portion located at a different vertical position from the wheel mounting portion. Note that the lower bracket before installation may be attached to the chassis-side wheel mounting member via a hanging portion or directly to the chassis-side wheel mounting member. Therefore, when the lower bracket before installation is attached to the chassis-side wheel mounting member via a hanging portion, the hanging portion of the separate lower bracket is configured to have a different vertical length than the hanging portion of the lower bracket before installation. Furthermore, the separate lower bracket may be formed so that the separate-side pituitary portion is directly connected to the separate-side lower support portion or may be indirectly connected via another member.

[0019] Another vehicle height adjustment method for an autonomous vehicle device includes a chassis-side wheel mounting member for mounting wheels to a chassis provided on the autonomous vehicle device that travels on a road surface, a rotating shaft extending in a vertical direction and having a wheel mounting portion to which the wheels are attached, an upper bracket having an upper receiving portion that rotatably and detachably holds an upper end of the rotating shaft and that is connected to the chassis-side wheel mounting member, a lower bracket having a lower receiving portion that rotatably and detachably holds a lower end of the rotating shaft and that is disposed below the upper receiving portion to face the chassis-side wheel mounting member, a pituitary gland portion that is detachably attached to the lower bracket, extends downward from the chassis-side wheel mounting member, and is detachably attached to the lower bracket, and the method preferably includes a pituitary gland portion replacement step of preparing a separate pituitary gland portion that is a different length from the pituitary gland portion and is configured as a separate body, and replacing the pituitary gland portion with the pituitary gland portion; and a second rotating shaft replacement step of preparing a separate rotating shaft that is a different length from the rotating shaft and is configured as a separate body, and the separate wheel mounting portion that corresponds to the wheel mounting portion is formed at a different position in the up-down direction from the wheel mounting portion, and replacing the rotating shaft with the separate rotating shaft.

[0020] According to this, the vehicle height adjustment method can easily adjust the vehicle height by preparing and replacing a separate pituitary portion having a different length from the pituitary portion and a separate rotating shaft having a different length from the rotating shaft, which is formed separately and has a separate wheel mounting portion corresponding to the wheel mounting portion formed at a different position in the vertical direction from the wheel mounting portion.

[0021] Another method for adjusting the vehicle height of an autonomous vehicle device includes a chassis-side wheel mounting member for mounting wheels to a chassis provided on the autonomous vehicle device that travels on a road surface, a rotating shaft extending in the vertical direction and having a wheel mounting portion to which the wheel is attached, an upper bracket having an upper receiving portion that rotatably and detachably holds an upper end of the rotating shaft and connected to the chassis-side wheel mounting member, and a lower bracket having a lower receiving portion that rotatably and detachably holds a lower end of the rotating shaft and is arranged opposite to the lower receiving portion and is detachably attached to the chassis-side wheel mounting member. and a third rotating shaft replacement step of preparing a separate rotating shaft that is formed separately and has a length different from the rotating shaft, and that has a separate wheel mounting portion corresponding to the wheel mounting portion formed at a different position in the up-down direction from the wheel mounting portion, and replacing the rotating shaft.

[0022] According to this, the vehicle height adjustment method involves preparing a pituitary portion and placing it between the chassis side wheel mounting member and the lower bracket, and preparing and replacing a separate rotating shaft that is formed separately and has a different length from the rotating shaft, and has a separate side wheel mounting portion that corresponds to the wheel mounting portion and is formed at a different position in the vertical direction from the wheel mounting portion, thereby making it possible to easily adjust the vehicle height.

[0023] Another method for adjusting the vehicle height of an autonomous vehicle device includes a chassis-side wheel mounting member for mounting wheels to a chassis provided on the autonomous vehicle device that travels on a road surface, a rotating shaft extending in the vertical direction and having a wheel mounting portion to which the wheel is attached, an upper bracket having an upper receiving portion that rotatably and detachably holds the upper end of the rotating shaft and is connected to the chassis-side wheel mounting member, and a lower bracket having a lower receiving portion that rotatably and detachably holds the lower end of the rotating shaft and is positioned opposite the upper receiving portion, and is detachably attached to the chassis-side wheel mounting member, and may include a fourth rotating shaft replacement process of preparing a separate rotating shaft that is configured separately from the rotating shaft and has a separate-side wheel mounting portion corresponding to the wheel mounting portion formed at a different position in the vertical direction from the vehicle mounting portion, and replacing the rotating shaft.

[0024] According to this, the vehicle height adjustment method can be easily performed by simply preparing and replacing a separate rotating shaft that is configured as a separate part and has a different length from the rotating shaft, and the separate wheel mounting part corresponding to the wheel mounting part is formed at a different position in the vertical direction from the wheel mounting part.

[0025] In addition, the lower bracket and the separate lower bracket, the pituitary portion and the separate pituitary portion or the separate pituitary portion, the lower support portion and the separate lower support portion, the rotating shaft and the separate rotating shaft, and the wheel mounting portion and the separate wheel mounting portion are corresponding parts or portions, and therefore, for the sake of convenience in explanation, the words "separate" or "separate side" are used to distinguish them, but they are essentially the same type of parts or portions with the same function. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a perspective view of the external configuration of an autonomous vehicle device according to the present invention, viewed from an oblique direction between the forward / backward direction and the vehicle width direction of the autonomous vehicle device. [Figure 2] 2 is a perspective view showing the external configuration of the autonomous vehicle device shown in FIG. 1, as viewed from the opposite side. [Figure 3]2 is a front view showing the external configuration of the autonomous vehicle device shown in FIG. 1. FIG. [Figure 4] 2 is a plan view showing the external configuration of the autonomous vehicle device shown in FIG. 1. FIG. [Figure 5] 2 is a side view showing the external configuration of the autonomous vehicle device shown in FIG. 1. FIG. [Figure 6] 2 is a bottom view showing the external configuration of the autonomous vehicle device shown in FIG. 1. FIG. [Figure 7] 2 is a block diagram of a control system for controlling the operation of the autonomous vehicle device shown in FIG. 1. FIG. [Figure 8] 2 is a perspective view showing the connection structure of the vehicle length direction members, vehicle width direction members, and corner members that make up the upper frame of the autonomous vehicle device shown in FIG. 1. FIG. [Figure 9] 9 is a cross-sectional view showing a connection structure between a vehicle length direction member and a vehicle width direction member shown in FIG. 8 and a connecting tool. FIG. [Figure 10] 2 is a partially enlarged front view of a connecting structure portion between a first axle and a wheel in the autonomous vehicle device shown in FIG. 1. FIG. [Figure 11] 2 is a perspective view showing the external configuration of an upper bracket that constitutes the autonomous vehicle device shown in FIG. 1. FIG. [Figure 12] 2 is a perspective view showing the external configuration of a lower bracket that constitutes the autonomous vehicle device shown in FIG. 1. FIG. [Figure 13] 2 is a perspective view showing the external configuration of a rotating shaft that constitutes the autonomous vehicle device shown in FIG. 1. FIG. [Figure 14] 2 is a perspective view showing the external configuration of a separate lower bracket that is to be replaced with a lower bracket that constitutes the autonomous vehicle device shown in FIG. 1. FIG. [Figure 15] 2 is a perspective view showing the external configuration of a separate rotating shaft that can be used to replace the rotating shaft that constitutes the autonomous vehicle device shown in FIG. 1. FIG. [Figure 16] 16 is a partially enlarged front view of the connecting structure between the first axle and the wheel, showing the state in which the separate lower bracket and the separate rotating shaft shown in FIGS. 14 and 15 have been replaced. FIG. [Figure 17] 1. FIG. 4 is a front view showing another example of the configuration of the lower bracket that constitutes the autonomous vehicle device shown in FIG. [Figure 18] FIG. 11 is a partially enlarged perspective view showing a connecting structure portion between a first axle and a wheel in an autonomous vehicle device according to a third embodiment of the present invention. [Figure 19] FIG. 11 is a partially enlarged perspective view showing a connecting structure portion between a second axle and a wheel in an autonomous vehicle device according to a third embodiment of the present invention. [Figure 20] 19 is a perspective view showing the external configuration of a lower bracket that constitutes the autonomous vehicle device shown in FIG. 18. FIG. [Figure 21] 19 is a perspective view showing the external configuration of a rotating shaft that constitutes the autonomous vehicle device shown in FIG. 18. FIG. [Figure 22] FIG. 20 is a partially enlarged front view of the connecting structure between the first axle and the wheel, showing a state in which the separate pituitary body and the separate rotating shaft have been replaced with those of the autonomous vehicle device shown in FIGS. 18 and 19. [Figure 23] 11 is a partially enlarged front view of the connecting structure between the first axle and the wheel, showing a state in which the separate pituitary body and the separate rotating shaft have been replaced with those of the autonomous vehicle device shown in FIG. 10. FIG. [Figure 24] FIG. 10 is a partially enlarged front view showing a connecting structure portion between a first axle and a wheel in an autonomous vehicle device according to a fourth embodiment of the present invention. [Figure 25] FIG. 25 is a partially enlarged front view of the connecting structure between the first axle and the wheels, showing a state in which only the separate rotation shaft has been replaced with the autonomous vehicle device shown in FIG. 24. DETAILED DESCRIPTION OF THE INVENTION

