Autonomous traveling vehicle device

Abstract

Provided is an autonomous traveling vehicle device capable of reducing the effort needed to repair a base frame in terms of the function or aesthetic appearance thereof. In the present invention, an autonomous traveling vehicle device 100 comprises a base frame 101 that is formed in a frame shape extending to the front, rear, left, and right of an autonomous traveling vehicle device 100 in plan view, and that supports a mounted object mounted on the autonomous traveling vehicle device 100 or a loaded object to be loaded on the device. The base frame 101 includes two vehicle-length-direction members 106a, 106b constituted of a metal frame member 103 extending in the vehicle length direction, and two vehicle-width-direction members 106c, 106d extending in the vehicle width direction and constituted of the frame member 103. The base frame 101 is formed in a rectangular shape in plan view. The base frame 101 is provided with resin-formed corner members 110 formed separately between the vehicle-length-direction members 106a, 106b and the vehicle-width-direction members 106c, 106d at the four corners.　FIG. 1

Description

Autonomous Vehicle Device

[0001] The present invention relates to an autonomous vehicle device that travels autonomously.

[0002] Conventionally, there have been autonomous vehicle devices that autonomously travel indoors, such as in a factory, or outdoors, such as on a farm, while avoiding detected objects, such as obstacles, that exist in the vehicle's direction of travel. For example, Patent Document 1 listed below discloses a vehicle platform that autonomously travels on farms, factories, or roads and includes a base chassis for carrying and supporting loads, such as luggage or various equipment. In this case, the base chassis is configured by assembling four metal rectangular members that extend in rod-like shapes in the vehicle width direction and in the vehicle length direction perpendicular to the vehicle width direction, so as to form a rectangle in a plan view.

[0003] JP 2019-38490 A

[0004] However, in the vehicle platform described in Patent Document 1, the corners of the base chassis, which serves as a base frame formed in a square shape when viewed from above, are easily damaged by contact with objects around the vehicle platform, resulting in the problem that a large burden is required to repair the functionality or aesthetics of the base chassis.

[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 burden required to repair the function or aesthetics of the base frame.

[0006] In order to achieve the above-mentioned object, the present invention is characterized in that it provides an autonomous vehicle device that travels autonomously on a road surface, and is equipped with a base frame that is formed in a frame shape extending in the front, rear, left and right directions of the autonomous vehicle device in a plan view, for supporting an object to be mounted on the autonomous vehicle device or a load to be carried on the autonomous vehicle device, and the base frame has at least two frame members that extend in different directions at adjacent positions and form at least a part of the outer edge of the base frame, and corner members that are formed separately from the two adjacent frame members and are positioned at the position where the extension lines of these two frame members intersect.

[0007] According to the features of the present invention configured in this manner, the autonomous vehicle device has a corner member configured separately from two adjacent frame members that extend in different directions from the frame members that make up the base frame, so that the function or aesthetics of the base frame can be restored with less work or economic burden than repairing the frame members. In this case, the corner member has a curved outer surface facing the outside of the autonomous vehicle device, which makes it less likely to come into contact with objects present around the autonomous vehicle device and, even if it does come into contact, makes it less likely to cause or receive damage to each other.

[0008] Another feature of the present invention is that in the autonomous vehicle device, the corner members are made of a material that is more susceptible to elastic or plastic deformation than the two adjacent frame members.

[0009] According to this, the corner members of the autonomous vehicle device are made of a material that is more susceptible to elastic or plastic deformation than the two adjacent frame members, making it less likely to damage objects that come into contact with the autonomous vehicle device. In this case, by making the frame members of the base frame out of a metal material and the corner members out of a resin material, the rigidity of the base frame can be easily ensured while restoring the function or aesthetics of the base frame with less labor or economic burden than repairing the frame members.

[0010] Another feature of the present invention is that in the autonomous vehicle device, the base frame has one connector that connects two adjacent frame members to each other via a corner member, and the corner member is attached to the connector.

