Pseudo-obstacle transporting device

Abstract

Provided is a pseudo-obstacle transporting device for traveling while carrying a pseudo-obstacle, the pseudo-obstacle transporting device comprising: a travel device including wheels and a drive mechanism to drive the wheels; an enclosure covering the travel device, with a connecting unit that connects with the pseudo-obstacle; and a position fixing mechanism which is slidable with respect to the travel device and which selectively fixes the position of the travel device with respect to the enclosure, wherein the travel device has a first fixing section where the position fixing mechanism is fitted and fixed in a state with the wheels protruding downward from the lower end of the enclosure, and a second fixing section where the position fixing mechanism is fitted and fixed in a state with everything positioned above the lower end of the enclosure.

Description

Pseudo obstacle transport device

[0001] The present invention relates to a pseudo obstacle transporting device used in automobile performance testing.

[0002] In order to objectively evaluate a vehicle's obstacle recognition and avoidance performance, a performance test is conducted by simulating specific collision conditions to evaluate the degree of collision avoidance and damage reduction. This performance test is conducted using a vehicle to be evaluated and a simulated obstacle transporter (hereinafter abbreviated as "transporter") (see, for example, Patent Document 1). The transporter runs while carrying simulated obstacles (e.g., dummies simulating various obstacles such as people and bicycles) used in vehicle performance tests, reproducing the movements of various obstacles. By conducting a highly reproducible performance test using the transporter, the vehicle's collision safety can be accurately evaluated.

[0003] Special table 2019-520585 publication

[0004] Patent Document 1 discloses a configuration in which a preload spring protrudes wheels from a housing of a transport device, the wheels retract into the housing when a load is applied to the housing, and the preload spring causes the wheels to retract from the housing when the load is released. With this configuration, if the transport device is run over by an automobile during a performance test, the wheels retract into the housing, transforming into a state in which the housing directly supports the weight of the automobile against the ground. This prevents breakdowns in the running mechanism of the transport device and allows the transport device to be used repeatedly for performance tests.

[0005] Although the document does not provide detailed information about the configuration of attaching wheels to the housing, achieving this requires not only a preload spring for an air chamber, but also a compressor that sends air into the air chamber, a valve device that releases air from the air chamber when a predetermined pressure is applied, etc. However, the transport device must be extremely low-profile and thin so that it is unlikely to be recognized as an obstacle by the external recognition sensor of the vehicle being tested, and to avoid contact with the vehicle body when the vehicle collides with the simulated obstacle. Therefore, a configuration like the transport device in Patent Document 1, in which various devices such as the air chamber, compressor, and valve device are housed inside the housing, is disadvantageous in terms of making the transport device smaller and thinner.

[0006] An object of the present invention is to provide a pseudo obstacle transporting device that can downsize the mechanism for storing the wheels inside the housing when, for example, the device is run over by a car.

[0007] In order to achieve the above-mentioned object, the present invention provides a pseudo-obstacle transporting device that travels while carrying a pseudo-obstacle, comprising: a traveling device including wheels and a drive mechanism that drives the wheels; a housing that has a connection part for connecting the pseudo-obstacle and covers the traveling device; and a position fixing mechanism that is slidable relative to the traveling device and that selectively fixes the position of the traveling device relative to the housing, wherein the traveling device has a first fixing part into which the position fixing mechanism is engaged and fixed in a state where the wheels protrude downward from the lower end of the housing, and a second fixing part into which the position fixing mechanism is engaged and fixed in a state where the entire traveling device is positioned above the lower end of the housing.

[0008] According to the pseudo obstacle transporting device of the present invention, it is possible to miniaturize the mechanism for storing the wheels inside the housing when the wheels are run over by a car, for example.

[0009] 9 is a perspective view showing the external configuration of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 10 is a bottom view of the external configuration of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 11 is a diagram showing the height relationship between the overall height of a pseudo obstacle transporting device according to one embodiment of the present invention and the minimum ground clearance of a vehicle to be tested. FIG. 12 is a schematic view showing the operating mode of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 13 is a schematic view showing the operating mode of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 14 is a schematic view showing the operating mode of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 15 is a schematic view showing the operating mode of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 16 is a schematic view showing a performance test of a vehicle using a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 17 is an exploded view of a housing and a traveling device of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 18 is a side view of the traveling device of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 19 is a perspective view of the traveling device of a pseudo obstacle transporting device according to one embodiment of the present invention, seen from the belt side. FIG. 19 is a perspective view of the traveling device of a pseudo obstacle transporting device according to one embodiment of the present invention, seen from the opposite side to the belt. FIG. 10 is a perspective view showing the traveling device detached from the first support of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 11 is a cross-sectional view taken along line XI-XI in FIG. 13A. FIG. 13B is a cross-sectional view of a position fixing mechanism provided in a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 13C is an explanatory diagram of a position fixing mechanism of a traveling device of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 13D is an enlarged view of part XIIIB in FIG. 13A. FIG. 13E is an enlarged view of a main part showing a state in which a traveling device is fixed by a first fixing part in a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 13F is an enlarged view of a main part showing a state in which a traveling device is fixed by a second fixing part in a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 13G is an explanatory diagram showing a state in which a traveling device is displaced in a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 13H is a side view of another traveling device of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 13I is an explanatory diagram of a position fixing mechanism for another traveling device of a pseudo obstacle transporting device according to one embodiment of the present invention. FIG. 13J is a characteristic diagram of a position fixing mechanism regarding the relationship between an external force acting on a pseudo obstacle transporting device according to one embodiment of the present invention and the displacement of the traveling device.

