Autonomous traveling vehicle device

Abstract

To provide an autonomous traveling vehicle device that enables fabrication loads or maintenance loads to be reduced even in a vehicle having a long wheel base.SOLUTION: An autonomous traveling vehicle device 100 comprises a first axle 126 and a second axle 127 which extend in a vehicle width direction and hold a pair of left and right wheels 130a and 130b and wheels 130c and 130d, respectively. The first axle 126 and the second axle 127 are supported by a lower part frame 111 by a first suspension plate 121 and a second suspension plate 122 which are constituted of plate-like bodies extending in a lengthy direction, and which support the first axle 126 or the second axle 127 respectively in a cantilever state. The first suspension plate 121 and the second suspension plate 122 are provided at positions where a fixed end in the first suspension plate 121 is separated from a fixed end in the second suspension plate 122 in a longitudinal direction of the autonomous traveling vehicle device 100.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an autonomous vehicle device that travels on a road surface. [Background technology]

[0002] Conventionally, there have been autonomous vehicle devices that travel autonomously indoors in places such as factories or outdoors in places such as farms while avoiding detected objects such as obstacles that exist in the direction of travel. For example, Patent Document 1 below discloses a vehicle platform that travels autonomously on farms, factories, or roads and includes a base vehicle body on which loads or various equipment are placed and supported. In this case, the base vehicle body extends in the width direction of the vehicle and holds a pair of left and right wheels. A first axle and a second axle, which are arranged spaced apart in the longitudinal direction of the vehicle platform, are elastically supported by a single plate-shaped suspension plate attached to the base vehicle body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-38490 A

[0004] However, in the vehicle platform described in Patent Document 1, the first axle and the second axle are supported at both ends of a suspension plate attached to the base vehicle body, respectively. Therefore, a vehicle platform with a long wheelbase between the first and second axles requires a long suspension plate, which results in a large manufacturing or maintenance burden for a vehicle platform with a long wheelbase.

[0005] The present invention has been made to address the above-mentioned problems, and its purpose is to provide an autonomous vehicle device that can reduce the manufacturing and maintenance burden even for vehicles with long wheelbases.

[0006] In order to achieve the above object, the present invention is characterized in that it provides an autonomous vehicle device that travels autonomously on a road surface, comprising: a first axle that extends in the width direction of the autonomous vehicle device and holds a pair of left and right wheels, respectively; a second axle that extends parallel to the first axle at a position spaced apart in the fore-and-aft direction of the autonomous vehicle device from the first axle and holds a pair of left and right wheels, respectively; a first suspension plate that is formed of a long, plate-like body and supports the first axle in a cantilevered state; and a second suspension plate that is formed of a long, plate-like body and supports the second axle in a cantilevered state, and the first suspension plate and the second suspension plate are arranged such that the fixed end of the first suspension plate and the fixed end of the second suspension plate are positioned at positions spaced apart in the fore-and-aft direction of the autonomous vehicle device.

[0007] According to the features of the present invention configured as described above, in the autonomous vehicle device, the fixed end of the first suspension plate that supports the first axle with a cantilever beam and the fixed end of the second suspension plate that supports the second axle with a cantilever beam are located at positions separated in the fore-and-aft direction of the autonomous vehicle device, so that even vehicles with a long wheelbase do not require long suspension plates, thereby reducing the manufacturing and maintenance burden even for vehicles with a long wheelbase. Furthermore, with the autonomous vehicle device according to the present invention, the distance between the first axle or the second axle and each fixed end of the first or second suspension plate is short, making it easier to set the rigidity of the suspension plates high regardless of the material.

[0008] Another feature of the present invention is that the autonomous vehicle device further comprises a loading platform base formed in a flat or frame shape extending in the front-to-rear and left-to-right directions of the autonomous vehicle device in a plan view, and supporting an attached object or cargo to be mounted on the autonomous vehicle device, a first suspension plate support portion connected to the loading platform base below the loading platform base and to which the fixed end of the first suspension plate is connected, and a second suspension plate support portion connected to the loading platform base below the loading platform base at a position spaced apart from the first suspension plate support portion in the front-to-rear direction of the autonomous vehicle device, and to which the fixed end of the second suspension plate is connected, and between the first suspension plate support portion and the second suspension plate support portion there is formed an accommodation space for accommodating an attached object or cargo to be mounted on the autonomous vehicle device.

[0009] According to this, the autonomous vehicle device has an accommodation space for accommodating an object or cargo to be carried between the first suspension plate support portion to which the fixed end of the first suspension plate is connected and the second suspension plate support portion to which the fixed end of the second suspension plate is connected, so that accommodation space for the object or cargo can be secured while supporting the first suspension plate and the second suspension plate, respectively.