[0027] First Embodiment A first embodiment of an autonomous vehicle device according to the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of the exterior configuration of an autonomous vehicle device 100 according to the first embodiment of the present invention, seen from an oblique direction between the forward / backward direction of the autonomous vehicle device 100 and the vehicle width direction. FIG. 2 is a perspective view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1, seen from the opposite side. FIG. 3 is a front view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1. FIG. 4 is a plan view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1. FIG. 5 is a side view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1. FIG. 6 is a bottom view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1. FIG. 7 is a block diagram of a control system for controlling the operation of the autonomous vehicle device 100 shown in FIG. 1. Note that FIGS. 1 to 6 may be drawn to different scales to facilitate understanding of the configuration of the autonomous vehicle device 100.

[0028] (Configuration of autonomous vehicle device 100) This autonomous vehicle device 100 is a vehicle-type robot that travels autonomously to provide various services such as loading and unloading, towing, cleaning, watering, spraying, collecting information (including measurement), or providing information in commercial facilities such as department stores or shopping centers, public facilities such as hospitals, stations or government offices, parking lots, forests, farms, factories, construction sites, etc. This autonomous vehicle device 100 includes a base frame 101.

[0029] The base frame 101 is a component that forms the skeleton (i.e., chassis) of the autonomous vehicle device 100, and is formed in a frame shape by assembling metal frame members 102 and 103 in the vehicle length direction perpendicular to the vehicle width direction of the autonomous vehicle device 100.

[0030] In this embodiment, the frame members 102 and 103 are formed by forming aluminum material into a rod shape having a substantially square or rectangular cross section. In this case, a concave mounting groove 104 is formed along the entire length on each of the four side surfaces of the frame members 102 and 103, with the grooves 104 opening at both longitudinal ends. The frame member 102 has a substantially square cross section, with one mounting groove 104 formed on each of the four side surfaces. Furthermore, as shown in FIGS. 8 and 9, the frame member 103 has a substantially rectangular cross section, with two parallel mounting grooves 104 formed on each of the two side surfaces including the long sides of the substantially rectangular shape. In other words, the frame member 103 is formed in the shape of two frame members 102 stacked in parallel.

[0031] The mounting groove 104 is a groove used for connecting the frame members 102, 103 or for attaching articles, and is formed with an opening 104a that opens along the longitudinal direction on each of the four side surfaces. As shown in Figures 8 and 9, the mounting groove 104 is formed so that its internal height is wider than the opening 104a, and is configured to hook a plate-shaped nut plate 105 with an internal thread in a freely insertable and removable manner. The base frame 101 is mainly composed of an upper frame 106 and a lower frame 111.

[0032] The upper frame 106 is formed in a frame shape by assembling the frame members 103 in a rectangular shape in a plan view. More specifically, the upper frame 106 is configured by two vehicle lengthwise members 106a, 106b extending parallel to each other along the vehicle length direction of the autonomous vehicle device 100, and two vehicle widthwise members 106c, 106d extending in a vehicle width direction perpendicular to the vehicle lengthwise direction being installed between the two vehicle lengthwise members 106a, 106b via brackets 107 and corner members 108. In this case, the two vehicle lengthwise members 106a, 106b are formed longer than the vehicle widthwise members 106c, 106d, respectively, and both ends of the vehicle widthwise members 106c, 106d are connected to both ends of the two vehicle lengthwise members 106a, 106b via brackets 107 and corner members 108, respectively. A first distance measurement sensor 162 is attached to the vehicle widthwise members 106c, 106d.

[0033] The corner members 108 are arranged at positions between the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d that are perpendicular to each other, and constitute the four corners of the rectangular upper frame 106 in plan view. The corner members 108 are formed in the shape of blocks separate from the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d.

[0034] Specifically, the corner member 108 has a corner surface 108a that is an arc-shaped curved surface that bends in an arc shape at a right angle between the surface against which the vehicle length direction members 106a, 106b abut and the surface against which the vehicle width direction members 106c, 106d abut. In this case, the corner member 108 is made of a material such as a resin material or a rubber material that is more easily elastically or plastically deformed than the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d. The corner member 108 also has a hollow portion therein, and a second distance measurement sensor 163, which will be described later, is provided in this hollow portion.

[0035] The corner member 108 is attached to a bracket 107 that connects the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d to each other. In this case, the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d are connected to each other by four bolts 107a that penetrate the bracket 107 and threadably engage with nut plates 105 that fit into the mounting grooves 104, as shown in FIGS. 8 and 9 . The corner member 108 is fixed between the vehicle length direction member 106a and the vehicle length direction member 106b by two bolts 107b that penetrate the bracket 107 and threadably engage with the corner member 108. As a result, the upper frame 106 is formed in a rectangular shape with its longitudinal direction aligned with the vehicle length direction of the autonomous vehicle device 100 in a plan view. A loading platform base 110 is provided on the upper surfaces of the vehicle length direction members 106a, 106b, the vehicle width direction members 106c, 106d and the four corner members 108.

[0036] Platform base 110 is a component for placing luggage to be carried by autonomous vehicle device 100 or various onboard equipment on upper frame 106, and is made of a resin, metal, or wooden plate. The back side of platform base 110 is attached to vehicle length direction members 106a, 106b and vehicle width direction members 106c, 106d. Fence 160 and second operating elements 172a, 172b, 172c, 172d are attached to upper frame 106 via mounting grooves 104.

[0037] The lower frame 111 is formed by assembling the above-mentioned metal frame members 102 and 103 in a state in which they hang down from the center of the vehicle length direction of the upper frame 106. More specifically, the lower frame 111 is formed by four hanging direction members 111a, 111b, 111c, and 111d, two vehicle length direction members 111e and 111f, and one vehicle width direction member 111g.

[0038] The hanging direction members 111a, 111b, 111c, and 111d are formed from frame members 102 and are attached via brackets so that two of each hang down vertically from vehicle lengthwise members 106a and 106b that make up the upper frame 106. The vehicle lengthwise members 111e and 111f are formed from frame members 102 and are attached so as to span between the lower ends of the hanging direction members 111a and 111b and between the lower ends of the hanging direction members 111c and 111d. The vehicle widthwise member 111g is formed from frame member 103 and is attached so as to span between the vehicle lengthwise members 111e and 111f via brackets at the vehicle lengthwise center positions of the vehicle lengthwise members 111e and 111f.