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] - Pseudo Obstacle Transporting Device - Figure 1 is a perspective view showing the external configuration of a pseudo obstacle transporting device according to one embodiment of the present invention, and Figure 2 is a bottom view thereof. Also, Figure 3 is a diagram showing the height relationship between the overall height of the pseudo obstacle transporting device shown in Figures 1 and 2 and the minimum ground clearance of the vehicle being tested, and Figures 4A to 4D are schematic diagrams showing the operational form of the pseudo obstacle transporting device. The right, left, bottom, and top of Figure 2 correspond to the front, rear, left, and right of the pseudo obstacle transporting device 1 (hereinafter abbreviated as transporting device 1) of this embodiment.

[0012] The transport device 1 shown in FIG. 1 and other figures is a device that stops or moves while carrying a simulated obstacle B, which is a dummy obstacle used in performance tests of a vehicle (test vehicle) A, to simulate a static or dynamic obstacle. The body of the simulated obstacle B is generally made of a soft material such as a balloon, so that even if the vehicle A collides with the simulated obstacle B during a performance test, the simulated obstacle B and the vehicle A are unlikely to be damaged. The performance test tests, for example, the functions of the vehicle A's autonomous driving (AD) and advanced driver-assistance systems (ADAS). The transport device 1 is configured to be low-profile and thin so as to be unlikely to be recognized as an obstacle by the external recognition sensor of the vehicle A under test and to avoid contact with the body of the vehicle A when the vehicle A collides with the simulated obstacle B. As shown in FIG. 3, the overall height of the transport device 1 from the ground surface is kept lower than the minimum ground clearance H of the vehicle A, for example, approximately 100 mm.

[0013] As components, the transport device 1 includes a running device 2, a housing 3, and connection portions 4 and 5, etc.

[0014] The travel device 2 is a device that allows the transporter 1 to travel under its own power. The transporter 1 is equipped with multiple (three in this embodiment) travel devices 2L, 2R, and 2F ( FIG. 2 ). Each of these travel devices 2L, 2R, and 2F includes a wheel 21. The travel device 2F is a front wheel unit located at the front center of the casing 3, the travel device 2L is a left rear wheel unit located at the rear left side of the casing 3, and the travel device 2R is a right rear wheel unit located at the rear right side of the casing 3. More specifically, the travel devices 2L and 2R are located at the rear corners of the main body 3a of the casing 3, and the travel device 2F is located near the front inner wall of the main body 3a of the casing 3. This maximizes the wheelbase and tread within the limited space inside the main body 3a of the casing 3, thereby improving straight-line stability. In this embodiment, the transporter 1 is driven by the rear travel devices 2L and 2R and steers by the front travel device 2F. To further enhance the straight-line stability of the transport device 1, an area X is provided in the triangular area S enclosed by the travel units 2L, 2R, and 2F for mounting relatively heavy control equipment. Furthermore, left and right areas Y for mounting batteries and left and right areas Z for mounting other electronic devices are located in front of the left and right travel units 2L and 2R, sandwiching the area X and the travel unit 2F. The transport device 1 is a tricycle that travels on a total of three wheels 21 on each of the travel units 2F, 2L, and 2R. Because the three wheels 21, spaced apart at three locations, are always in contact with the ground, no height adjustment mechanism for the wheels 21 is required. The configuration of the travel units 2L, 2R, and 2F will be described later.

[0015] The housing 3 is the body of the transport device 1, has connection parts 4 and 5 for connecting the dummy obstacle B, and covers the traveling device 2. In this embodiment, the housing 3 is configured to include a main body part 3a (core block) and a slope part 3b (cover). The housing 3 can be configured as an assembly of the main body part 3a and the slope part 3b, with the main body part 3a and the slope part 3b being separate structures, or the main body part 3a and the slope part 3b can be configured as an integrally molded structure.

[0016] In this embodiment, the main body 3a has a thin, box-like shape that is rectangular (square in the illustrated example) in plan view, has front, rear, left, and right sides, a top surface, and is open at the bottom. In this embodiment, the top surface (top surface) of the main body 3a is a horizontal plane, but this is not necessarily the case. The main body 3a is made of metal and has high strength that can withstand the load even if it is run over by the automobile A. Although not shown in FIG. 2, ribs may be provided appropriately inside the main body 3a (the volume space surrounded by the front, rear, left, and right sides and the top surface) to improve the strength of the main body 3a.

[0017] The sloped surface 3b is located on the outer periphery of the main body 3a and surrounds the entire periphery of the main body 3a. In this embodiment, the sloped surface 3b is detachably attached to the front, rear, left, and right sides of the main body 3a. The upward surface of the sloped surface 3b slopes downward from the horizontal center of the housing 3 toward the outside, and extends from the top surface of the main body 3a toward the ground surface. The inclination angle of this sloped surface is set so that the wheels of the automobile A can smoothly climb onto the transport device 1 when the automobile A collides with the simulated obstacle B. The sloped surface 3b is a replaceable part and is made of lightweight resin. Figure 2 illustrates a structure in which the sloped surface 3b is hollowed out to reduce weight.