[0010] Another feature of the present invention is that in the autonomous vehicle device, the storage space is open to the top surface of the loading platform base.

[0011] According to this, in the autonomous vehicle device, because the storage space is open to the top surface of the loading platform base, it is possible to load or unload objects into or from the storage space from the top surface of the loading platform base, thereby increasing the load capacity of the loading platform base. In this case, the storage space can hold an open-topped container, for example, a basket- or bucket-shaped container for storing agricultural produce or marine products, or a bucket-shaped container for storing liquid, by restricting all four sides thereof to prevent it from shifting or tilting.

[0012] Another feature of the present invention is that in the autonomous vehicle device, the storage space is open downward.

[0013] According to this, because the autonomous vehicle device has an opening at the bottom of the storage space, it is possible to mount equipment in the storage space that performs various tasks below the autonomous vehicle device, such as image acquisition, measurement, agricultural work (for example, plowing the soil, sowing seeds, watering, weeding, or harvesting crops), civil engineering work (leveling the ground, excavating, absorbing water, or driving piles), or line drawing.In addition, the storage space can hold a supply device that supplies various substances, such as fluids such as liquids or viscous materials (for example, water or chemicals), and particulate materials such as powders, granules, or gravel-like materials (for example, seeds or chemicals), onto the road surface, thereby supplying various substances to directly below the storage space.

[0014] Another feature of the present invention is that, in the autonomous vehicle device, the accommodation space is open on at least one of the left and right sides of the autonomous vehicle device.

[0015] According to this, the autonomous vehicle device has an opening on at least one side of the storage space in the left or right direction of the autonomous vehicle device, so that mounted objects or cargo can be loaded and unloaded into and from the side of the autonomous vehicle device. The storage space can also hold a supply device that supplies various substances, such as fluids such as liquids or viscous materials (e.g., water or medicines), and particulate materials such as powders, granules, or gravel-like materials (e.g., seeds or medicines), to the side of the autonomous vehicle device.

[0016] Another feature of the present invention is that in the autonomous vehicle device, the first suspension plate support portion and the second suspension plate support portion are connected to each other.

[0017] According to this, since the first suspension plate support portion and the second suspension plate support portion of the autonomous vehicle device are connected to each other, the first suspension plate and the second suspension plate can be stably supported and the rigidity of the storage space can be improved. [Brief explanation of the drawings]

[0018] [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 bottom side. FIG. [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 side view showing the external configuration of the autonomous vehicle device shown in FIG. 1. FIG. [Figure 5] 2 is a bottom view showing the external configuration of the autonomous vehicle device shown in FIG. 1. FIG. [Figure 6] 2 is a block diagram of a control system for controlling the operation of the autonomous vehicle device shown in FIG. 1. FIG. [Figure 7] 2 is a cross-sectional view showing a connection structure between a bracket and a vehicle length direction member and a vehicle width direction member shown in FIG. 1. FIG. [Figure 8] 3 is an enlarged perspective view showing only a support portion-side mounting plate and a bolt that constitute the autonomous vehicle device shown in FIG. 2. FIG. [Figure 9] 3 is an enlarged perspective view showing only an axle-side mounting plate and a bolt that constitute the autonomous vehicle device shown in FIG. 2. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, an embodiment of an autonomous vehicle device according to the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of the exterior configuration of an autonomous vehicle device 100 according to an 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 bottom 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 side view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1. FIG. 5 is a bottom view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1. FIG. 6 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 5 may be drawn to different scales to make the configuration of the autonomous vehicle device 100 easier to understand.

[0020] (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.

[0021] 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.

[0022] 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 FIG. 7 , 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.

[0023] 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 Figure 7, this mounting groove 104 is formed so that its internal height is wider than the opening 104a, and is configured so that a plate-shaped nut plate 105 with an internal thread can be hooked in and removed freely. This base frame 101 is mainly composed of an upper frame 106 and a lower frame 111.

[0024] Upper frame 106 constitutes part of the chassis of autonomous vehicle device 100 and supports an object to be mounted on or carried by autonomous vehicle device 100. Upper frame 106 is formed in a frame shape by assembling frame members 102 and 103 described above into a rectangular shape in a plan view. In other words, upper frame 106 corresponds to the loading platform base of the present invention. More specifically, upper frame 106 is configured by two vehicle lengthwise members 106a and 106b extending parallel to each other along the vehicle length direction of autonomous vehicle device 100, and four vehicle widthwise members 106c, 106d, 106e, and 106f extending in a vehicle width direction perpendicular to the vehicle lengthwise direction, each of which is installed via an tombstone-shaped bracket 107. In this case, vehicle lengthwise members 106a and 106b and vehicle widthwise members 106c and 106d are each configured as frame member 103, and vehicle widthwise members 106e and 106f are configured as frame member 102.

