Traveling device and detection device

Abstract

To provide a traveling device that enables stable traveling.SOLUTION: A traveling device includes a vehicle capable of moving forward and backward and a detection device 100 provided in the vehicle. The detection device 100 includes a bumper 130 having a base end pivotably supported by a pivot shaft 135c extending in upward and downward directions, and extending in leftward and rightward directions of the vehicle. When the bumper 130 receives a force from the front, the detection device 100 changes the state of a signal output to the vehicle 10. The bumper 130 pivots about the pivot shaft 135c when the bumper 130 receives a force from the back.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a traveling device and a detection device. [Background technology]

[0002] Patent Document 1 discloses technology related to a self-propelled carriage (traveling device). This self-propelled carriage is equipped with a travel direction switching operation member that can be displaced between a forward operation position and a reverse operation position, and a movable bumper that displaces from a non-contact position to a contact position when it abuts against an obstacle while traveling in the forward direction. The travel direction switching operation member automatically displaces from the forward operation position to the reverse operation position in mechanical interlocking with the movement of the movable bumper from the non-contact position to the abutment position. The movable bumper is supported by a pair of left and right support arms. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-160380 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above technology, when the movable bumper of the traveling device moving forward hits an obstacle, the traveling direction is changed so that the traveling device moves backward. In this case, if the obstacle gets caught on the movable bumper of the traveling device moving backward, it becomes difficult to run the traveling device stably.

[0005] An object of the present disclosure is to provide a traveling device that can be driven stably. [Means for solving the problem]

[0006] One example of a traveling device includes a vehicle (10) that can move forward and backward, and a detection device (100) provided on the vehicle (10). The detection device (100) includes a bumper (130) that extends in the left-right direction of the vehicle (10) and has a base end rotatably supported on a rotation shaft (135c) that extends in the up-down direction. The detection device (100) changes the state of a signal output to the vehicle (10) when the bumper (130) receives a force from the front. The bumper (130) rotates about the rotation shaft (135c) when the bumper (130) receives a force from the rear.

[0007] In the above-described traveling device, when the bumper (130) of the traveling device comes into contact with an obstacle or the like in front of the vehicle (10) while the traveling device is moving forward, the bumper (130) receives a force from the front, which changes the state of a signal output to the vehicle (10). In this case, for example, control can be performed to stop the vehicle (10). On the other hand, when the vehicle (10) is moving backward and an obstacle comes into contact with the bumper (130), the bumper (130) rotates, thereby preventing the bumper (130) from getting caught on the obstacle. Therefore, the traveling device can travel stably both forward and backward.

[0008] The detection device (100) of one example may further include a pair of left and right arm portions (122) extending forward from the vehicle (10) side, and a center bumper (123) extending in the left-right direction and connecting the pair of arm portions (122). The bumpers (130) may be provided on both the left and right ends of the center bumper (123). With this configuration, the detection device (100) can appropriately respond to obstacles on either the left or right side of the vehicle (10).

[0009] The height of the tip of the bumper 130 may be lower than the base of the bumper 130. This configuration makes it easier to detect obstacles located close to the ground in the left and right end regions of the vehicle 10.

[0010] The height of at least a portion of the bumper (130) may be lower than the position of the lower end of the center bumper (123). In this configuration, it is easier to detect an obstacle located closer to the ground in an area outside the center bumper (123) in the left-right direction of the vehicle (10).

[0011] The rotation shaft 135c on which the bumper 130 is supported may be located between the pair of arms 122. This configuration prevents the detection device 100 from getting caught on an obstacle.

[0012] The vehicle (10) may have a vehicle body (20) and a running unit (30) including a running body (31) that supports the vehicle body (20) and moves the vehicle body (20). The running unit (30) may be provided so as to be rotatable about a rotation axis along the vertical direction, and the detection device (100) may be provided on the running unit (30). In this configuration, the detection device (100) can always be oriented in the traveling direction of the vehicle (10).