[0018] The connection unit 4 is a mechanism for fixing the dummy obstacle B to the housing 3 and is provided on the upper part of the housing 3, for example, in the center of the top surface. The configuration of the connection unit 4 is appropriately adopted depending on the mechanism for attaching and detaching the dummy obstacle B to the transport device 1. The connection unit 4 illustrated in FIG. 1 is a mechanism similar to a clamp that holds down the base plate of a pole (pipe, etc.). The dummy obstacle B is fixed to the transport device 1 by attaching it to a pole supported by the connection unit 4 or by fastening the dummy obstacle to the pole. Alternatively, the connection unit 4 can be configured with threaded holes into which bolts for fixing the dummy obstacle B are screwed. The configuration of the connection unit 4 can be modified in various ways. The connection unit 5 utilizes a magnet and fixes the dummy obstacle B by attracting an iron plate attached to the bottom of the dummy obstacle B. Both connection units 4 and 5 do not necessarily need to be provided; either one may be omitted. The layout of the connection units 4 and 5 can also be modified as appropriate. A dummy obstacle B is attached to the top of the housing 3 of the transport device 1 via these connection parts 4 and 5, and when the transport device 1 runs in this state, the movement of the obstacle imitated by the dummy obstacle B is reproduced by the transport device 1.

[0019] The dummy obstacle B is selected in a shape appropriate for the purpose of the performance test and attached to the transporter 1. Fig. 4A shows an example in which a dummy obstacle B simulating a pedestrian B1 is mounted on the transporter 1. Fig. 4B shows an example in which a bicycle B2 is mounted on the transporter 1, Fig. 4C shows an example in which a motorcycle B3 is mounted on the transporter 1, and Fig. 4D shows an example in which a car B4 is mounted on the transporter 1. The transporter 1 travels in accordance with, for example, a radio signal in response to remote control operation by an operator, a radio signal remotely controlled by a control device, or a predefined program, and reproduces the predetermined movement of the mounted dummy obstacle B.

[0020] FIG. 5 is a schematic diagram showing a performance test of automobile A using a transporter 1. In the performance test, the transporter 1 loaded with a simulated obstacle B stops or travels under test conditions specified in the performance test. The automobile A being tested travels relative to the simulated obstacle B loaded on the transporter 1, recognizing the simulated obstacle B as a real obstacle using its obstacle recognition function and activating a collision avoidance function, etc., as necessary. If the test conditions make it difficult to avoid a collision with the simulated obstacle B, the body of automobile A collides with the simulated obstacle B, as shown in FIG. 5. Participants in the performance test observe the collision between automobile A and simulated obstacle B from a location at an appropriate distance from automobile A and the transporter 1.

[0021] In such performance tests of automobile A, when automobile A collides with simulated obstacle B, the transport device 1 often gets under the body of automobile A or is run over by the wheels of automobile A. In such a usage environment, it is necessary to ensure that the running device 2 and other parts are not damaged even if run over by automobile A, so that the transport device 1 can be used repeatedly for performance tests.

[0022] -Traveling device (rear wheel unit)- Figure 6 is an exploded view of the housing 3 and the traveling device 2 of the transport device 1, Figure 7 is a side view of the traveling device 2R, Figure 8 is a perspective view of the traveling device 2R seen from the belt side, and Figure 9 is a perspective view of the traveling device 2R seen from the opposite side to Figure 8. Also, Figure 10 is a perspective view showing the traveling device 2R removed from the first support, and Figure 11 is a cross-sectional view taken along line XI-XI in Figure 9. The right traveling device 2R will be described using Figures 6-16, including Figures 6-11, but the left traveling device 2L has substantially the same configuration as the right traveling device 2R. Strictly speaking, in this embodiment, the traveling devices 2L and 2R have a bilaterally symmetrical configuration.

[0023] The traveling device 2R includes a second support 23 (swing arm) rotatably connected to a first support 22 (rear stand) fixed to the housing 3. The first support 22 is fixed to the rear (downward-facing surface) of the upper surface of the main body 3a of the housing 3 with screws, bolts, etc. The second support 23 is a member that serves as a frame for the traveling device 2R and supports the wheels 21 and a drive mechanism 24 that drives the wheels 21. The drive mechanism 24 for the wheels 21 includes a motor 24a and a belt 24b. The wheels 21 are rotatably supported at the rear of the first support 23, and the motor 24a is fixed to the front of the first support 23. The belt 24b is wound between the output shaft of the motor 24a and the wheels 21 and transmits the driving force of the motor 24a to the wheels 21. The portion of the belt 24b that hangs on the output shaft of the motor 24a is surrounded and protected by a belt cover 24c. In this way, the wheels 21 and the drive mechanism 24 that drives them are all fixed to the second support (swing arm) 23, which is a movable member. In this embodiment, a configuration is adopted in which the power of the motor 24a is transmitted to the wheels 21 via the belt 24b, which has the advantage that lubrication is not required or the frequency of lubrication can be reduced. However, other drive transmission mechanisms such as gears can be used instead of the belt 24b.

[0024] The first support 22 includes a base 22a fixed to the housing 3 and forks 22b protruding downward from the base 22a. A plurality of forks 22b (two in this embodiment) are provided and aligned in the direction (left-right direction) of the axis of rotation (center line of rotation C) of the wheel 21. The second support 23 is provided with fork holes 23a corresponding to the forks 22b, into which the forks 22b are inserted.