[0025] The vehicle width direction members 106c to 106f are formed to have lengths shorter than the vehicle length direction members 106a and 106b, and the vehicle width direction members 106c and 106d are connected to both ends of the vehicle length direction members 106a and 106b by bolts 107a via brackets 107. The vehicle width direction members 106e and 106f are connected between the vehicle length direction member 106a and the vehicle length direction member 106b by bolts 107a via brackets 107 at positions spaced apart from each other in the region between the vehicle width direction member 106c and the vehicle width direction member 106d. In this embodiment, the vehicle width direction members 106e and 106f are arranged at positions that divide the region between the vehicle width direction member 106c and the vehicle width direction member 106d into approximately three equal parts. Support towers 108 a and 108 b and a second distance measuring sensor 141 are attached to the upper frame 106 via mounting grooves 104 .

[0026] The support towers 108a and 108b are components for supporting the first distance measuring sensor 140, the second operating element 152, and the display device 154, respectively, and are formed in the shape of rods that stand upright relative to the vehicle width direction members 106c and 106d, respectively. In this embodiment, the support towers 108a and 108b are each formed of a frame member 102, and each lower end is attached to the longitudinal (vehicle width direction) center of the vehicle width direction members 106c and 106d by a bracket 107 and a bolt 107a. In this embodiment, the length (height) of the support tower 108a is longer than the length (height) of the support tower 108b, but it goes without saying that the support towers 108a and 108b may be formed to have the same length.

[0027] Lower frame 111 constitutes another part of the chassis of autonomous vehicle device 100 and forms storage space SP, and is configured by assembling rod-shaped members in a state where they hang down from upper frame 106. More specifically, lower frame 111 is configured by assembling the above-mentioned metal frame members 102 and 103 in a state where they hang down from the center of upper frame 106 in the vehicle length direction. Lower frame 111 is configured to include four hanging directional members 111a, 111b, 111c, and 111d, two first vehicle width directional members 111e and 111f, two vehicle length directional members 111g and 111h, one second vehicle width directional member 111i, and two auxiliary members 111j and 111k.

[0028] The hanging direction members 111a, 111b, 111c, and 111d are formed from the frame member 102, and are attached by bolts 107a via brackets 107 in a state where two of each hang down vertically from the vehicle length direction members 106a and 106b that make up the upper frame 106. In this case, in this embodiment, the hanging direction members 111a, 111b, 111c, and 111d are arranged below the connection positions of the vehicle length direction members 106a and 106b to the vehicle width direction members 106e and 106f.

[0029] The first transverse members 111e and 111f are formed from frame member 103 and are attached by bolts 107a via brackets 107 in a state in which they are respectively installed between the lower ends of hanging members 111a and 111b and between the lower ends of hanging members 111c and 111d. These hanging members 111a and 111b and first transverse member 111e constitute a first suspension plate support portion according to the present invention. Furthermore, the hanging members 111c and 111d and first transverse member 111f constitute a second suspension plate support portion according to the present invention.

[0030] The vehicle length direction members 111g and 111h are formed from frame members 102 and are attached by bolts 107a via brackets 107 in a state in which they are respectively installed between the lower ends of the hanging direction members 111a and 111c and between the lower ends of the hanging direction members 111b and 111d. In this case, the vehicle length direction member 111g is also installed between one end of each of the first vehicle width direction members 111e and 111f and attached by bolts 107a via brackets 107. The vehicle length direction member 111h is also installed between the other end of each of the first vehicle width direction members 111e and 111f and attached by bolts 107a via brackets 107.

[0031] The vehicle lengthwise members 106a and 106b, the vehicle widthwise members 106e and 106f, the hanging members 111a, 111b, 111c, and 111d, the first vehicle widthwise members 111e and 111f, and the vehicle lengthwise members 111g and 111h form a rectangular parallelepiped storage space SP extending in the vehicle width direction. The storage space SP accommodates the control device 150 and the battery 155.

[0032] The second vehicle width direction member 111i is a component that constitutes part of the bottom of the storage space SP, and is configured to extend in a rod shape from the vehicle length direction member 111h toward the vehicle length direction member 111g. In this embodiment, the second vehicle width direction member 111i is configured as a frame member 102 with a length that extends from the vehicle length direction member 111h toward the vehicle length direction member 111g side to the center in the vehicle width direction. This second vehicle width direction member 111i is arranged in the center part between the first vehicle width direction member 111e and the first vehicle width direction member 111f.