[0013] When viewed from the front-rear direction, the tip of the bumper (130) may partially overlap with a portion of the running body (31) below the center in the vertical direction. This configuration makes it possible to effectively detect obstacles that may act on the running body 31, thereby allowing the running device to travel more stably. [Effects of the Invention]

[0014] According to the present disclosure, it is possible to provide a traveling device that travels stably. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a perspective view showing an example of a traveling device. [Figure 2] FIG. 2 is a side view showing an example of a traveling device. [Figure 3] FIG. 2 is a front view showing an example of a traveling device. [Figure 4] FIG. 1 is a perspective view showing an example of a traveling device. [Figure 5]FIG. 1 is an exploded perspective view illustrating an example of a detection device. [Figure 6] FIG. 1 is a cross-sectional view illustrating an example of a detection device. [Figure 7] FIG. 1 is a cross-sectional view illustrating an example of a detection device. [Figure 8] FIG. 1 is a plan view illustrating an example of a detection device. DETAILED DESCRIPTION OF THE INVENTION

[0016] An example of a traveling device will be described below with reference to the accompanying drawings. In the following description, the up-down direction (Z-axis direction), the front-rear direction (X-axis direction), and the left-right direction (Y-axis direction) are defined based on the traveling device. In each drawing, the positive side of the X-axis direction is the front, and the negative side is the rear.

[0017] Fig. 1 is a perspective view showing an example of a traveling device. Fig. 2 is a side view showing an example of a traveling device. Fig. 3 is a front view showing an example of a traveling device. Fig. 4 is a perspective view showing an example of a traveling device. In Fig. 1, the traveling device 1 in a straight traveling state is viewed from the front left, and in Fig. 4, the traveling device 1 steered to the left is viewed from the front left.

[0018] The traveling device 1 includes a vehicle 10 and a detection device 100 provided on the vehicle 10. The vehicle 10 is configured to be able to move at least forward and backward. An example of the vehicle 10 includes a body 20 and a traveling section 30. The body 20 includes an upper case 21 including a body frame, and a lower case 25 connected to the lower part of the upper case 21. The upper case 21 houses, for example, a control device (not shown) that controls the operation of the traveling device 1. Furthermore, if the traveling device 1 has a function of spraying a chemical solution or the like, the upper case 21 may house a tank that stores the chemical solution, a pump that pressure-feeds the chemical solution, a motor that operates the pump, and the like. Furthermore, the upper case 21 may be provided with a nozzle or the like for spraying the chemical solution or the like.

[0019] The lower case 25 may protrude downward from the lower part of the upper case 21 at the center in the front-rear direction of the upper case 21. For example, the lower case 25 may house a battery for supplying power necessary for the operation of the traveling device 1.

[0020] The running unit 30 is configured to support the vehicle body 20 and cause the vehicle body 20 to travel. An example of the running unit 30 includes wheels 31 (running bodies). The running device 1 in the illustrated example has a front running unit 30A having a pair of left and right front wheels 31a, and a rear running unit 30B having a pair of left and right rear wheels 31b. The front running unit 30A and the rear running unit 30B may have the same configuration. Here, the front running unit 30A will be described as a representative. The front running unit 30A has a support housing 33 and a pair of front wheels 31a supported by the support housing 33. The wheels 31 may have in-wheel motors.

[0021] In one example, the support housing 33 has a rectangular parallelepiped shape, and supports the right front wheel 31a on a right side surface 33a and the left front wheel 31a on a left side surface 33b. For example, the support housing 33 may be rotatably supported on the upper case 21 via a rotation shaft 33c extending in the vertical direction. In one example, a rotary encoder for detecting the steering angle is provided on the rotation shaft 33c.

[0022] The front running section 30A and the rear running section 30B are spaced apart in the front-to-rear direction and connected to the lower part of the upper case 21. The lower case 25 described above is disposed between the front running section 30A and the rear running section 30B. The front running section 30A and the rear running section 30B are electrically connected to a battery housed in the lower case 25 and can operate using battery power. The front running section 30A and the rear running section 30B are also communicatively connected to a control device housed in the upper case 21 and are operationally controlled by the control device.

[0023] An example of the control device may be configured with a computer including a processor, a storage device, an input / output interface, etc. The control device controls the traveling state of the traveling device 1 by controlling the in-wheel motors of the front wheels 31a and the rear wheels 31b. Furthermore, if the traveling device 1 is configured to spray a chemical solution, the control device may control a motor that operates a pump, etc. In one example, the control device has map data of the field showing furrows (tracks) for traveling, and may control the traveling state of the traveling device 1 based on the map data. The traveling device 1 may automatically travel between the furrows of the field through autonomous control by the control device, or may travel between the furrows of the field based on remote control by an operator.