[0025] In this embodiment, the traveling device 2R is allowed to rotate only in the pitch direction and is prevented from rotating in the roll and yaw directions. The first support 22 and the second support 23 are configured so that their opposing surfaces, facing each other in the extension direction (left-right direction) of the rotation shaft 25 (swing pin) of the second support 23, are in surface contact with each other. The center line of the rotation shaft 25 of the second support 23 is parallel to the rotation center line C of the rotation shaft of the wheel 21. As an example, in this embodiment, the dimensional tolerances in the left-right direction of the forks 22b and the fork holes 23a are set so that both the left and right surfaces of each of the two forks 22b are in surface contact with the opposing surfaces of the fork holes 23a. A gap is provided between the opposing front and rear surfaces of the forks 22b and the fork holes 23a, as shown in FIG. 7 , allowing rotation of the second support 23 in the pitch direction relative to the first support 22. In this way, the forks 22b and the fork holes 23a are in surface contact with each other at multiple surfaces, so that the left and right movement and rotation in the roll and yaw directions of the second support 23 relative to the first support 22 are restricted by the contact surfaces, and only rotation in the pitch direction is permitted. As a result, the left and right movement and rotation in the roll and yaw directions of the traveling device 2R relative to the housing 3 are restricted, and only rotation in the pitch direction is permitted.

[0026] As described above, the second support 23 is assembled to the first support 22 by inserting the fork 22b into the fork hole 23a, and can be slid up and down relative to the first support 22 and detached. In other words, by detaching the second support 23 from the first support 22, the entire traveling device 2R, including not only the second support 23 but also the wheels 21 and drive mechanism 24 attached thereto, can be detached from the housing 3. The first support 22 and the second support 23 are connected by the rotating shaft 25, and removing the rotating shaft 25 from the first support 22 and the second support 23 releases the connection between the first support 22 and the second support 23, allowing the traveling device 2R to be removed as a unit. Simply removing the rotating shaft 25 allows the entire traveling device 2R to be removed from the housing 3, allowing the traveling device 2R to be easily removed for maintenance when the wheels 21 wear out or the motor 24a malfunctions.

[0027] In this embodiment, the shaft hole 23b and fork hole 23a in the second support 23, through which the rotation shaft 25 passes, are provided between the rear part of the second support 23 that supports the wheels 21 and the front part that supports the motor 24a. In other words, the second support 23 and therefore the traveling device 2R are configured to oscillate like a seesaw around the rotation shaft 25. Furthermore, since it is assumed that the transporter 1 will travel on a flat road (ground), in this embodiment no suspension mechanism is installed, thereby achieving further miniaturization.

[0028] -Position fixing mechanism- Fig. 12 is a cross-sectional view of the position fixing mechanism provided in the transporting device 1, Fig. 13A is an explanatory diagram of the position fixing mechanism, and Fig. 13B is an enlarged view of part XIIIB in Fig. 13A. Also, Fig. 14 is an enlarged view of the main part showing the state in which the traveling unit 2R is fixed by the first fixing part, and Fig. 15 is an enlarged view of the main part showing the state in which the traveling unit 2R is fixed by the second fixing part.

[0029] The transport device 1 is provided with a position fixing mechanism 30 that is slidable relative to the traveling device 2R and that selectively fixes the position of the traveling device 2R relative to the housing 3. The traveling device 2R is provided with a first fixing part P1 that is fitted with the position fixing mechanism 30 and is fixed in a state where the wheels 21 protrude downward from the lower end 3c of the housing 3, and a second fixing part P2 that is fitted with the position fixing mechanism 30 and is fixed in a state where the entire traveling device is positioned above the lower end 3c of the housing 3. The first fixing part P1 is a part that determines the position of the traveling device 2R in normal operation (when traveling), and the second fixing part P2 is a part that determines the position of the traveling device 2R when stored in the housing 3.

[0030] The first fixing portion P1 and the second fixing portion P2 are arranged side by side above and below on the second support 23 (on the rear surface in this embodiment), which is the frame of the traveling device 2R. In this embodiment, the first fixing portion P1 and the second fixing portion P2 are provided on the same side (rear side) as the wheels 21 with respect to the rotation shaft 25, and therefore the first fixing portion P1 is laid out higher than the second fixing portion P2. If the first fixing portion P1 and the second fixing portion P2 were to be provided on the opposite side (motor 24a side) of the rotation shaft 25 from the wheels 21, the second fixing portion P2 would be laid out higher than the first fixing portion P1.

[0031] The first and second fixed portions P1 and P2 that engage with the position fixing mechanism 30 are, specifically, spherical recesses (cavities) formed in the second support 23, which is the frame of the traveling unit 2R. As shown in FIG. 13B , the depth D2 of the second fixed portion P2 is shallower than the depth D1 of the first fixed portion P1. The depth D1 of the first fixed portion P1 here corresponds to the maximum dimension of the largest cross section of the first fixed portion P1 that passes through the center line of the rotation shaft 25 of the traveling unit 2R, taken in a direction perpendicular to the center line of the rotation shaft 25. Similarly, the depth D2 of the second fixed portion P2 corresponds to the maximum dimension of the largest cross section of the second fixed portion P2 that passes through the center line of the rotation shaft 25 of the traveling unit 2R, taken in a direction perpendicular to the center line of the rotation shaft 25.