[0039] As a result, the lower frame 111 forms a rectangular parallelepiped storage space SP extending in the vehicle width direction above the transverse members 111g. The storage space SP accommodates a control device 170 and a battery 173. A suspension mechanism 120 is provided on the underside of the lower frame 111.

[0040] The suspension mechanism 120 is a mechanical device for elastically supporting the wheels 130a to 130d on the base frame 101, and is mainly composed of a suspension plate 121, a first axle 123, a second axle 124, an oil damper 125, and a coil spring 126.

[0041] The suspension plate 121 is a component that connects the base frame 101 to the first axle 123 and the second axle 124 while attenuating the impacts and vibrations transmitted from the wheels 130a, 130b, 130c, and 130d, and is made of a flexible fiber-reinforced resin (e.g., glass fiber-reinforced resin, carbon fiber-reinforced resin, etc.) or metal material (e.g., spring steel) formed into a plate shape. The suspension plate 121 is formed into a strip shape long enough to span between the first axle 123 and the second axle 124, and is attached to the center of the vehicle width direction on the underside of each of the first axle 123, the vehicle width direction member 111g, and the second axle 124 via mounting plates 122 formed into a plate shape from a metal material (e.g., stainless steel).

[0042] The first axle 123 is a component for supporting the base frame 101 together with the second axle 124 by holding two wheels 130a, 130b, and is configured as a rod-shaped body extending in the vehicle width direction of the base frame 101. More specifically, the first axle 123 is configured from a frame material 102 made of the same aluminum as the base frame 101. The first axle 123 is disposed below one of both ends of the base frame 101 in the vehicle length direction. The wheels 130a, 130b are attached to both ends of the first axle 123 via steering mechanisms 140a. That is, the first axle 123 is a component for attaching the wheels 130a, 130b to the base frame 101, which is the chassis, and corresponds to a chassis-side wheel mounting member according to the present invention. The first axle 123 is also provided with oil dampers 125 attached near both ends.

[0043] The second axle 124 is a component that holds the two wheels 130c, 130d and supports the base frame 101 together with the first axle 123, and is formed of a rod-shaped body that extends in the vehicle width direction of the base frame 101. More specifically, the second axle 124 is formed of the same aluminum frame material 102 as the base frame 101. The second axle 124 is disposed below the other of the two end portions of the base frame 101 in the vehicle length direction. In other words, the second axle 124 is disposed parallel to the first axle 123.

[0044] Wheels 130c, 130d are attached to both ends of second axle 124 via steering mechanisms 140b. That is, second axle 124 is a component for attaching wheels 130c, 130d to base frame 101, which is the chassis, and corresponds to the chassis-side wheel mounting member according to the present invention. Oil dampers 125 are attached to second axle 124 near both ends.

[0045] The four oil dampers 125 are components that mainly receive and attenuate impacts applied to the upper frame 106 of the base frame 101. One end of each of these oil dampers 125 is connected by bolts to the first axle 123 and the second axle 124 via a plate 125a made of a metal plate, and the other end is connected to the transverse members 106c and 106d of the upper frame 106, respectively.

[0046] The four coil springs 126 are made of spring steel and serve to support the base frame 101 while damping vibrations or shocks that the wheels 130a, 130b, 130c, and 130d receive. The oil damper 125 and the coil springs 126 are disposed between an upper bracket 141 (described later) and the upper frame 106.

[0047] That is, the first axle 123 and the second axle 124 elastically support the base frame 101 via the oil damper 125 and the coil spring 126, respectively. Note that the oil damper 125 and the coil spring 126 are components that assist the suspension plate 121, and therefore may be omitted.

[0048] The wheels 130a, 130b, 130c, and 130d are a pair of left and right components that roll on the road surface to move the base frame 101 forward or backward, and are configured by attaching a rubber tire to the outside of a metal wheel. Wheel drive motors 131a, 131b, 131c, and 131d are provided on the wheels 130a to 130d, respectively.

[0049] The wheel drive motors 131a, 131b, 131c, and 131d are prime movers for driving and rotating the wheels 130a to 130d, respectively, and their operation is controlled by a control device 170 (described later). These four wheel drive motors 131a to 131d are so-called in-wheel motors provided inside the wheels (hubs) of the wheels 130a to 130d. The wheel drive motors 131a to 131d do not necessarily have to be in-wheel motors, and may be provided outside the wheels 130a to 130d. The wheel drive motors 131a to 131d may also be configured as a single prime mover that commonly drives the wheels 130a to 130d.

[0050] The steering mechanisms 140a and 140b are mechanical devices that change the orientation of the two wheels 130a and 130b or the wheels 130c and 130d, respectively, in order to change the traveling direction of the base frame 101. Since the steering mechanisms 140a and 140b have the same configuration, only the steering mechanism 140a will be described.

[0051] As shown in FIG. 10, the steering mechanism 140a is mainly composed of an upper bracket 141, a lower bracket 144, a rotary shaft 148, a link bar 150, and a steering drive motor 151.

[0052] Upper bracket 141 is a component for holding rotating shaft 148 in a rotatable state together with lower bracket 144, and is configured as a metal (e.g., steel) plate. Specifically, as shown in Fig. 11, upper bracket 141 is configured mainly to include mounting portion 142 and upper receiving portion 143.

[0053] The mounting portion 142 is a portion for mounting the upper bracket 141 to the first axle 123, and is formed in a flat plate shape. The mounting portion 142 is formed with two through holes 142b through which two bolts 142a that are threadedly fitted to the first axle 123 pass, respectively.

[0054] Upper receiving portion 143 is a portion that projects from the end of first axle 123 to support the upper end of rotating shaft 148 and the lower end of coil spring 126, and is formed in a plate shape extending horizontally from mounting portion 142. On the lower surface of upper receiving portion 143, there is formed rotating shaft fitting portion 143a that is formed as a bottomed hole that is circular in bottom view and into which the upper end of rotating shaft 148 is rotatably fitted via a bearing (not shown).

[0055] The upper surface of the upper receiving portion 143 is formed as a flat surface that protrudes slightly upward in a cylindrical shape, and a through hole 143b is formed in the center of the flat surface into which a spring receiving portion 126a is fitted, which receives the coil spring 126 between the upper receiving portion 143 and the coil spring 126.

[0056] Lower bracket 144 is a component for holding rotating shaft 148 in a rotatable state together with upper bracket 141, and is configured as a metal (e.g., steel) plate. Specifically, as shown in Fig. 12, lower bracket 144 is configured mainly to include mounting portion 145, hypophysis portion 146, and lower receiving portion 147.

[0057] Mounting portion 145 is a portion for mounting lower bracket 144 to first axle 123, and is formed in a flat plate shape. Mounting portion 145 is formed with two through holes 145b through which two bolts 145a that are threadedly fitted onto first axle 123 pass, respectively.

[0058] Hypophysis portion 146 is a portion that supports lower receiving portion 147 relative to mounting portion 145, and is configured as an inclined plate-like body that hangs obliquely downward from the tip of mounting portion 145.

[0059] Lower receiving portion 147 is a portion that supports the lower end of rotating shaft 148 by projecting from the end of first axle 123 and being disposed opposite upper receiving portion 143, and is formed in a plate shape that extends horizontally from the lower end of hypophysis portion 146. Lower receiving portion 147 is formed with rotating shaft fitting portion 147a that is configured as a circular through-hole in a plan view, into which the lower end of rotating shaft 148 is rotatably fitted via a bearing (not shown).