[0033] The auxiliary members 111j and 111k are components for supporting the second transverse member 111i at the same height as the first transverse members 111e and 111f and the vehicle length members 111g and 111h, and are formed of rod-shaped bodies extending from the first transverse members 111e and 111f to the second transverse member 111i. In this embodiment, the auxiliary members 111j and 111k are each formed of a frame member 102 and are attached to the first transverse members 111e and 111f with bolts 107a via brackets 107. In this embodiment, the auxiliary members 111j and 111k are formed at different positions in the vehicle width direction, but may be formed at the same position in the vehicle width direction. A suspension mechanism 120 is provided on the underside of the lower frame 111.

[0034] The suspension mechanism 120 is a mechanical device for elastically supporting the wheels 130a to 130d relative to the base frame 101, and is mainly composed of a first suspension plate 121, a second suspension plate 122, a first axle 126, a second axle 127, an oil damper 128, and a coil spring 129.

[0035] The first suspension plate 121 is a component that connects the base frame 101 and the first axle 126 while attenuating shocks and vibrations transmitted from the wheels 130a, 130b, 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 first suspension plate 121 is formed in a strip shape long enough to span between the first axle 126 and the first transverse member 111e, and is attached to the transverse center portions of the undersides of the first transverse member 111e and the first axle 126 via a support-side mounting plate 123 and an axle-side mounting plate 124, respectively. In this case, the end of the first suspension plate 121 that is attached to the first transverse member 111e is a fixed end, and the end that is attached to the first axle 126 is a free end.

[0036] The second suspension plate 122 is a component that connects the base frame 101 and the second axle 127 while attenuating shocks and vibrations transmitted from the wheels 130c, 130d, and is configured similarly to the first suspension plate 121. The second suspension plate 122 is formed in a strip shape with a length that spans between the second axle 127 and the first transverse member 111f, and is attached to the transverse center portions of the undersides of the first transverse member 111f and the second axle 127 via a support-side mounting plate 123 and an axle-side mounting plate 124, respectively. In this case, of both end portions of the second suspension plate 122, the end attached to the first transverse member 111f is a fixed end, and the end attached to the second axle 127 is a free end.

[0037] 8, the support portion-side mounting plate 123 is a component for pressing and connecting the first suspension plate 121 or the second suspension plate 122 to the first vehicle width direction members 111e, 111f, and is configured by forming a metal material (for example, stainless steel) into a plate shape. The support portion-side mounting plate 123 has through holes formed therein through which six bolts 123a pass. The bolts 123a threadably fit into nut plates 105 arranged in the mounting grooves 104 of the first vehicle width direction members 111e, 111f.

[0038] Furthermore, support portion-side mounting plate 123 has protective portions 123b formed on both ends in the vehicle length direction of autonomous vehicle device 100 that hang down and then bend and extend outward in the vehicle length direction. These protective portions 123b are portions that protect bolts 123a from obstacles or steps on the road on which autonomous vehicle device 100 is traveling, and also improve the rigidity of support portion-side mounting plate 123.

[0039] 9, the axle-side mounting plate 124 is a component for pressing and connecting the first suspension plate 121 or the second suspension plate 122 to the first axle 126 or the second axle 127, respectively, and is configured similarly to the support-side mounting plate 123. Specifically, the axle-side mounting plate 124 is configured by forming a metal material (for example, stainless steel) into a plate shape, and is formed with through holes through which three bolts 124a pass. The bolts 124a threadably fit into nut plates 105 arranged in the mounting grooves 104 of the first axle 126 or the second axle 127. Similarly to the protective portions 123b in the support-side mounting plate 123, the axle-side mounting plate 124 is formed with protective portions 124b that hang down at both ends in the vehicle length direction of the autonomous vehicle device 100 and then bend and extend outward in the vehicle length direction.

[0040] The auxiliary plates 125 are components for fixing the positions of the first suspension plate 121 or the second suspension plate 122 in the vehicle width direction on the first axle 126, the second axle 127, and the first transverse members 111e, 111f, and are made of metal material (for example, stainless steel) formed into a plate shape. The auxiliary plates 125 are arranged on both sides of the first suspension plate 121 or the second suspension plate 122 in the width direction, and are attached by threadedly fitting bolts into nut plates 105 arranged in the mounting grooves 104 of the first axle 126, the second axle 127, and the first transverse members 111e, 111f.

[0041] The first axle 126 is a component that holds two wheels 130a, 130b and supports the base frame 101 together with the second axle 127, and is formed of a rod-shaped body extending in the vehicle width direction of the base frame 101. More specifically, the first axle 126 is formed of a frame material 102 made of the same aluminum as the base frame 101. The first axle 126 is disposed below one of both ends of the base frame 101 in the vehicle length direction. Wheels 130a, 130b are attached to both ends of the first axle 126 via steering mechanisms 132a. Oil dampers 128 are attached to the first axle 126 near both ends.