[0032] In this embodiment, the position fixing mechanism 30 is a ball plunger, and the traveling unit 2R is fixed to either the first fixing part P1 or the second fixing part P2 by the spring force of the ball plunger. The ball plunger is provided with an adjustment mechanism (for example, a tension adjustment screw 34 described later) for adjusting the spring force, and the force holding the traveling unit 2R at the first fixing part P1 can be adjusted as needed.

[0033] Specifically, the position fixing mechanism 30, which is a ball plunger, is configured to include a body 31, a ball 32, a spring 33, a tension adjustment screw 34, and a locking nut 35. The body 31 is a cylindrical member with a male thread cut on its outer circumferential surface, and is fixed to the housing 3 by being screwed into a tapped hole 3d ( FIG. 6 ) that penetrates through a side surface (the rear wall surface in this embodiment) of the main body 3a of the housing 3. In addition, a locking nut 35 is screwed onto the outer circumferential surface of the body 31 from the inside of the main body 3a of the housing 3, and by tightening the locking nut 35, the body 31 is prevented from loosening relative to the housing 3.

[0034] A ball 32 is housed in a hollow portion of a body 31 of the ball plunger. The ball 32 slides along the inner circumferential surface of the hollow portion of the body 31, with its spherical portion moving in and out of the body 31. A spring 33 is also housed in the hollow portion of the body 31, interposed between the ball 32 and a tension adjustment screw 34. The ball 32 is pushed by the spring 33 from the tension adjustment screw 34 side, causing the spherical portion of the ball 32 to protrude from the tip of the body 31. The tension adjustment screw 34 has a male thread on its outer periphery that is screwed into a female thread on the inner circumferential surface of the body 31. The spring force of the spring 33 is adjusted by operating the tension adjustment screw 34 to adjust the distance from the ball 32.

[0035] The body 31 and the tension adjustment screw 34 have a hexagonal hole 36 on their base end surfaces (the end surfaces opposite the ball 32) that can be used to rotate the body 31 and the tension adjustment screw 34 with a tool such as a hexagonal wrench. The base end surface of the ball plunger is exposed on the outer wall surface of the side wall of the housing 3, so the hexagonal hole 36 can be easily accessed by removing the sloped portion 3b from the main body portion 3a of the housing 3.

[0036] The position fixing mechanism 30 is disposed close to the traveling unit 2R, and the ball 32 is pressed against the second support 23, which is the frame of the traveling unit 2R. When the transporting device 1 is in the normal configuration (traveling configuration), the traveling unit 2R is held in a position where the ball 32 of the position fixing mechanism 30 fits into the first fixing portion P1. In this state, the wheels 21 of the traveling unit 2R protrude downward from the bottom end 3c of the housing 3, as shown by the dashed lines in FIG. 7 . The same applies to the traveling units 2L and 2F. In the normal configuration, the transporting device 1 contacts the ground with the traveling unit 2. This protrusion amount h ( FIG. 7 ) is greater than the minimum distance Lmin ( FIG. 13B ) between the center of the first fixing portion P1 and the edge of the second fixing portion P2, and is smaller than the maximum distance Lmax ( FIG. 13B ) between the center of the first fixing portion P1 and the edge of the second fixing portion P2.

[0037] Furthermore, when the traveling unit 2R of the transporting device 1 is in the stored configuration, the traveling unit 2R is held in a position in which the ball 32 of the position fixing mechanism 30 fits into the second fixing portion P2. In this state, as shown by the solid line in Figure 7, the entire traveling unit 2R, including the wheels 21, is located above the bottom end 3c of the housing 3 and is stored inside the main body 3a of the housing 3. The same is true for the traveling units 2L and 2F. In the stored configuration, the transporting device 1 is in contact with the ground at the housing 3.

[0038] For example, if the transport device 1 is stepped on by automobile A during a performance test, the weight of automobile A will be applied to the housing 3. In such a case, as shown in FIG. 16( a), if the housing 3 is pressed down with a strong load F that exceeds the holding force of the position fixing mechanism 30, this force will be transmitted to the ball 32 of the position fixing mechanism 30 via the first fixing part P1 of the traveling device 2R, causing the ball 32 to retract against the spring 33 and disengage from the first fixing part P1. Then, the traveling device 2R rotates in the pitch direction around the rotation axis 25 as a fulcrum. As a result, the housing 3 descends and touches the ground as shown in FIG. 16( b), and the ball 32 of the position fixing mechanism 30 engages with the second fixing part P2 (transitioning from the state shown in FIG. 14 to the state shown in FIG. 15), causing the traveling device 2 to be entirely lifted off the ground (stored configuration). In this state, the weight of automobile A is received by the housing 3 and does not act on the traveling device 2.

[0039] The transport device 1 maintains the stored configuration without automatically or naturally returning to the normal configuration. In this embodiment, the housing 3 has an access portion 3e ( FIG. 7 ) for accessing a jig T for returning the traveling device 2R from a state fixed by the second fixing portion P2 to a state fixed by the first fixing portion P1. In this embodiment, the jig T is a screw, and the access portion 3e is a tapped hole provided in the housing 3. When transitioning to the stored configuration, as shown in FIG. 16( b ), by screwing a screw (jig T) into the tapped hole (access portion 3e), the wheels 21 of the traveling device 2R are pushed down against the housing 3, returning the transport device 1 to the normal configuration ( FIG. 16( a )). However, various types of jig T, such as a screw, pin, curved leaf spring, cam, or gas cylinder, can be used as the jig T. The shape of the access portion 3e can also be modified or omitted depending on the configuration of the jig T. The jig T is detached from the housing 3 when traveling, and is used during the operation of returning the traveling device 2R from the stored configuration to the normal configuration.