[0060] The rotating shaft 148 is a component for changing the orientation of the wheel 130a (or wheels 130b to 130d), and is configured by forming a metal material (for example, steel) into a columnar shape. More specifically, as shown in FIG. 13, the rotating shaft 148 has a columnar portion extending in the vertical direction, and is formed with a wheel mounting portion 148a consisting of a through-hole into which the mounting center shaft of the wheel 130a (or wheels 130b to 130d) fits. That is, the wheel 130a (or wheels 130b to 130d) is mounted to the rotating shaft 148 by tightening the nut 132 with the mounting center shaft passing through the wheel mounting portion 148a.

[0061] Furthermore, fitting portions 148b are formed on both vertical ends of the rotating shaft 148, respectively, to rotatably fit with the upper receiving portion 143 and the lower receiving portion 147 via bearings (not shown). Furthermore, an arm portion 148c for connecting a link bar 150 is formed extending horizontally on the shaft portion between the upper end and the lower end of the rotating shaft 148.

[0062] The link bar 150 is a component for transmitting a force for rotating the rotary shaft 148, and is made of a metal material (for example, steel) formed into a rod shape. In this embodiment, the link bar 150 is made of a pipe material. One end of the link bar 150 is connected to the rotary shaft 148, and the other end is connected to the steering drive motor 151.

[0063] The steering drive motor 151 is a prime mover that generates a driving force for changing the orientation of the wheels 130a, 130b (or the wheels 130c, 130d), and its operation is controlled by the control device 170. The steering drive motor 151 is supported by the first axle 123 (or the second axle 124) and is connected to the link bar 150 via a mechanical element that converts rotational motion into horizontal reciprocating linear motion.

[0064] Fence 160 is a device that prevents items placed on platform base 110 from falling off and supports parts or equipment depending on the intended use of autonomous vehicle device 100. Specifically, fence 160 is configured by assembling frame members 102 into a rectangular frame-like body that extends along each of the four sides of platform base 110, and providing rod-like legs that extend to the side surfaces of each of the four sides of platform base 110. Of these four fences 160, display devices 161a and 161b are attached to two of the fences 160 that stand on the front and rear sides of platform base 110, respectively.

[0065] Display devices 161a and 161b are devices for displaying information relating to the state of autonomous vehicle device 100 or information to be provided to the surroundings of autonomous vehicle device 100, and are configured as liquid crystal display devices whose operation is controlled by control device 170. In this embodiment, display devices 161a and 161b are formed in the shape of a horizontally elongated rectangular parallelepiped extending horizontally when viewed from the front.

[0066] The first distance measuring sensor 162 is a detector for detecting potential obstacles, such as people or objects, present in the direction of travel of or around the autonomous vehicle device 100. Specifically, the first distance measuring sensor 162 is configured with a light source, a light receiving element, and a rotating mirror, and its operation is controlled by the control device 170. That is, the first distance measuring sensor 162 is configured as a so-called "2DLiDAR" that detects the distance, direction, or nature of a detected object present within a 360° area around the first distance measuring sensor 162 on a two-dimensional plane centered on the first distance measuring sensor 162 based on the return time and wavelength of laser light. This "2DLiDAR" is well known, so further explanation is omitted. The first distance measuring sensor 162 is attached via bolts to the underside of the platform base 110 in the center of the vehicle width direction near both ends of the vehicle length direction. The first distance measuring sensor 162 is attached via a bracket (not shown) attached to the center of the vehicle width direction members 106c and 106d in the vehicle width direction.

[0067] Second distance measuring sensor 163 is a detector for detecting a detection target that may be an obstacle, such as a person or an object, present around autonomous vehicle device 100. Specifically, second distance measuring sensor 163 is configured with an ultrasonic transmitter and an ultrasonic receiver, and its operation is controlled by control device 170. That is, second distance measuring sensor 163 is configured with an ultrasonic sensor that detects the distance to the detection target based on the return time of a reflected wave of an ultrasonic wave that is radially emitted to the side facing second distance measuring sensor 163. Second distance measuring sensor 163 is housed in corner member 108 and exposed to corner surface 108a of corner member 108.

[0068] Control device 170 is configured by a microcomputer including a CPU, ROM, RAM, etc. housed in a resin housing, and comprehensively controls the overall operation of autonomous vehicle device 100. Specifically, control device 170 controls the operation of wheel drive motors 131a-131d and steering drive motor 151 based on instructions from first operator 171 or second operators 172a, 172b, 172c, 172d, thereby controlling the running, stopping, and turning of autonomous vehicle device 100.

[0069] In this case, the control device 170 performs manual driving control, in which the operation of the wheel drive motors 131a-131d and the steering drive motor 151 is controlled based on direct instructions from the operator via the first operator 171 or the second operator 172a, 172b, 172c, 172d, as well as automatic driving control (for example, SLAM (Simultaneous Localization and Mapping)), in which the control device 170 determines and controls driving according to an autonomous driving control program pre-stored in a storage device such as a ROM. In these cases, the control device 170 can perform each driving control based on detection signals from the first distance measurement sensor 162 and the second distance measurement sensor 163. The control device 170 is attached to a mounting groove 104 exposed on the inner surface of the upper frame 106 within the accommodation space SP via bolts (not shown).

[0070] First operator 171 is an input device for inputting instructions from the operator operating autonomous vehicle device 100 to control device 170, and is configured with a joystick, toggle switch, push button, dial, etc. that are manually operated by the operator. First operator 171 is provided as an independent remote control box that is physically separated from autonomous vehicle device 100. In this case, first operator 171 is connected wirelessly to control device 170, but it goes without saying that it may also be connected by wire.

[0071] Similar to first operator 171, second operators 172a, 172b, 172c, and 172d are input devices for inputting instructions from the operator operating autonomous vehicle device 100 to control device 170, and are configured to include a joystick, toggle switch, push button, dial, etc. that are manually operated by the operator. In this embodiment, second operators 172a, 172b, and 172c are configured to include push buttons with the minimum necessary functions, such as an emergency stop button, and second operator 172d is configured to include a joystick and push button that can control the traveling direction of autonomous vehicle device 100.

[0072] These second operators 172a, 172b, 172c are detachably attached to mounting grooves 104 of vehicle length direction members 106a, 106b constituting upper frame 106 of autonomous vehicle device 100 with bolts and nut plates 105. In this case, second operators 172a, 172b, 172c are connected to control device 170 by wire (not shown), but of course they may also be connected wirelessly.

[0073] Additionally, the second operating element 172d is held by the vehicle length direction member 106b by attaching a holder that detachably holds the second operating element 172d to an attachment groove 104 in the vehicle length direction member 106b that constitutes the upper frame 106. In this case, the second operating element 172d is connected to the control device 170 by a long wire (only a portion of which is shown) so that the second operating element 172d can be removed from the holder attached to the upper frame 106 and pulled out relative to the upper frame 106, but it goes without saying that the second operating element 172d may be connected wirelessly.

[0074] Battery 173 is a power supply device for supplying power to various electrical devices provided in autonomous vehicle device 100, such as wheel drive motors 131a-131d, steering drive motor 151, display devices 161a, 161b, first distance measurement sensor 162, second distance measurement sensor 163, control device 170, and second operators 172a-172d. Battery 173 may be a secondary battery such as a nickel-metal hydride battery or a lithium-ion battery, or may be a hydrogen-oxygen fuel cell, a chemical battery, or a metal-air battery, as long as it is configured to generate electricity, or may be a primary battery.