[0042] The second axle 127 is a component that holds two wheels 130c, 130d and supports the base frame 101 together with the first axle 126, and is formed of a rod-shaped body extending in the vehicle width direction of the base frame 101. More specifically, the second axle 127 is formed of the same aluminum frame material 102 as the base frame 101. The second axle 127 is disposed below the other of the two ends of the base frame 101 in the vehicle length direction. In other words, the second axle 127 is disposed parallel to the first axle 126. The wheels 130c, 130d are attached to both ends of the second axle 127 via steering mechanisms 132b. Oil dampers 128 are attached to the second axle 127 near both ends.

[0043] The four oil dampers 128 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 128 is connected by bolts to the first axle 126 and the second axle 127 via a metal plate, and the other end is connected to the transverse members 106c and 106d of the upper frame 106, respectively.

[0044] The four coil springs 129 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 128 and the coil springs 129 are disposed between an upper bracket 133 (described later) and the upper frame 106.

[0045] That is, the first axle 126 and the second axle 127 elastically support the base frame 101 via the oil damper 128 and the coil spring 129, respectively. Note that the oil damper 128 and the coil spring 129 are components that assist the first suspension plate 121 and the second suspension plate 122, respectively, and therefore may be omitted.

[0046] 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.

[0047] 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 150 (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.

[0048] The steering mechanisms 132a and 132b 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 132a and 132b have the same configuration, only the steering mechanism 132a will be described.

[0049] The steering mechanism 132 a is mainly composed of an upper bracket 133 , a lower bracket 134 , a rotary shaft 135 , a link bar 136 , and a steering drive motor 137 .

[0050] Upper bracket 133 is a component that, together with lower bracket 134, holds rotating shaft 135 in a freely rotatable state, and is configured as a metal (e.g., steel) plate. Upper bracket 133 is bolted to first axle 126 (or second axle 127) in a state that it protrudes longitudinally from the upper surface of the end of first axle 126 (or second axle 127) in order to rotatably hold the upper portion of rotating shaft 135.

[0051] Lower bracket 134 is a component that, together with upper bracket 133, holds rotating shaft 135 in a freely rotatable state, and is configured as a metal (e.g., steel) plate. Lower bracket 134 is bolted to first axle 126 (or second axle 127) in a state that it protrudes longitudinally from the underside of the end of first axle 126 (or second axle 127) in order to hold the lower portion of rotating shaft 135 in a freely rotatable state.

[0052] The pivot shaft 135 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, the pivot shaft 135 has a columnar portion extending in the vertical direction, to which the central axis of the wheel 130a (or wheels 130b to 130d) is connected. The pivot shaft 135 has both ends of the columnar portion extending in the vertical direction that are sandwiched and held between the upper bracket 133 and the lower bracket 134 in a freely rotatable state. An arm extends from the columnar portion extending in the vertical direction of the pivot shaft 135 in the horizontal direction perpendicular to the columnar portion, and is connected to the link bar 136.

[0053] The link bar 136 is a component for transmitting a force for rotating the rotary shaft 135, and is made of a metal material (for example, steel) formed into a rod shape. In this embodiment, the link bar 136 is made of a pipe material. One end of the link bar 136 is connected to the rotary shaft 135, and the other end is connected to the steering drive motor 137.

[0054] The steering drive motor 137 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 150. The steering drive motor 137 is supported by the first axle 126 (or the second axle 127) and is connected to the link bar 136 via a mechanical element that converts rotational motion into horizontal reciprocating linear motion.

[0055] The first ranging sensor 140 is a detector for detecting potential obstacles, such as people or objects, in the direction of travel or around the autonomous vehicle device 100. Specifically, the first ranging sensor 140 is configured with a light source, a light-receiving element, and a rotating mirror, and its operation is controlled by the control device 150. That is, the first ranging sensor 140 is configured as a so-called "2DLiDAR" that detects the distance, direction, or nature of a target object present within a 360° area around the first ranging sensor 140 in a two-dimensional plane centered on the first ranging sensor 140 based on the return time and wavelength of laser light. This "2DLiDAR" is well known, so further explanation is omitted. The first ranging sensor 140 is attached via a bracket near the upper frame 106 to support towers 108a and 108b, which are attached to the upper frame 106 in an upright position.