[0040] - Traveling device (front wheel unit) - Figure 17 is a side view of another traveling device of a pseudo obstacle transporting device according to one embodiment of the present invention, and Figure 18 is an explanatory diagram of a position fixing mechanism of another traveling device of a pseudo obstacle transporting device according to one embodiment of the present invention. In Figure 17, elements that are the same as or correspond to those of the traveling device 2R are given the same reference numerals as in the previously mentioned drawings, and explanations thereof will be omitted.

[0041] In this embodiment, the second support 23 of the traveling unit 2F is configured to slide up and down by a linear guide (not shown) that serves as the first support. Like the traveling units 2L and 2R, the traveling unit 2F is configured to be selectively held at either the first fixing portion P1 or the second fixing portion P2 by the position fixing mechanism 30. Like the traveling units 2L and 2R, when the housing 3 is pressed down by the load F, the traveling unit 2F transitions from a normal state in which it is held at the first fixing portion P1 and is in contact with the ground to a stored state in which it is fixed at the second fixing portion P2 and is raised above the ground.

[0042] - Position Holding Characteristics of Traveling Device - FIG. 19 is a characteristic diagram of the position fixing mechanism 30 regarding the relationship between the external force acting on the pseudo obstacle transporting device and the displacement of the traveling device according to one embodiment of the present invention.

[0043] Here, in this embodiment, instead of holding the traveling device 2 with the position fixing mechanism 30 as described above to put the transport device 1 in the normal form, it is also possible to configure the traveling device 2 to be biased downward by a mechanical spring or an air spring, causing the wheels 21 to protrude downward from the housing 3. Even with this configuration, if the housing 3 is run over by a car A, for example, the mechanical spring or air spring will contract and the wheels 21 will be stored in the housing 3. If the transport device 1 has a four-wheel structure, a configuration using mechanical springs or air springs will function as a suspension and is effective in keeping all four wheels on the ground at the same time.

[0044] However, in this embodiment, the transport device 1 has a three-wheel structure, and therefore does not require a suspension function to simultaneously ground all of the wheels 21. Furthermore, the ground on which the transport device 1 travels is assumed to be a highly flat, asphalt-paved surface, such as a test course. Therefore, a mechanism such as a suspension, which changes the positional relationship of the traveling device 2 relative to the housing 3 during travel in response to the unevenness of the ground, is not necessary. Rather, from the standpoint of traveling stability, it is preferable that the housing 3 does not unintentionally displace elastically relative to the traveling device 2, and this is also preferable from the standpoint of weight reduction. On the other hand, in order to protect the traveling device 2 and other components and avoid malfunctions, it is desirable that the traveling device 2 displace and retract relative to the housing 3 when the transport device 1 is run over by the automobile A.

[0045] In contrast, in this embodiment, the traveling device 2 is selectively held at two positions, the first fixing portion P1 and the second fixing portion P2, by the position fixing mechanism 30 (plunger). For example, when a downward load F is applied to the housing 3 of the transport device 1, in this embodiment, the wheels 21 do not displace relative to the housing 3 until the force of the load F, which tends to displace the wheels 21 upward relative to the housing 3, exceeds the holding force F1 with which the position fixing mechanism 30 holds the traveling device 2 at the first fixing portion P1. Then, at the point when the force tending to displace the wheels 21 upward exceeds the holding force F1, the traveling device 2 is displaced to the stored form in which the position fixing mechanism 30 is held at the second fixing portion P2. At this time, when the apex of the ball 32 of the position fixing mechanism 30 passes through the gap between the first fixing part P1 and the second fixing part P2 and enters the second fixing part P2, the ball 32 is guided by the spherical shape of the second fixing part P2 and the position fixing mechanism 30 is guided to a predetermined position on the second fixing part P2, whereby the wheel 21 separates from the ground and rises up. As shown in Figure 19, in the configuration in which the traveling device 2 described above is biased downward by a mechanical spring or an air spring, the amount of displacement of the wheel 21 increases monotonically as the load F increases, but in this embodiment, the amount of displacement of the wheel 21 changes almost discretely as the load F increases.

[0046] -Effects- (1) According to this embodiment, the position fixing mechanism 30 is configured to selectively hold the traveling device 2 at either the first fixing portion P1 or the second fixing portion P2, so no electrical equipment, drive device, or other equipment is required to hold the traveling device 2 in the normal position or the retracted position. This allows for a simple structure to be realized for the mechanism that stores the wheel 21 inside the housing 3 when, for example, the traveling device 2 is run over by the automobile A, and allows for a reduction in the number of parts and a reduction in size.

[0047] In this embodiment, the traveling device 2 is alternatively held by the first fixing portion P1 or the second fixing portion P2 using the position fixing mechanism 30, and is alternatively displaced between a normal configuration in which the wheels 21 protrude downward from the lower end 3 c of the housing 3, and a stored configuration in which the entire traveling device 2 is positioned above the lower end 3 c of the housing 3. This prevents the housing 3 from displacing more than necessary relative to the traveling device 2 during traveling, allowing the traveling device 2 to travel stably in the normal configuration with the simulated obstacle B mounted thereon. On the other hand, if the traveling device 2 receives a large load F, such as being run over by a car A, the traveling device 2 displaces to the stored configuration, storing the traveling device 2 in the housing 3 and supporting the load F with the housing 3. This allows the traveling device 2 to withstand the large load F and prevents breakdowns. Furthermore, because the traveling device 2 has only two alternative positions and displaces discretely from the normal configuration to the stored configuration as shown in FIG. 19 , it has the advantage of being more responsive to posture displacement than the structures using mechanical springs or air springs described in FIG. 19 .