[0075] In this embodiment, the battery 173 is configured as a secondary battery, and receives and stores power from an external power source (e.g., a household 100V power source or a 200V power source, etc.) not shown. The battery 173 is connected to each device that requires power via a converter (not shown). The battery 173 is attached to a mounting groove 104 exposed on the upper surface of the transverse member 111g within the accommodation space SP by means of a bracket (not shown) and a bolt (not shown). Note that the battery 173 is connected to a power supply unit that controls the input and output of power to and from the battery 173, electric wires that pass electricity, and the like, but these are not directly related to the present invention and therefore will not be described here.

[0076] (Operation of autonomous vehicle device 100) Next, we will explain the operation of autonomous vehicle device 100 configured as described above. As described above, autonomous vehicle device 100 autonomously travels to provide various services such as loading and unloading, towing, cleaning, watering, spraying, collecting information (including measurement), or providing information in commercial facilities, public facilities, parking lots, forests, farms, factories, construction sites, etc.

[0077] First, the operator operates first operator 171 to instruct control device 170 to start traveling of autonomous vehicle device 100. In this case, the operator can directly operate first operator 171 to cause autonomous vehicle device 100 to travel, and can also input a travel route or destination of autonomous vehicle device 100 to control device 170 via first operator 171 in advance to cause autonomous traveling.

[0078] In response to this instruction, control device 170 controls the operation of wheel drive motors 131a-131d and steering drive motor 151 to start traveling of autonomous vehicle device 100. In this case, control device 170 travels while avoiding deviation from the travel path or contact with or collision with an obstacle, based on detection signals from first distance measurement sensor 162 and second distance measurement sensor 163. Control device 170 also travels autonomous vehicle device 100 while displaying, on display devices 161a and 161b, preset content according to the travel state (states such as starting, traveling, stopping, accelerating / decelerating, turning, or when an abnormality occurs).

[0079] During use of autonomous vehicle device 100, base frame 101 of autonomous vehicle device 100 is supported on the road surface by wheels 130a-130d via steering mechanisms 140a and 140b. In this case, vibrations or shocks received by wheels 130a-130d of autonomous vehicle device 100 are damped by oil damper 125 and coil spring 126 via steering mechanisms 140a and 140b. Furthermore, in autonomous vehicle device 100, the rotational drive force of steering drive motor 151 is transmitted to rotation shaft 148 via link bar 150, causing rotation of rotation shaft 148, thereby steering wheels 130a-130b and changing the direction of travel.

[0080] Meanwhile, an operator (maintenance person) of autonomous vehicle device 100 can change the vehicle height of autonomous vehicle device 100. Specifically, as shown in Figures 14 and 15, the operator first prepares separate lower bracket 180 and separate rotation shaft 183 of lengths corresponding to the desired vehicle height.

[0081] Here, the separate lower bracket 180 is a lower bracket having a separate side pituitary portion 181 that is formed separately from the lower bracket 144 and has a different length of the pituitary portion 146, and therefore has a separate side lower receiving portion 182 that has a different height position of the lower receiving portion 147.

[0082] More specifically, for example, when raising the vehicle height of autonomous vehicle device 100 from its current height, the worker prepares separate lower bracket 180 having separate-side pituitary portion 181 in which the vertical length of pituitary portion 146 is increased, and separate rotation shaft 183 in which the vertical length of rotation shaft 148 is increased. In this embodiment, separate-side pituitary portion 181 is formed to hang down vertically directly downward, orthogonal to mounting portion 145, but it may also be formed to extend in an oblique direction similar to pituitary portion 146. Furthermore, separate-side wheel mounting portion 183a of separate rotation shaft 183 is formed in a position lower than wheel mounting portion 148a of rotation shaft 148.

[0083] Next, the worker jacks up autonomous vehicle device 100 via first axle 123 to lift wheel 130a off the road surface. Note that the replacement work of lower bracket 144 and rotating shaft 148 for wheels 130b to 130d is the same as for wheel 130a, and therefore a description thereof will be omitted.

[0084] Next, the worker removes the wheel 130a attached to the rotating shaft 148. Specifically, the worker can remove the wheel 130a from the rotating shaft 148 by loosening the nut 132.

[0085] Next, the worker removes lower bracket 144 and rotating shaft 148 from first axle 123. Specifically, the worker removes link bar 150 connected to arm portion 148c and loosens bolt 145a on lower bracket 144, thereby removing lower bracket 144 from first axle 123. This allows the worker to remove rotating shaft 148, from which wheel 130a has been removed, from upper bracket 141 and lower bracket 144.

[0086] 16, the worker attaches separate rotation shaft 183 and separate lower bracket 180 to first axle 123. Specifically, the worker fits two fitting portions 148b of separate rotation shaft 183 into upper receiving portion 143 or separate-side lower receiving portion 182, respectively, and then places separate lower bracket 180 on first axle 123 and tightens it with bolt 145a. Then, the worker attaches link bar 150 to arm portion 148c.

[0087] Next, the worker attaches the wheel 130a to the separate rotation shaft 183. Specifically, the worker passes the attachment center axis of the wheel 130a through the separate-body-side wheel attachment portion 183a of the separate rotation shaft 183 and tightens the nut 132, thereby attaching the wheel 130a to the separate rotation shaft 183.

[0088] This allows the worker to attach separate rotation shaft 183 and separate lower bracket 180 to first axle 123 and attach wheel 130a to separate rotation shaft 183. In this case, in autonomous vehicle device 100, separate-side pituitary portion 181 of replaced separate lower bracket 180 is formed to be longer than pituitary portion 146 before replacement. Separate rotation shaft 183 is also formed to be longer than rotation shaft 148 before replacement, and separate-side wheel mounting portion 183a is formed at a different position (lower position) from the vertical position of wheel mounting portion 148a. As a result, the vehicle height of autonomous vehicle device 100 is increased compared to before lower bracket 144 and rotation shaft 148 were replaced.

[0089] That is, the steps of replacing the separate lower bracket 180 and the separate rotating shaft 183 correspond to the lower bracket replacing step and the first rotating shaft replacing step, respectively, according to the present invention.

[0090] In addition, when lowering the vehicle height of the current autonomous vehicle device 100, the worker simply prepares a separate lower bracket (not shown) having a separate side pituitary portion in which the vertical length of the pituitary portion 146 is shortened, and a separate rotating shaft (not shown) having a separate side wheel mounting portion in which the vertical length of the rotating shaft 148 is shortened and the position of the wheel mounting portion is changed, and attaches them to the lower bracket 144 and the rotating shaft 148.

[0091] The ability to easily raise or lower the vehicle height of the autonomous vehicle device 100 in this way is useful not only when maintaining the autonomous vehicle device 100, but also when manufacturing the autonomous vehicle device 100.By preparing multiple types of lower brackets 144 with different lengths of the pituitary portion 146 and multiple types of rotating shafts 148 with different vertical positions and overall lengths of the wheel mounting portion 148a, autonomous vehicle devices 100 with different vehicle heights can be easily manufactured.

[0092] As can be seen from the explanation of the operating method above, according to the first embodiment, the autonomous vehicle device 100 can easily adjust the vehicle height by preparing and replacing a separate lower bracket 180 having a separate side pituitary portion 181 of a different length than the pituitary portion 146 of the lower bracket 144, and a separate rotation shaft 183 which is formed separately and has a different length from the rotation shaft 148, and has a separate side wheel mounting portion 183a corresponding to the wheel mounting portion 148a formed at a different position in the up-down direction from the wheel mounting portion 148a.

[0093] Furthermore, the present invention is not limited to the first embodiment described above, and various modifications are possible without departing from the object of the present invention.

[0094] For example, in the first embodiment, the lower bracket 144 is configured to have the pituitary portion 146. However, the lower bracket 144 may be configured in a shape that does not have the pituitary portion 146, for example, in a shape similar to that of the upper bracket 141.