[0011] According to this, the autonomous vehicle device has a base frame having one connector that connects two adjacent frame members together via a corner member, and the corner member is attached to the connector, so that the structure that directly connects the frame member and the corner member can be omitted, thereby improving the freedom of design of the frame member and the corner member.

[0012] Another feature of the present invention is that in the autonomous vehicle device, the corner members have hollow portions therein that function as crushable zones.

[0013] According to this, the autonomous vehicle device has a hollow portion inside the corner member that functions as a crushable zone, thereby reducing damage to the base frame when this corner member collides with an object located around the autonomous vehicle device.

[0014] Another feature of the present invention is that in the autonomous vehicle device, the corner member is partitioned to form a plurality of crushable zones.

[0015] According to this, the autonomous vehicle device has a plurality of crushable zones formed by dividing the inside of the corner member, so that the corner member can absorb impact more effectively while ensuring the rigidity of the corner member. In this case, it is preferable that a plurality of crushable zones are formed along at least one of the horizontal direction and the vertical direction of the autonomous vehicle device.

[0016] Another feature of the present invention is that in the autonomous vehicle device, the crushable zone is formed as an enclosed space.

[0017] According to this, in the autonomous vehicle device, the crushable zone is formed as an enclosed space, so that the rigidity of the corner members can be improved.

[0018] Another feature of the present invention is that, in the autonomous vehicle device, the corner member has a storage section consisting of a hollow portion for storing items inside the corner surface, which is the outer surface facing the outside of the autonomous vehicle device, and opens to the inner surface opposite the corner surface.

[0019] According to this, the autonomous vehicle device has a storage section consisting of a hollow portion for storing items, which is located inside the corner surface that forms the outer surface facing the outside of the autonomous vehicle device and opens onto the inner surface opposite the corner surface, allowing the corner member to function as a storage section for various items. In this case, the corner member is formed so that the storage section does not have an opening on the corner surface and does not communicate with the outside (outside the autonomous vehicle device), and by forming this corner surface from a material that is easy to cut, such as a resin or rubber material, it is possible to add an opening to the corner surface in the future and store various items (for example, a physical quantity detector) in the storage section.

[0020] Another feature of the present invention is that in the autonomous vehicle device, the storage section has an opening in the bottom that communicates with the outside.

[0021] According to this, the autonomous vehicle device has an opening at the bottom of the storage section that connects to the outside, making it possible to pass wiring for physical quantity detectors and the like through it, and to visually check the state inside the storage section from the outside.

[0022] Another feature of the present invention is that, in the autonomous vehicle device, the corner member accommodates a physical quantity detector within the accommodation portion for detecting physical quantities around the autonomous vehicle device.

[0023] According to this, since the corner member of the autonomous vehicle device houses a physical quantity detector within the housing portion for detecting physical quantities around the autonomous vehicle device, the inside of the corner member can be effectively utilized and physical quantities of a wide area around the autonomous vehicle device can be effectively obtained.

[0024] Another feature of the present invention is that in the autonomous vehicle device, the corner member has a hollow portion that functions as a crushable zone above or below the storage portion.

[0025] According to this, in the autonomous vehicle device, the corner member has a hollow portion that functions as a crushable zone above or below the storage section, thereby protecting items stored in the storage section.