[0048] 19, for example, the wheels are housed in the housing, but remain in contact with the ground and do not separate from the ground. However, when the conveyance device is run over by the automobile A, the housing does not instantly come into contact with the ground, but in many cases actually comes into contact with the ground while skidding. Therefore, in a configuration in which the wheels remain in contact with the ground and do not separate from the ground, a strong load may be applied to the wheels in the roll direction and yaw direction until the device comes to a stop after the collision.

[0049] In contrast, in the case of this embodiment, in the stored form held at the second fixing part P2 by the position fixing mechanism 30, the transporting device 1 is grounded by the housing 3, and the entire running device 2 including the wheels 21 is lifted off the ground, thereby reducing the load on the wheels 21.

[0050] (2) Furthermore, the depth of the second fixing portion P2 is shallower than the depth of the first fixing portion P1. Therefore, when the second fixing portion P2 is engaged with the position fixing mechanism 30, the spring 33 of the position fixing mechanism 30 is slightly compressed compared to when the second fixing portion P2 is engaged with the position fixing mechanism 30. In other words, by having the spring 33 already in a somewhat compressed state, the force with which the traveling device 2 is held by the second fixing portion P2 can be made smaller than the force with which the traveling device 2 is held by the first fixing portion P1. This allows the traveling device 2 to be returned from the stored position to the normal position with a small force, and the time required for this return operation can be shortened.

[0051] (3) As explained in Figure 13B, the amount of protrusion h of the wheels 21 from the housing 3 in the normal configuration is greater than the distance Lmin and smaller than the distance Lm1X. Therefore, when the housing 3 is placed down by being stepped on by the car A, the amount of displacement (protrusion h) of the housing 3 causes the ball 32 of the position fixing mechanism 30 to move from the first fixing portion P1 to the second fixing portion P2 without going beyond the second fixing portion P2. This makes it possible to easily switch the transport device 1 between the normal configuration and the storage configuration.

[0052] (4) In this embodiment, the position fixing mechanism 30 is a ball plunger, and the traveling device 2 is fixed to either the first fixing portion P1 or the second fixing portion P2 by the spring force of the ball plunger. The fact that the position fixing mechanism 30 can be easily configured using a ball plunger, which is a general-purpose device element, also contributes to making the transporting device 1 smaller and less expensive.

[0053] (5) The position fixing mechanism 30 includes a tension adjustment screw 34, which is an adjustment mechanism for adjusting the spring force. Therefore, for example, it is possible to easily adjust the force required to maintain the normal configuration of the transport device 1 or the force required to return the transport device 1 to the normal configuration from the stored configuration.

[0054] (6) In the traveling devices 2L, 2R, the second support 23, which is a frame supporting the wheels 21 and the drive mechanism 24, is rotatably connected to the first support 22. This is a simple configuration in which the load F applied to the housing 3 is transmitted via the first support 22 and the second support 23, causing the traveling device 2 to displace. Because the wheels 21 and the drive mechanism 24, such as the motor 24a, are fixed to the same component, the second support 23, the relative positions of the wheels 21 and the drive mechanism 24 remain unchanged even if the relative positions of the wheels 21 and the housing 3 change. This makes it possible to prevent damage to the drive transmission mechanism, including the belt 24b, and the drive mechanism 24, including the motor 24a.

[0055] (7) The first support 22 and the second support 23 are in surface contact with each other at their opposing surfaces facing each other in the extension direction of the rotation shaft 25. This makes it possible to restrict movement of the traveling device 2 in the roll direction and yaw direction while allowing movement in multiple directions, and to suppress damage to the traveling device 2 due to torsional forces applied in the event of a collision with the automobile A.

[0056] (8) The second support 23 can be slid up and down relative to the first support 22 and can be detached. By detaching the second support 23 from the first support 22, the entire traveling device 2 can be detached from the housing 3. In this way, the traveling device 2, which is a unit formed by assembling the wheels 21 and the drive mechanism 24 to the second support 23, can be easily detached as a whole, facilitating maintenance of the traveling device 2. Furthermore, the traveling device 2 can be easily replaced, and recovery work in the event of a breakdown of the traveling device 2 can be easily and quickly performed.

[0057] (9) The first support 22 and the second support 23 are connected by the rotating shaft 25, and the first support 22 and the second support 23 can be disconnected by removing the rotating shaft 25 from the first support 22 and the second support 23. The traveling device 2 can be attached and detached extremely easily by inserting and removing the rotating shaft 25.

[0058] (10) The housing 3, which is the outer shell of the transport device 1, is designed with waterproof and dustproof performance in mind, and is therefore highly airtight. Therefore, it generally takes a lot of man-hours to access the internal traveling device 2 and the like.