[0095] Second Embodiment Next, a second embodiment of an autonomous vehicle device according to the present invention will be described. In this second embodiment, differences from the first embodiment will be mainly described, and descriptions of parts common to the first embodiment will be omitted as appropriate.

[0096] The second embodiment differs from the first embodiment in that a pituitary portion 146 and a lower receiving portion 147 of a lower bracket 144 are configured as separate bodies.

[0097] 17, lower bracket 144 is configured such that pituitary portion 146 is formed in the shape of a plate extending vertically like separate pituitary portion 181 and is detachably attached to mounting portion 145 and lower receiving portion 147 via bolts 146a. In this case, after removing pituitary portion 146 from mounting portion 145 and lower receiving portion 147, an operator prepares a separate pituitary portion (not shown) whose vertical length differs from that of pituitary portion 146 and attaches it to mounting portion 145 and lower receiving portion 147 via bolts 146a.

[0098] In this case, the worker prepares a separate rotating shaft (for example, separate rotating shaft 183) that differs in length and in the position of wheel mounting portion 148a from rotating shaft 148, and replaces it with rotating shaft 148. This allows the worker to adjust the vehicle height of autonomous vehicle device 100. These steps of replacing the separate pituitary portion and separate rotating shaft correspond to the pituitary portion replacement step and second rotating shaft replacement step, respectively, of the present invention.

[0099] Third Embodiment Next, a third embodiment of an autonomous vehicle device according to the present invention will be described. In this third embodiment, differences from the first embodiment will be mainly described, and descriptions of parts common to the first embodiment will be omitted as appropriate.

[0100] This third embodiment differs from the first and second embodiments in that the pituitary portion 146 or the separate-side pituitary portion 181 in the lower bracket 144 and the separate lower bracket 180 are separate components rather than being part of the respective configurations of the lower bracket 144 and the separate lower bracket 180.

[0101] Specifically, for example, as shown in Figures 18 and 19, the steering mechanism 200 can be configured to include an upper bracket 141, a lower bracket 201, a rotating shaft 204, a pituitary portion 206, a first connecting member 208, a second connecting member 209, a link bar 150, and a steering drive motor 151.

[0102] 20, the lower bracket 201 is a part corresponding to the lower bracket 144 in the first embodiment, but differs in that the hypophysis portion 146 is not integrally formed but is configured as a separate body. Specifically, the lower bracket 201 is formed of the same material and in the same shape as the upper bracket 141 in the first embodiment, and is configured to include an attachment portion 202, a through hole 202a, a lower receiving portion 203, a rotating shaft fitting portion 203a, and a through hole 203b that correspond to the attachment portion 142, the through hole 142b, the upper receiving portion 143, the rotating shaft fitting portion 143a, and the through hole 143b, respectively.

[0103] In this case, the integrally formed mounting portion 202, through hole 202a, lower receiving portion 203, rotating shaft fitting portion 203a, and through hole 203b constitute lower bracket main body 201a. Also, in this case, bolt 145a passing through mounting portion 202 is threadedly fitted into mounting groove 104 in frame material 102 that constitutes first connecting member 208.

[0104] The rotating shaft 204 is a component corresponding to the rotating shaft 148 in the first embodiment, but differs in that the vertical length is longer than that of the rotating shaft 148 and the arm portion 148c is not integrally formed but is configured as a separate body. Specifically, as shown in Fig. 21 , the rotating shaft 204 is formed to be longer in the vertical direction than the rotating shaft 148 in the first embodiment, and is configured with a wheel mounting portion 204a, a fitting portion 204b, and an arm portion 205 that correspond to the wheel mounting portion 148a, the fitting portion 148b, and the arm portion 148c of the rotating shaft 148, respectively. In this case, the wheel mounting portion 204a is formed at a position lower than the wheel mounting portion 148a.

[0105] Arm portion 205 is a component corresponding to arm portion 148c in the first embodiment, and is configured as a metal (e.g., steel) plate extending horizontally. One end of arm portion 205 is formed with a through-hole to which link bar 150 is detachably connected, and the other end hangs down and is detachably connected to the side surface of rotation shaft 204 by bolt 205a.

[0106] Pituitary gland 206 is a component corresponding to pituitary gland 146 in the first embodiment, and is composed of two metal (e.g., steel) plates extending in the vertical direction. Mounting portions 206a, 206b, and 206c are formed on the upper end side, the lower end side, and the vertical center of pituitary gland 206, respectively.

[0107] The mounting portion 206a is configured by three through-holes through which three bolts 207a pass, respectively. The bolts 207a threadably fit into mounting grooves 104 in the frame member 102 that forms the first axle 123 or the second axle 124. That is, the upper end side of the pituitary portion 206 is connected to the first axle 123 or the second axle 124. In this case, one of the three bolts 207a is attached to the first axle 123 or the second axle 124 via the oil damper 125. That is, the pituitary portion 206 also serves as the mounting plate 125a in the above embodiment.

[0108] The mounting portion 206b is configured by two through holes through which two bolts 207b that threadably fit the pituitary portion 206 into the mounting grooves 104 in the frame material 102 that constitutes the second connecting member 209 pass, respectively.

[0109] The attachment portion 206c is configured by two through holes through which two bolts 207c that are threadably fitted into the first connecting member 208 pass, respectively.

[0110] The first connecting member 208 is a component for connecting the lower bracket 201 to the first axle 123 or the second axle 124 via the hypophysis portion 206, and is made of a metal material formed into a rod or block shape. In this embodiment, the first connecting member 208 is made of a frame member 102 that has a length substantially equal to the width direction length of the hypophysis portion 206 and extends parallel to the first axle 123 or the second axle 124. In other words, the first connecting member 208 is formed in the shape of a rectangular parallelepiped extending horizontally, and a mounting groove 104 is formed on each of the four side surfaces.

[0111] In this case, lower bracket 201 is connected to the lower surface (the downward-facing surface) of the four side surfaces of first connecting member 208 by bolt 145a, and pituitary portion 206 is connected to each of two side surfaces facing in the front-to-rear direction of autonomous vehicle device 100 by bolt 207c. In other words, first connecting member 208 is connected to first axle 123 or second axle 124 via two pituitary portions 206 arranged respectively in the front-to-rear direction of autonomous vehicle device 100.

[0112] The second connecting member 209 is a component for connecting the two pituitary portions 206 attached to the first axle 123 or the second axle 124 and the first connecting member 208, and is configured as a metal (e.g., steel) plate extending between the two pituitary portions 206. In this case, female threads (not shown) are formed on both end surfaces of the second connecting member 209, into which two bolts 207b passing through the two mounting portions 206b of the pituitary portion 206, respectively, are threadedly fitted. Note that the second connecting member 209 may be omitted.

[0113] When changing the vehicle height of the autonomous vehicle device 100 equipped with the steering mechanism 200 configured in this manner, the operator prepares the separate pituitary portion 210 and the separate rotation shaft 211 of lengths corresponding to the desired vehicle height, as shown in FIG. 22 , in the same manner as in the first embodiment. That is, when raising the vehicle height, the operator prepares the separate pituitary portion 210 and the separate rotation shaft 211 that are long in the vertical direction, and when lowering the vehicle height, the operator prepares the separate pituitary portion 210 and the separate rotation shaft 211 that are short in the vertical direction. In this case, it goes without saying that the separate-side wheel mounting portion 211a of the separate rotation shaft 211 is formed at a different vertical position from the wheel mounting portion 204a. Note that in this third embodiment, the operator prepares the separate pituitary portion 210 and the separate rotation shaft 211 that are long in the vertical direction to raise the vehicle height.