[0056] Second distance measurement sensor 141 is a detector for detecting potential obstacles, such as people or objects, present around autonomous vehicle device 100. Specifically, second distance measurement sensor 141 is configured with an ultrasonic transmitter and an ultrasonic receiver, and its operation is controlled by control device 150. That is, second distance measurement sensor 141 is configured with an ultrasonic sensor that detects the distance to a target based on the return time of reflected waves emitted radially from the side facing second distance measurement sensor 141. Second distance measurement sensor 141 is detachably attached via brackets to both end portions in the vehicle width direction of transverse members 106c, 106d constituting upper frame 106. In this case, each of the four second distance measurement sensors 141 is attached facing the polygonal direction of upper frame 106, which is rectangular in plan view.

[0057] Control device 150 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 150 controls the operation of wheel drive motors 131a-131d and steering drive motor 137 based on instructions from first operator 151 or second operator 152 by executing a control program stored in advance in a storage device such as ROM, thereby controlling the running, stopping, and turning of autonomous vehicle device 100.

[0058] In this case, the control device 150 performs manual driving control, which controls the operation of the wheel drive motors 131a-131d and the steering drive motor 137 based on direct instructions from an operator via the first operator 151 or the second operator 152, as well as automatic driving control (for example, SLAM (Simultaneous Localization and Mapping)), in which the control device 150 determines and controls driving by itself in accordance with an autonomous driving control program pre-stored in a storage device such as a ROM. In these cases, the control device 150 can perform each driving control based on detection signals from the first distance measurement sensor 140 and the second distance measurement sensor 141. The control device 150 is mounted via brackets bolted to mounting grooves 104 exposed on the outer surfaces (lower surfaces) of the transverse members 106e, 106f of the upper frame 106, and is disposed in the accommodation space SP.

[0059] First operator 151 is an input device for inputting instructions from the operator operating autonomous vehicle device 100 to control device 150, and is configured with a joystick, toggle switch, push button, dial, etc. that are manually operated by the operator. First operator 151 is provided as an independent remote control box that is physically separated from autonomous vehicle device 100. In this case, first operator 151 is connected wirelessly to control device 150, but it goes without saying that it may also be connected by wire.

[0060] Similar to first operator 151, second operator 152 is an input device for inputting instructions from the operator operating autonomous vehicle device 100 to control device 150, and is configured with a joystick, toggle switch, pushbuttons, dials, etc. that are manually operated by the operator. In this embodiment, second operator 152 is configured with a plurality of pushbuttons. Second operator 152 is attached via a bracket to support tower 108a that is attached in an upright position to upper frame 106. In this case, second operator 152 is connected to control device 150 by wire (not shown), but it goes without saying that second operator 152 may also be connected wirelessly.

[0061] Display device 154 is a device for displaying information related to the status of autonomous vehicle device 100 or information to be provided to those around autonomous vehicle device 100, and is configured as a light-emitting device whose operation is controlled by control device 150. In this embodiment, display device 154 is configured as a signal light (a so-called patrol lamp) in which three LED light sources, each emitting light of three different colors (red, yellow, and green), are arranged in a row. Display device 154 is attached via a bracket near the upper end of support tower 108a, which is attached in an upright position to upper frame 106. Display device 154 may also be configured as a liquid crystal display device that can display information related to the status of autonomous vehicle device 100 or information to be provided to those around autonomous vehicle device 100.

[0062] Battery 155 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 137, first distance measurement sensor 140, second distance measurement sensor 141, control device 150, second operator 152, and display device 154. Battery 155 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.

[0063] In this embodiment, the battery 155 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 155 is connected to each device that requires power via a converter (not shown). The battery 155 is attached via brackets bolted to attachment grooves 104 exposed on the outer surfaces (upper surfaces) of the second transverse member 111i and the auxiliary members 111j, 111k below the control device 150 within the accommodation space SP. Note that the battery 155 is connected to a power supply unit that controls the input and output of power to the battery 155, electric wires that transmit electricity, and the like, but these are not directly related to the present invention and therefore will not be described here.

[0064] (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.

[0065] First, the operator operates first operator 151 to instruct control device 150 to start traveling of autonomous vehicle device 100. In this case, the operator can directly operate first operator 151 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 150 via first operator 151 in advance to cause autonomous traveling.

[0066] In response to this instruction, control device 150 controls the operation of wheel drive motors 131a-131d and steering drive motor 137 to start traveling of autonomous vehicle device 100. In this case, control device 150 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 140 and second distance measurement sensor 141. Control device 150 also travels autonomous vehicle device 100 while lighting display device 154 in a preset manner depending on the travel state (starting, traveling, stopping, accelerating / decelerating, turning, or when an abnormality occurs). The operator can also instruct control device 150 to start or stop traveling of autonomous vehicle device 100 by operating first operator 151.