[0024] FIG. 5 is an exploded perspective view showing an example of a detection device. FIGS. 6 and 7 are cross-sectional views showing an example of a detection device. Some fastening members are omitted in FIG. 5. The detection device 100 detects obstacles present in the traveling direction (forward) of the traveling device 1. The detection device 100 in this example includes a bracket 110, an arm 120, a side bumper 130, and a detection sensor 140. The bracket 110 is fixed to the front end of the vehicle 10 so that its tip is located forward of the front end of the vehicle 10.

[0025] The bracket 110 in the illustrated example includes a first wall 111 extending along the XY plane and a second wall 112 sloping downward from the front end of the first wall 111 toward the front side. Both the first wall 111 and the second wall 112 are formed flat. In one example, the first wall 111 and the second wall 112 may be formed by bending a single steel plate. The first wall 111 has a substantially rectangular shape in a plan view, and has slits 111a extending in the front-to-rear direction at both left and right ends.

[0026] Bolts for fixing positioning abutment pieces 113 are inserted through the pair of slits 111a. For example, the abutment pieces 113 are L-shaped when viewed from the Y-axis direction and have a first surface 113a extending along the XY plane and a second surface 113b extending along the YZ plane perpendicular to the first surface 113a. In one example, the abutment pieces 113 are fixed to the support housing 33 with the second surface 113b abutting against a front surface 33d of the support housing 33 in the front running section 30A. The bracket 110 is fixed to the support housing 33 via the abutment pieces 113 by fastening the slits 111a to bolt holes 113c formed in the first surfaces 113a of the abutment pieces 113 with fastening members (e.g., bolts and nuts). The position of the bracket 110 in the front-rear direction may be freely changed by changing the position of the fastening member within the slits 111a.

[0027] The arm 120 is supported by the bracket 110 and extends forward from the vehicle 10 side. The arm 120 in one example has a support portion 121, a pair of left and right arm portions 122, and a center bumper 123. The support portion 121 is supported by the bracket 110. For example, the support portion 121 is supported by the bracket 110 in a state where it can rotate about a rotation axis 125c that extends along the Y-axis direction. The support portion 121 in the illustrated example has a flat plate shape and is supported by the second wall 112 of the bracket 110 by a pair of spring hinges 125.

[0028] Spring hinge 125 may be composed of, for example, a pair of blades, a pin (shaft) that rotatably connects the blades, and a biasing member (for example, a torsion coil spring) that biases the blades. One blade 125a of spring hinge 125 is fixed to the upper surface of support portion 121, and the other blade 125b is fixed to the inner surface 112a (rear surface) of second wall 112 of bracket 110. Spring hinge 125 biases support portion 121 (arm 120) in a direction that increases the angle formed by the upper surface of support portion 121 and the inner surface 112a of second wall 112 of bracket 110.

[0029] The pair of arm portions 122 extend along the XZ plane from both left and right ends of the support portion 121. When viewed from the Y-axis direction, the arm portion 122 has a base end portion 122a connected to the support portion 121 and a tip end portion 122b that extends and bends from the base end portion 122a. In the base end portion 122a, the edge portion facing the inner surface 112a of the second wall 112 of the bracket 110 has a straight portion 122a1 that is formed in a straight line from the connection position with the support portion 121 toward the tip end portion 122b when viewed from the Y-axis direction.

[0030] The center bumper 123 has a flat plate shape and extends in the left-right direction to connect the tips of the pair of arm portions 122. When the straight portion 122a1 of the arm portion 122 abuts against the second wall 112 of the bracket 110, the center bumper 123 extends along the YZ plane. In the illustrated example, the height position of the lower end of the center bumper 123 is the same as or slightly below the center of the front wheel 31a in the up-down direction and is higher than the lower end of the support housing 33. The height position of the lower end of the center bumper 123 is not particularly limited and may be lower than the lower end of the support housing 33 or the lower case 25, for example. The length of the center bumper 123 in the left-right direction is equal to the distance between the pair of arm portions 122. In one example, the pair of arm portions 122 and the center bumper 123 may be formed by bending a single steel plate.

[0031] The side bumpers 130 are supported in the left and right end regions of the center bumper 123. The side bumpers 130 extend in the left-right direction of the vehicle 10, with their base ends 131 rotatably supported on rotation shafts 135c that extend in the up-down direction. One example of the side bumper 130 is connected to the center bumper 123 by a spring hinge 135. One blade 135a of the spring hinge 135 is fixed to the front surface 123a of the center bumper 123, and the other blade 135b is fixed to the rear surface of the base end 131 of the side bumper 130. The spring hinge 135 biases the side bumper 130 in a direction that moves the tip 132 of the side bumper 130 from front to rear.