[0059] In contrast, in this embodiment, the housing 3 is provided with an access portion 3e for accessing the jig T for returning the traveling device 2 from the stored configuration to the normal configuration. Using the access portion 3e provided on the housing 3, the jig T can apply an external force to the traveling device 2 from outside the housing 3 to return it to the normal configuration. Therefore, there is no need to turn the housing 3 upside down to access the traveling device 2, and although it is a manual operation, it can be returned from the stored configuration to the normal configuration in a short time that is not much different from that of a transport device with an automatic return function. For example, if the transport device 1 is run over by a car A, the dummy obstacle B mounted on the transport device 1 is damaged, and the task of replacing the dummy obstacle B naturally occurs. The task of returning to the normal configuration using the jig T can be performed simultaneously with the task of replacing the dummy obstacle B, so there is virtually no increase in the actual work time.

[0060] Furthermore, various devices for realizing the automatic return function are not required, which contributes greatly to space saving and miniaturization of the transport device 1.

[0061] (11) Because the transport device 1 is a tricycle, all three wheels 21 naturally come into contact with the ground at the same time. This eliminates the need for a wheel 21 position adjustment mechanism or suspension mechanism. The road surface on which the transport device 1 travels is expected to be a paved test course or the like, so the absence of a suspension mechanism does not pose any particular problem. Eliminating the suspension mechanism and wheel 21 position adjustment mechanism provides greater benefits, such as space savings, size reduction, weight reduction, a reduced number of parts, and easier maintenance.

[0062] (Modifications) The present invention is not limited to the above-described embodiments and may include various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and are not necessarily limited to those including all of the described configurations. For example, it is possible to replace some of the configurations with other configurations. It is also possible to delete some of the configurations of the embodiments or add other configurations.

[0063] For example, a configuration has been exemplified in which a plunger is used as the position fixing mechanism 30 that selectively holds the traveling device 2 at two positions, the first fixing portion P1 and the second fixing portion P2, but it is also possible to use a turnover mechanism to selectively displace the traveling device 2 between the normal form and the stored form.

[0064] DESCRIPTION OF SYMBOLS 1...dummy obstacle transporting device, 2, 2F, 2L, 2R...traveling device, 3...housing, 3e...access part, 3c...bottom end of housing, 4...connecting part, 5...connecting part, 21...wheel, 22...first support, 23...second support, 24...driving mechanism, 25...rotating shaft, 30...position fixing mechanism, 34...tension adjusting screw (adjusting mechanism), B...dummy obstacle, D1...depth of first fixing part, D2...depth of second fixing part, h...projection amount of wheel, Lmax...maximum value, Lmin...minimum value, P1...first fixing part, P2...second fixing part, T...jig

Claims

1. A pseudo-obstacle transporting device that travels with a pseudo-obstacle loaded on it, comprising: a traveling device having wheels; a housing that has a connection part for connecting the pseudo-obstacle and covers the traveling device; and a position fixing mechanism that is slidable relative to the traveling device and selectively fixes the position of the traveling device relative to the housing, wherein the traveling device has a first fixing part that is fixed with the position fixing mechanism engaged so that the wheels protrude downward from the bottom end of the housing, and a second fixing part that is fixed with the position fixing mechanism engaged so that the entire traveling device is positioned above the bottom end of the housing.

2. A pseudo obstacle transporting device according to claim 1, wherein the first fixing portion and the second fixing portion are recesses that engage with the position fixing mechanism, and the depth of the second fixing portion is shallower than the depth of the first fixing portion.

3. A pseudo obstacle transporting device as claimed in claim 1, wherein the amount of protrusion of the wheel downward from the lower end of the housing when the position fixing mechanism is fitted into the first fixed part is greater than the minimum distance between the centre of the first fixed part and the edge of the second fixed part, and is less than the maximum distance between the centre of the first fixed part and the edge of the second fixed part.

4. A pseudo obstacle transporting device according to claim 1, wherein the position fixing mechanism is a ball plunger, and the traveling device is fixed selectively to the first fixing part or the second fixing part by the spring force of the ball plunger.

5. The pseudo obstacle transporting device according to claim 4, wherein said ball plunger is provided with an adjustment mechanism for adjusting the spring force.

6. A pseudo obstacle transporting device according to claim 1, comprising a first support fixed to said housing, and said traveling device comprising a second support supporting said wheels and a drive mechanism for driving said wheels, said second support being rotatably connected to said first support.

7. A pseudo obstacle transporting device according to claim 6, wherein the first support and the second support have opposing surfaces that face each other in the extension direction of the rotation axis of the second support and are in surface contact with each other.

8. A pseudo obstacle transporting device as described in claim 7, wherein the second support is detachable by sliding up and down relative to the first support, and the pseudo obstacle transporting device is configured to be detachable together with the traveling device from the housing by detaching the second support from the first support.

9. A pseudo obstacle transporting device as described in claim 8, wherein the first support and the second support are connected by the rotating shaft, and the first support and the second support are configured to be disconnected when the rotating shaft is removed from the first support and the second support.

10. The pseudo obstacle transporting device according to claim 9, wherein the rotation axis of said second support is parallel to the rotation axis of said wheel.

11. A pseudo obstacle transporting device according to claim 1, wherein the housing has an access portion for allowing a jig to access the pseudo obstacle transporting device in order to return the traveling device from a state fixed by the second fixing portion to a state fixed by the first fixing portion.

12. The pseudo obstacle transporting device according to claim 11, wherein the jig is a screw, and the access portion is a tapped hole provided in the housing.

13. The pseudo obstacle transporting device according to claim 1, which is a three-wheeled vehicle.

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