[0067] During use of autonomous vehicle device 100, first axle 126 of autonomous vehicle device 100 is elastically supported on lower frame 111 via first suspension plate 121, and second axle 127 is elastically supported on lower frame 111 via second suspension plate 122, allowing wheels 130a-130d to accurately follow unevenness in the road surface. Furthermore, autonomous vehicle device 100 accommodates control device 150 and battery 155 in accommodation space SP, ensuring ample space on upper frame 106 for loading cargo.

[0068] Meanwhile, an operator (maintenance person) of autonomous vehicle device 100 can perform maintenance on control device 150 and battery 155. Specifically, since six faces (top face, bottom face, front and rear faces, and left and right side faces) of storage space SP, which is formed in a rectangular parallelepiped shape, are open, the operator can perform maintenance work on control device 150 and battery 155 through these openings.

[0069] As can be seen from the description of the operating method above, according to the above embodiment, in autonomous vehicle device 100, the fixed end of first suspension plate 121, which supports first axle 126 with a cantilever beam, and the fixed end of second suspension plate 122, which supports second axle 127 with a cantilever beam, are located at positions spaced apart in the front-to-rear direction of autonomous vehicle device 100, so that even in vehicles with a long wheelbase, long suspension plates are not necessary, thereby reducing the manufacturing and maintenance burdens even in vehicles with a long wheelbase. Furthermore, according to autonomous vehicle device 100 of the present invention, the distance between each fixed end of first suspension plate 121 or second suspension plate 122 and first axle 126 or second axle 127 is short, so it is easy to set the rigidity of each of first suspension plate 121 or second suspension plate 122 high regardless of the material.

[0070] Furthermore, the present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the object of the present invention.

[0071] For example, in the above embodiment, the first suspension plate support portion according to the present invention is configured with two hanging members 111a, 111b and one first vehicle width direction member 111e. However, the first suspension plate support portion may be configured as a single unit formed of two hanging members 111a, 111b and one first vehicle width direction member 111e. The first suspension plate support portion may also be configured by connecting the upper frame 106 to the vehicle width direction center of the first vehicle width direction member 111e via one or more hanging members. The same applies to the second suspension plate support portion according to the present invention, which is configured with two hanging members 111c, 111d and one first vehicle width direction member 111e.

[0072] In the above embodiment, the first suspension plate support portion is made up of two hanging members 111a, 111b and one first widthwise member 111e, and the second suspension plate support portion is made up of two hanging members 111c, 111d and one first widthwise member 111f, which are connected to each other by vehicle lengthwise members 111g, 111h. This configuration allows the first and second suspension plates to be stably supported, improves the rigidity of the storage space SP, and also improves the rigidity of the lower frame 111 that forms the storage space SP. However, the first and second suspension plate support portions can also be configured in an unconnected state, where the first and second suspension plate support portions are connected to the upper frame 106 but are not directly connected to each other. This configuration allows the lower frame 111 to easily form the storage space SP.

[0073] In the above embodiment, the storage space SP is configured so that the top, front and rear sides, and left and right sides are open, and a portion of the bottom (a portion other than the second transverse member 111i and the auxiliary members 111j and 111k) is open. However, the storage space SP can also be configured so that at least one of the top, bottom, front and rear sides, and left and right sides is fully or partially closed. In this case, the top, bottom, front and rear sides, and left and right sides of the storage space SP can be closed with various materials such as plates, sheets, mesh-like plates or sheets, or frame members 102 and 103. For example, the storage space SP can be configured by bridging the second transverse member 111i between the vehicle length members 111g and 111h.

[0074] In these cases, the storage space SP has an open top surface of the upper frame 106 (cargo platform base), so that loads or cargo can be loaded into or unloaded from the top surface of the upper frame 106, thereby increasing the load capacity of the upper frame 106. In this case, the storage space SP can hold a container with an open top, for example, a basket- or bucket-shaped container for storing agricultural produce or marine products, or a bucket-shaped container for storing liquid, by restricting the four sides of the container to prevent it from shifting position or tipping over.

[0075] Furthermore, because storage space SP is open downward, it is possible to mount within storage space SP equipment for performing various tasks below autonomous vehicle device 100, such as image acquisition, measurement, agricultural work (for example, plowing the soil, sowing seeds, watering, weeding, or harvesting crops), civil engineering work (leveling the ground, excavating, absorbing water, or driving piles), or line drawing. Furthermore, storage space SP can hold a supply device that supplies various substances, such as fluids such as liquids or viscous materials (for example, water or chemicals), and particulate materials such as powders, granular materials, or gravel-like materials (for example, seeds or chemicals), onto the road surface, thereby supplying various substances to the area directly below storage space SP.