[0114] Next, the worker lifts wheel 130a off the road surface and then removes wheel 130a. Next, the worker removes pituitary portion 206 from first axle 123, first connecting member 208, and second connecting member 209. In this case, the worker also removes oil damper 125 from first axle 123 together with pituitary portion 206. The worker also removes link bar 150 from arm portion 205 attached to rotating shaft 204. This allows the worker to remove rotating shaft 204 from between upper bracket 141 and lower bracket 201, and in this case, the worker does not need to remove lower bracket 201 from first connecting member 208.

[0115] Next, the worker places a new separate rotating shaft 211 of a different length between the upper bracket 141 and the lower bracket 201, and attaches a new separate pituitary portion 210 of a different length. In this case, the worker also attaches the oil damper 125 to the first axle 123 together with the separate pituitary portion 210. The worker also attaches the link bar 150 to the arm portion 205 attached to the separate rotating shaft 211. Then, the worker attaches the wheel 130a to the separate rotating shaft 211. These steps of replacing the separate pituitary portion 210 and the separate rotating shaft 211 correspond to the pituitary portion replacement step and the second rotating shaft replacement step, respectively, according to the present invention.

[0116] The worker then lands wheel 130a on the road surface. The worker also performs the same replacement work of separate hypophysis portion 210 and separate rotation shaft 211 for wheels 130b to 130d. This allows the worker to raise the vehicle height of autonomous vehicle device 100. In this case, the worker does not need to replace lower bracket main body 201a.

[0117] Furthermore, the present invention is not limited to the third embodiment, and various modifications are possible without departing from the scope of the present invention. In the modifications shown below, the same components as those in the above embodiments are designated by the corresponding reference numerals, and their description will be omitted.

[0118] For example, in the third embodiment, the worker replaced the separate pituitary gland portion 210 and the separate rotating shaft 211 in the steering mechanism 200 that had the pituitary gland portion 206. However, the worker can replace the separate pituitary gland portion 210 and the separate rotating shaft 211 in a steering mechanism that does not have the pituitary gland portion 206, for example, in the steering mechanisms 140a and 140b in the first embodiment (see FIG. 10).

[0119] 23, the worker first prepares one separate rotation shaft 211, two separate pituitary portions 210, one first connecting member 208, and one second connecting member 209 for one wheel 130a. In this case, it goes without saying that the separate rotation shaft 211 and the separate pituitary portion 210 are formed to a length and at a position on the separate-side wheel mounting portion 211a according to the desired amount of vehicle height adjustment.

[0120] Next, the worker removes the wheel 130a from the rotating shaft 148, and then removes the lower bracket 144 and the rotating shaft 148 of the steering mechanism 140a from the first axle 123. The worker also removes the plate 125a from the first axle 123 and removes the oil damper 125. Next, the two separate pituitary parts 210 are attached to each side of the first axle 123. In this case, the worker attaches the second connecting member 209 to the two separate pituitary parts 210. When attaching one of the two separate pituitary parts 210 to the first axle 123, the worker also attaches the oil damper 125 to the first axle 123 via the separate pituitary part 210.

[0121] Next, the worker attaches lower bracket 144 to first connecting member 208. Then, the worker positions first connecting member 208 between two separate hypophysis units 210 while holding both ends of separate rotation shaft 211 so that they are sandwiched between upper bracket 141 and lower bracket 144. Then, the worker attaches wheel 130a to separate rotation shaft 211. The worker also performs the same work of attaching separate hypophysis units 210 and replacing separate rotation shafts 211 for wheels 130b to 130d. In this way, the worker can adjust the vehicle height of autonomous vehicle device 100.

[0122] That is, the step of attaching separate pituitary gland portion 210 and the step of replacing separate rotating shaft 211 correspond to the step of attaching the pituitary gland portion and the step of replacing the third rotating shaft, respectively, according to the present invention.

[0123] <Fourth embodiment> Next, a fourth embodiment of an autonomous vehicle device according to the present invention will be described. In this fourth embodiment, differences from the first embodiment will be mainly described, and descriptions of parts common to the first embodiment will be omitted as appropriate.

[0124] The fourth embodiment differs from the first, second and third embodiments in that the vehicle height can be changed simply by replacing the rotary shafts 148, 204 with separate rotary shafts 183, 211 that are rotary shafts of different lengths.

[0125] Specifically, for example, the worker can change the vehicle height by performing a fourth rotating shaft replacement process in which a separate rotating shaft 212 is installed in place of the rotating shaft 148 in a steering mechanism 140a in which an upper bracket 141, a lower bracket 144, and a rotating shaft 148 are respectively attached to the first axle 123, as shown in Figures 24 and 25.

[0126] Here, separate rotation shaft 212 is configured as a separate part from rotation shaft 148, and separate-body-side wheel mounting portion 212a corresponding to wheel mounting portion 148a is formed at a different position in the vertical direction from wheel mounting portion 148a (lower side in FIG. 25 ). In this case, the vertical length of separate rotation shaft 212 is the same as the length of rotation shaft 148, and therefore separate-body-side wheel mounting portion 212a is formed within the range of the vertical length of separate rotation shaft 212. This allows an operator to change the vehicle height of autonomous vehicle device 100 without replacing lower bracket 144.

[0127] Furthermore, the present invention is not limited to the first to fourth embodiments, and various modifications are possible without departing from the object of the present invention.

[0128] For example, in each of the above embodiments, autonomous vehicle device 100 is configured to include oil damper 125 and coil spring 126. However, autonomous vehicle device 100 may also be configured without oil damper 125 and coil spring 126.

[0129] Furthermore, in each of the above embodiments and modifications, autonomous vehicle device 100 is configured so that link bar 150 extending from steering drive motor 151 is connected to arm portions 148c, 205 of rotation shaft 148. However, if autonomous vehicle device 100 is configured so that wheels 130a-130d are not steered, arm portions 148c, 205 of rotation shaft 148 can be omitted. In this case, rotation shafts 148, 204 may be configured so as to be non-rotatably and detachably held by upper support portion 143 and lower support portions 147, 203, respectively.

[0130] In addition, in each of the above embodiments, the base frame 101 is configured with frame members 102, 103 having mounting grooves 104. However, the base frame 101 may be configured with any member capable of supporting a load to be mounted on or carried by the autonomous vehicle device 100. Therefore, the base frame 101 may also be configured with bar-shaped, solid bar-shaped, or tubular frame members 102, 103 that do not have mounting grooves 104. The base frame 101 may also be configured without the loading platform base 110 or the lower frame 111. The base frame 101 may also be configured without the fence 160.

[0131] Furthermore, in each of the above embodiments, autonomous vehicle device 100 is configured as a four-wheel drive vehicle with an in-wheel motor. However, autonomous vehicle device 100 may also be configured as a two-wheel drive vehicle with an in-wheel motor. Furthermore, autonomous vehicle device 100 can also use a prime mover other than an electric motor, such as a reciprocating engine, as long as it is capable of self-propulsion.