[0032] The rotation shaft 135c of the spring hinge 135 is located between the pair of arm portions 122 in the left-right direction. Therefore, the other wing 135b of the spring hinge 135 can abut against the front surface 123a of the center bumper 123. In other words, the rotation of the side bumper 130 is restricted so that the tip 132 of the side bumper 130 is not positioned behind the center bumper 123 in the X-axis direction. When the other wing 135b of the spring hinge 135 abuts against the center bumper 123, the side bumper 130 in its natural state, biased by the spring hinge 135, stops at a position extending in the left-right direction along the center bumper 123. On the other hand, when the side bumper 130 receives a force from behind (a force directed forward), the side bumper 130 rotates about the rotation shaft 135c in a direction in which the tip 132 moves from rear to front.

[0033] The height of at least a portion of the side bumper 130 is lower than the position of the lower end of the center bumper 123. For example, the side bumper 130 is curved so that the height of the tip 132 of the side bumper 130 is lower than the height of the base end 131 of the side bumper 130. The side bumper 130 in the illustrated example has a base end 131a extending horizontally in the left-right direction from the base end 131 supported by the center bumper 123, and a tip end 132a extending diagonally downward from the base end 131a. The height position of the tip 132 of the side bumper 130 is lower than the lower end of the support housing 33. Furthermore, when viewed from the X-axis direction, the tip end 132a of the side bumper 130 partially overlaps a portion of the front wheel 31a that is lower than the center in the up-down direction. Note that the width between the tips 132 of the pair of left and right side bumpers 130 may be approximately the same as the width between the pair of left and right front wheels 31a or the width of the vehicle 10.

[0034] The detection sensor 140 outputs a detection signal to the vehicle 10 when the center bumper 123 or the side bumper 130 receives a force from the front. For example, the detection sensor 140 may detect that the arm 120 has rotated against the biasing force of the spring hinge 125 (i.e., that the straight portion 122a1 of the arm portion 122 has moved away from the second wall 112 of the bracket 110). An example of the detection sensor 140 is fixed to the support portion 121 of the arm 120. The detection sensor 140 in the illustrated example is fixed to the underside of the support portion 121 with a bolt or the like. An example of the detection sensor 140 is a so-called magnetic switch, which outputs a signal when the detection surface 141 is away from the second wall 112 of the bracket 110 and when the detection surface 141 is in contact with the second wall 112 of the bracket 110, the internal magnet moves toward the second wall 112 (detection surface 141) side, thereby stopping the output of the signal.

[0035] The traveling device 1 configured as described above travels back and forth (forward and backward) between furrows in a farm field to perform various agricultural tasks, such as spraying chemicals. For example, if an obstacle 9 in front of the traveling device 1 comes into contact with the center bumper 123 or the side bumper 130 while the traveling device 1 is traveling forward between the furrows, the arm 120 is pressed backward. As a result, as shown in FIG. 7 , the arm 120 rotates about the pivot shaft 125c so that the straight portion 122a1 moves away from the inner surface 112a of the second wall 112. When the detection surface 141 of the detection sensor 140 moves away from the inner surface 112a, a detection signal is output from the detection sensor 140 to a control device of the vehicle 10. In this case, the control device may control the operation of the traveling unit 30 so that the traveling device 1 stops traveling forward.

[0036] Furthermore, if an obstacle 9 comes into contact with the side bumper 130 while the traveling device 1 is moving backward between furrows, the side bumper 130 rotates about the pivot shaft 135c so that the tip 132 moves forward (see FIG. 8). This allows the traveling device 1 to continue traveling backward without the side bumper 130 getting caught on the obstacle 9. Note that the obstacle 9 when traveling backward is assumed to be, for example, an ivy.

[0037] As described above, the traveling device 1 of one example includes a vehicle 10 that can move forward and backward, and a detection device 100 provided on the vehicle 10. The detection device 100 includes a side bumper 130 that extends in the left-right direction of the vehicle 10, with its base end rotatably supported on a rotation shaft 135c that extends in the up-down direction. When the side bumper 130 receives a force from the front, the detection device 100 outputs a detection signal to the vehicle 10. When the side bumper 130 receives a force from behind, the side bumper 130 rotates about the rotation shaft 135c.