[0076] Furthermore, since storage space SP is open on at least one side, either left or right, of autonomous vehicle device 100, it is possible to load or unload items into storage space SP from the side of autonomous vehicle device 100. Storage space SP can also hold a supply device that supplies various substances, such as fluids such as liquids or viscous materials (e.g., water or medicine), and particulate materials such as powders, granules, or gravel (e.g., seeds or medicine), to the side of autonomous vehicle device 100.

[0077] The storage space SP can accommodate a wide range of items by having a bottom surface that is closed with various materials such as a plate, sheet, mesh-like plate or sheet, or frame materials 102, 103, while the top, front, rear, or left and right sides are open. In this case, the bottom surface of the storage space SP is preferably supported by a first suspension plate support portion and a second suspension plate support portion.

[0078] Furthermore, in the above embodiment, first suspension plate 121 and second suspension plate 122 are formed to have the same length. However, first suspension plate 121 and second suspension plate 122 can also be formed to have different lengths. This allows autonomous vehicle device 100 to easily make the rigidity (ease of bending) for supporting first axle 126 and the rigidity for supporting second axle 127 different.

[0079] In each of the above embodiments, base frame 101 is configured from frame members 102, 103 having mounting grooves 104. However, base frame 101 may be configured from any member capable of supporting a load to be mounted on or carried by autonomous vehicle device 100. Therefore, base frame 101 may also be configured from bar-shaped, solid bar-shaped, or tubular frame members 102, 103 that do not have mounting grooves 104.

[0080] 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. [Explanation of symbols]

[0081] SP...storage 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, 106e, 106f...vehicle width direction material, 107...bracket, 107a...bolt, 108a, 108b...support tower, 111...lower frame, 111a, 111b, 111c, 111d...hanging direction members, 111e, 111f...first vehicle width direction members, 111g, 111h...vehicle length direction members, 111i...second vehicle width direction members, 111j, 111k...auxiliary members, 120...Suspension mechanism, 121...First suspension plate, 122...Second suspension plate, 123...Support portion side mounting plate, 123a...Bolt, 123b...Protective portion, 124...Axle side mounting plate, 124a...Bolt, 124b...Protective portion, 125...Auxiliary plate, 126...First axle, 127...Second axle, 128...Oil damper, 129...Coil spring, 130a, 130b, 130c, 130d...wheels, 131a, 131b, 131c, 131d...wheel drive motors, 132a, 132b...steering mechanisms, 133...upper brackets, 134...lower brackets, 135...rotating shafts, 136...link bars, 137...steering drive motors, 140...first distance measuring sensor, 141...second distance measuring sensor, 150...control device, 151...first operator, 152...second operator, 154...display device, 155...battery.

Claims

1. An autonomous vehicle device that autonomously travels on a road surface, a first axle extending in a vehicle width direction of the autonomous vehicle device and holding a pair of left and right wheels; a second axle extending parallel to the first axle at a position spaced apart from the first axle in the front-rear direction of the autonomous vehicle device and holding a pair of left and right wheels; a first suspension plate formed of a long, plate-like body and supporting the first axle in a cantilevered manner; a second suspension plate formed of a long, plate-like body and supporting the second axle in a cantilevered state; The first suspension plate and the second suspension plate are An autonomous vehicle device, characterized in that the fixed end of the first suspension plate and the fixed end of the second suspension plate are located at positions spaced apart in the fore-and-aft direction of the autonomous vehicle device.

2. The autonomous vehicle device according to claim 1, further comprising: a loading platform base formed in a flat plate or frame shape extending in the front-rear and left-right directions of the autonomous vehicle device in a plan view, and supporting an object to be mounted on the autonomous vehicle device or an object to be loaded; a first suspension plate support portion provided below the bed base and connected to the bed base, the first suspension plate support portion being connected to the fixed end of the first suspension plate; a second suspension plate support portion provided below the bed base and connected to the bed base at a position spaced apart from the first suspension plate support portion in the front-rear direction of the autonomous vehicle device, and to which the fixed end of the second suspension plate is connected; An autonomous vehicle device, characterized in that an accommodation space is formed between the first suspension plate support portion and the second suspension plate support portion for accommodating an object to be mounted on the autonomous vehicle device or a cargo to be loaded onto the autonomous vehicle device.

3. 3. The autonomous vehicle device according to claim 2, The autonomous vehicle device is characterized in that the storage space is open to the top surface of the loading platform base.

4. 3. The autonomous vehicle device according to claim 2, The autonomous vehicle device is characterized in that the storage space is open downward.

5. 3. The autonomous vehicle device according to claim 2, The autonomous vehicle device, wherein the storage space is open on at least one of the left and right sides of the autonomous vehicle device.

6. 3. The autonomous vehicle device according to claim 2, The autonomous vehicle device is characterized in that the first suspension plate support portion and the second suspension plate support portion are connected to each other.

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