[0132] Furthermore, in each of the above embodiments, an example has been described in which the present invention is applied to autonomous vehicle device 100. However, the present invention can also be applied to various vehicles that have wheels and a chassis, such as a self-propelled vehicle that has a prime mover and is operated by a driver, a human-powered vehicle that is operated by a driver using human power, or a cart. [Explanation of symbols]

[0133] SP...containment space, 100...Autonomous driving vehicle device, 101...base frame, 102, 103...frame material, 104...mounting groove, 104a...opening, 105...nut plate, 106...upper frame, 106a, 106b...vehicle length direction material, 106c, 106d...vehicle width direction material, 107...bracket, 107a, 107b...bolt, 108...corner member, 108a...corner surface, 110... bed base, 111... lower frame, 111a, 111b, 111c, 111d... hanging direction members, 111e, 111f... vehicle length direction members, 111g... vehicle width direction members, 120...Suspension mechanism, 121...Suspension plate, 122...Mounting plate, 123...First axle, 124...Second axle, 125...Oil damper, 125a...Plate, 126...Coil spring, 126a...Spring receiver, 130a, 130b, 130c, 130d...wheels, 131a, 131b, 131c, 131d...wheel drive motors, 132...nuts, 140a, 140b...Steering mechanism, 141...Upper bracket, 142...Mounting portion, 142a...Bolt, 142b...Through hole, 143...Upper receiving portion, 143a...Rotating shaft fitting portion, 143b...Through hole, 144...Lower bracket, 145...Mounting portion, 145a...Bolt, 145b...Through hole, 146...Pituitary portion, 146a...Bolt, 147...Lower receiving portion, 147a...Rotating shaft fitting portion, 148...Rotating shaft, 148a...Wheel mounting portion, 148b...Fitting portion, 148c...Arm portion, 150...link bar, 151...steering drive motor, 160... fence, 161a, 161b... display device, 162... first distance measuring sensor, 163... second distance measuring sensor, 170...control device, 171...first operator, 172a to 172d...second operators, 173...battery, 180... Separate lower bracket, 181... Separate side pituitary body portion, 182... Separate side lower receiving portion, 183... Separate side rotating shaft, 183a... Separate side wheel mounting portion, 200...Steering mechanism, 201...Lower bracket, 201a...Lower bracket body, 202...Mounting portion, 202a...Through hole, 203...Lower receiving portion, 203a...Rotating shaft fitting portion, 203b...Through hole, 204...Rotating shaft, 204a...Wheel mounting portion, 204b...Fitting portion, 205...Arm portion, 205a...Bolt, 206...Pituitary portion, 206a, 206b, 206c...Mounting portion, 207a, 207b, 207c...Bolt, 208...First connecting member, 209...Second connecting member 210...separate pituitary gland portion, 211...separate rotating shaft, 211a...separate side wheel mounting portion, 212...separate rotating shaft, 212a...separate side wheel mounting portion.

Claims

1. An autonomous vehicle device that autonomously travels on a road surface, a chassis-side wheel mounting member for mounting a wheel to the chassis; a rotation shaft extending in the vertical direction and having a wheel mounting portion to which the wheel is attached; an upper bracket having an upper receiving portion that rotatably and detachably holds an upper end portion of the rotary shaft and that is connected to the chassis-side wheel mounting member; a lower bracket having a lower support portion that rotatably and detachably holds a lower end portion of the rotary shaft and is disposed below and facing the upper support portion, The lower bracket is An autonomous vehicle device characterized in that it is removably attached to the chassis-side wheel mounting member via a pituitary portion that extends downward from the chassis-side wheel mounting member.

2. 2. The autonomous vehicle device according to claim 1, The pituitary gland portion is An autonomous vehicle device, characterized in that it is formed integrally with the lower receiving portion.

3. 2. The autonomous vehicle device according to claim 1, The pituitary gland portion is An autonomous vehicle device characterized in that it is configured as a separate body from the lower receiving portion.

4. The autonomous vehicle device according to claim 1, further comprising: a damper for attenuating an impact applied to the chassis, The damper is An autonomous vehicle device, characterized in that it is connected to the chassis and the pituitary gland.

5. 2. The autonomous vehicle device according to claim 1, The autonomous vehicle device is characterized in that the upper bracket and the lower bracket are formed to have the same shape.

6. a chassis-side wheel mounting member for mounting wheels to a chassis of an autonomous vehicle device that travels on a road surface; a rotation shaft extending in the vertical direction and having a wheel mounting portion to which the wheel is attached; an upper bracket having an upper receiving portion that rotatably and detachably holds an upper end portion of the rotary shaft and that is connected to the chassis-side wheel mounting member; a lower bracket that is detachably attached to the chassis-side wheel mounting member, the lower bracket having a lower support portion that rotatably and detachably holds a lower end portion of the rotation shaft and is arranged below and facing the upper support portion, a lower bracket replacement process for replacing the lower bracket with a separate lower bracket that is configured separately from the lower bracket, has a separate lower support portion that corresponds to the lower support portion, and has a separate lower pituitary portion that extends downward with respect to the chassis-side wheel mounting member and is connected to the separate lower support portion, so that the distance between the separate lower support portion and the upper support portion is different from that of the lower support portion; a first rotating shaft replacement process for preparing a separate rotating shaft having a different length from the rotating shaft, the separate wheel mounting portion corresponding to the wheel mounting portion being formed at a different position in the vertical direction from the wheel mounting portion, and replacing the rotating shaft with the separate rotating shaft.

7. a chassis-side wheel mounting member for mounting wheels to a chassis of an autonomous vehicle device that travels on a road surface; a rotation shaft extending in the vertical direction and having a wheel mounting portion to which the wheel is attached; an upper bracket having an upper receiving portion that rotatably and detachably holds an upper end portion of the rotary shaft and that is connected to the chassis-side wheel mounting member; a lower bracket having a lower support portion that rotatably and detachably holds a lower end portion of the rotary shaft and is disposed below and facing the upper support portion; a pituitary portion that is detachably attached to the chassis-side wheel mounting member, extends downward from the chassis-side wheel mounting member, and is detachably attached to the lower bracket, a pituitary gland replacement step of preparing a separate pituitary gland having a different length from the pituitary gland and replacing the separate pituitary gland with the separate pituitary gland; a second rotating shaft replacement process for preparing a separate rotating shaft that is a different length from the rotating shaft, has a separate wheel mounting portion corresponding to the wheel mounting portion formed at a different position in the vertical direction from the wheel mounting portion, and replaces the rotating shaft with the separate rotating shaft.

8. a chassis-side wheel mounting member for mounting wheels to a chassis of an autonomous vehicle device that travels on a road surface; a rotation shaft extending in the vertical direction and having a wheel mounting portion to which the wheel is attached; an upper bracket having an upper receiving portion that rotatably and detachably holds an upper end portion of the rotary shaft and that is connected to the chassis-side wheel mounting member; a lower bracket that is detachably attached to the chassis-side wheel mounting member, the lower bracket having a lower support portion that rotatably and detachably holds a lower end portion of the rotation shaft and is arranged below and facing the upper support portion, a pituitary portion mounting step of preparing a pituitary portion that is detachably mounted to the chassis-side wheel mounting member, extends downward from the chassis-side wheel mounting member, and is detachably mounted to the lower support portion, and disposing and mounting the pituitary portion between the chassis-side wheel mounting member and the lower bracket; a third rotating shaft replacement process for preparing a separate rotating shaft that is formed separately and has a different length from the rotating shaft, and whose separate wheel mounting portion corresponding to the wheel mounting portion is formed at a different position in the vertical direction from the wheel mounting portion, and replacing the rotating shaft with the separate rotating shaft.

9. a chassis-side wheel mounting member for mounting wheels to a chassis of an autonomous vehicle device that travels on a road surface; a rotation shaft extending in the vertical direction and having a wheel mounting portion to which the wheel is attached; an upper bracket having an upper receiving portion that rotatably and detachably holds an upper end portion of the rotary shaft and that is connected to the chassis-side wheel mounting member; a lower bracket that is detachably attached to the chassis-side wheel mounting member, the lower bracket having a lower support portion that rotatably and detachably holds a lower end portion of the rotation shaft and is arranged opposite the upper support portion, A vehicle height adjustment method characterized by including a fourth rotating shaft replacement process of preparing a separate rotating shaft that is configured separately from the rotating shaft and has a separate wheel mounting portion corresponding to the wheel mounting portion formed at a different position in the vertical direction from the vehicle mounting portion, and replacing the rotating shaft with the separate rotating shaft.

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