[0038] In the traveling device 1 described above, if the side bumper 130 comes into contact with an obstacle or the like ahead while the vehicle 10 is traveling forward, the side bumper 130 receives a force from the front, and a detection signal is output to the vehicle 10. In this case, for example, control can be performed to stop the vehicle 10. On the other hand, if an obstacle comes into contact with the side bumper 130 while the vehicle 10 is traveling backward, the side bumper 130 rotates, thereby preventing the side bumper 130 from getting caught on the obstacle. Therefore, the traveling device 1 can travel stably both forward and backward.

[0039] An example of the detection device 100 may include a pair of left and right arm portions 122 extending forward from the vehicle 10 side, and a center bumper 123 extending in the left-right direction and connecting the pair of arm portions 122. The side bumpers 130 may be provided on both the left and right ends of the center bumper 123. With this configuration, it is possible to appropriately respond to an obstacle whether it is on the left or right side of the vehicle 10.

[0040] The height of the tip of the side bumper 130 may be lower than the base end of the side bumper 130. In this configuration, obstacles located close to the ground in the left and right end regions of the vehicle 10 can be easily detected.

[0041] The height of at least a portion of the side bumper 130 may be lower than the position of the lower end of the center bumper 123. With this configuration, it is easier to detect an obstacle located closer to the ground in an area outside the center bumper 123 in the left-right direction of the vehicle 10.

[0042] The rotation shaft 135c on which the side bumper 130 is supported can be located in the left-right direction between the pair of arm portions 122. In this configuration, the position of the center bumper 123 in the left-right direction is contained between the pair of arm portions 122. In this case, the pair of arm portions 122 act as a barrier, preventing obstacles from getting caught on the center bumper 123.

[0043] The vehicle 10 may have a body 20 and a running unit 30 including wheels 31 that support the body 20 and allow the body 20 to travel. The running unit 30 may be provided so as to be rotatable about a rotation axis along the vertical direction, and the detection device 100 may be provided on the running unit 30. In this configuration, the detection device 100 can always be oriented in the traveling direction of the vehicle 10.

[0044] When viewed from the front-rear direction, the tip of the side bumper 130 may partially overlap with the portion of the front wheel 31a below the center in the up-down direction. This configuration makes it possible to effectively detect obstacles that the wheel 31 may run over, allowing the traveling device 1 to travel more stably.

[0045] Although the embodiments of the present disclosure have been described above, the specific forms of the present disclosure are not limited to the above examples.

[0046] For example, there is no particular limitation on the technology for moving the traveling device 1. For example, the traveling device may travel on rails laid along the traveling route in the field. Alternatively, the traveling device may have a crawler-type traveling unit.

[0047] Although the example in which the detection device is provided at the front end of the vehicle has been shown, the detection device may be provided not only at the front end but also at the rear end of the vehicle.

[0048] Although an example in which the detection device 100 is fixed to the traveling section 30 has been shown, the location where the detection device is fixed is not particularly limited as long as the detection device is provided on the vehicle. For example, the detection device may be provided on the vehicle body 20.

[0049] Although an example in which the detection sensor 140 is a magnet switch has been shown, the type of detection sensor is not particularly limited. The detection sensor may be, for example, a limit switch, etc., as long as it can detect that the center bumper or the side bumper has received a force from the front.

[0050] Furthermore, although spring hinges 125, 135 have been exemplified as members for biasing arm 120 and side bumper 130, arm 120 and side bumper 130 may be supported by other parts instead of spring hinges as long as they are supported rotatably while being biased in a predetermined rotational direction.

[0051] Furthermore, the rotation axes 125c and 135c may be configured to have actual shaft bodies, but may also be virtual centers of rotation.

[0052] Furthermore, although a configuration has been described in which a detection signal is output from the detection sensor 140 when the center bumper 123 or the side bumper 130 receives a force from the front, the present disclosure is not limited to this. In the present disclosure, it is sufficient that the signal from the detection sensor 140 is controlled so that a control device or the like can determine that the center bumper 123 or the like has received a force from the front. In other words, it is sufficient that the state of the signal output from the detection sensor 140 to the vehicle 10 changes when the center bumper 123 or the like receives a force from the front. For example, the detection sensor 140 may constantly output a signal, and when the center bumper 123 or the like receives a force from the front, the signal from the detection sensor 140 may be stopped. Furthermore, different types of signals may be output from the detection sensor 140 when the center bumper 123 or the like is not receiving a force from the front and when it is receiving a force from the front.

[0053] The traveling device of the present disclosure can be shown as follows, as an example. [1] A vehicle (10) that can move forward and backward; a detection device (100) provided on the vehicle (10), The detection device (100) a bumper (130) whose base end is rotatably supported on a rotation shaft (135c) along the up-down direction and which extends along the left-right direction of the vehicle (10); When the bumper (130) receives a force from the front, a detection signal is output to the vehicle (10), The bumper (130) rotates around the rotation shaft (135c) when the bumper (130) receives a force from behind. [2] The detection device (100) a pair of left and right arm portions (122) extending forward from the vehicle (10); a center bumper (123) extending in the left-right direction and connecting the pair of arm portions (122), The traveling device according to [1], wherein the bumpers (130) are provided on both the left and right ends of the center bumper (123). [3] The traveling device according to [2], wherein the height of at least a part of the bumper (130) is lower than the position of the lower end of the center bumper (123). [4] The traveling device according to [2] or [3], wherein the rotation shaft (135c) on which the bumper (130) is supported is located between the pair of arm portions (122) in the left-right direction. [5] The traveling device according to any one of [1] to [4], wherein the height of the tip of the bumper (130) is lower than the base end of the bumper (130). [6] The vehicle (10) has a vehicle body (20) and a running section (30) including a running body (31) that supports the vehicle body (20) and causes the vehicle body (20) to run, The running portion (30) is provided so as to be rotatable about a rotation axis extending in the vertical direction, The traveling device according to any one of [1] to [5], wherein the detection device (100) is provided on the traveling section (30). [7] The vehicle (10) has a vehicle body (20) and a running section (30) including a running body (31) that supports the vehicle body (20) and causes the vehicle body (20) to run, The traveling device according to any one of [1] to [6], wherein the tip of the bumper (130) partially overlaps with a portion of the traveling body (31) below the center in the up-down direction when viewed from the front-to-rear direction. [Explanation of symbols]

[0054] 1...running device, 10...vehicle, 20...body, 30...running part, 100...detection device, 120...arm, 123...center bumper, 130...side bumper (bumper), 135c...rotating shaft

Claims

1. a vehicle (10) capable of moving forward and backward; a detection device (100) provided on the vehicle (10), The detection device (100) a bumper (130) whose base end is rotatably supported on a rotation shaft (135c) along the up-down direction and which extends along the left-right direction of the vehicle (10); When the bumper (130) receives a force from the front, the state of a signal output to the vehicle (10) is changed; The bumper (130) rotates around the rotation shaft (135c) when the bumper (130) receives a force from behind.

2. The detection device (100) a pair of left and right arm portions (122) extending forward from the vehicle (10); a center bumper (123) extending in the left-right direction and connecting the pair of arm portions (122) to each other, 2. The traveling device according to claim 1, wherein the bumpers (130) are provided on both left and right ends of the center bumper (123).

3. 2. The traveling device according to claim 1, wherein a tip end of the bumper is lower in height than a base end of the bumper.

4. 3. The traveling device according to claim 2, wherein a height of at least a portion of the bumper (130) is lower than a position of a lower end of the center bumper (123).

5. The traveling device according to claim 2, wherein the rotation shaft (135c) on which the bumper (130) is supported is located between the pair of arm portions (122) in the left-right direction.

6. The vehicle (10) has a vehicle body (20) and a running section (30) including a running body (31) that supports the vehicle body (20) and causes the vehicle body (20) to run, The running part (30) is provided so as to be rotatable about a rotation axis along the vertical direction, The traveling device according to claim 1, wherein the detection device (100) is provided on the traveling portion (30).

7. The vehicle (10) has a vehicle body (20) and a running section (30) including a running body (31) that supports the vehicle body (20) and causes the vehicle body (20) to run, 2. The traveling device according to claim 1, wherein a tip of the bumper (130) partially overlaps a portion of the traveling body (31) below the center in the up-down direction when viewed from the front-rear direction.

8. A detection device (100) provided on a vehicle (10) that can move forward and backward, a bumper (130) whose base end is rotatably supported on a rotation shaft (135c) along the up-down direction and which extends along the left-right direction of the vehicle (10); When the bumper (130) receives a force from the front, the state of a signal output to the vehicle (10) is changed; The bumper (130) rotates around the rotation shaft (135c) when the bumper (130) receives a force from behind.

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