[0026] 8 is a perspective view of the external configuration of an autonomous vehicle device according to the present invention, seen from an oblique direction between the forward / backward direction of the autonomous vehicle device and the vehicle width direction. FIG. 1 is a perspective view showing the external configuration of the autonomous vehicle device shown in FIG. 1, seen from the opposite side. FIG. 2 is a front view showing the external configuration of the autonomous vehicle device shown in FIG. 1. FIG. 3 is a plan view showing the external configuration of the autonomous vehicle device shown in FIG. 1. FIG. 4 is a side view showing the external configuration of the autonomous vehicle device shown in FIG. 1. FIG. 5 is a bottom view showing the external configuration of the autonomous vehicle device shown in FIG. 1. FIG. 6 is a block diagram of a control system for controlling the operation of the autonomous vehicle device shown in FIG. 1. FIG. 7 is a perspective view showing the connection structure of the vehicle length direction members, vehicle width direction members, and corner members that constitute the upper frame that constitutes the autonomous vehicle device shown in FIG. 1. FIG. 8 is a cross-sectional view showing the connection structure between the vehicle length direction members and vehicle width direction members and a coupler shown in FIG. 8. FIG. 9 is a cross-sectional view showing the connection structure between the corner member and a coupler shown in FIG. 8. FIG. 9 is a perspective view showing the external configuration of the corner member that constitutes the autonomous vehicle device shown in FIG. 8, from a first end face side. FIG. 10 is a perspective view showing the external configuration of the corner member that constitutes the autonomous vehicle device shown in FIG. 8, from a second end face side. 13 is a perspective view of a corner member, showing the positions of cutting lines 14 and 15, which are two-dot chain lines for cutting the corner member constituting the autonomous vehicle device shown in Fig. 8. FIG. 14 is a partially cutaway perspective view showing the internal configuration of the corner member, with the cutting surface taken along cutting line 14 shown in Fig. 13. FIG. 15 is a partially cutaway perspective view showing the internal configuration of the corner member, with the cutting surface taken along cutting line 15 shown in Fig. 13.

[0027] An embodiment of an autonomous vehicle device according to the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of the exterior configuration of an autonomous vehicle device 100 according to the 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 as seen from the opposite side. FIG. 3 is a front view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1. FIG. 4 is a plan view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1. FIG. 5 is a side view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1. FIG. 6 is a bottom view showing the exterior configuration of the autonomous vehicle device 100 shown in FIG. 1. FIG. 7 is a block diagram of a control system for controlling the operation of the autonomous vehicle device 100 shown in FIG. 1. Note that FIGS. 1 to 6 may be drawn to different scales to facilitate understanding of the configuration of the autonomous vehicle device 100.

[0028] (Configuration of Autonomous Vehicle Device 100) 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, information collection (including measurement), or information provision 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. Autonomous vehicle device 100 includes a base frame 101.

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

[0030] In this embodiment, the frame members 102 and 103 are formed by molding aluminum into rod-like shapes with 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. 8 , 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 rectangular shape. In other words, the frame member 103 is formed by stacking two frame members 102 in parallel.

[0031] The mounting groove 104 is a groove used for connecting the frame members 102, 103 or for attaching objects, and is formed with an opening 104a that opens along the longitudinal direction on each of the four side surfaces. As shown in Figure 8, this mounting groove 104 is formed so that its internal height is wider than the opening 104a, and is configured to hook a plate-shaped nut plate 105 with an internal thread in a freely insertable and removable manner. This base frame 101 is mainly composed of an upper frame 106 and a lower frame 121.

[0032] The upper frame 106 is formed in a frame shape by assembling the frame members 103 in a square shape in a plan view. More specifically, the upper frame 106 is configured by two vehicle lengthwise members 106a, 106b extending parallel to each other along the vehicle length direction of the autonomous vehicle device 100, and two vehicle widthwise members 106c, 106d extending in a vehicle width direction perpendicular to the vehicle length direction being spanned between the two vehicle lengthwise members 106a, 106b via connectors 107. In this case, the two vehicle lengthwise members 106a, 106b are formed longer than the vehicle widthwise members 106c, 106d, respectively, and both ends of the vehicle widthwise members 106c, 106d are connected to both ends of the two vehicle lengthwise members 106a, 106b, respectively, via connectors 107. In addition, a first distance measurement sensor 170 is attached to the vehicle widthwise members 106c, 106d.

[0033] The connector 107 is a component for connecting the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d to each other and for positioning the corner members 110 between these vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d, and is configured by bending a metal plate into an L-shape. As shown in Figures 9 and 10 , the connector 107 has eight through holes formed therein for inserting two bolts 107a into each of the mounting grooves 104 formed in two of the frame members 103 constituting each of the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d and threading the bolts 107a into the nut plates 105. That is, the connecting device 107 connects the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d that extend in directions that intersect with each other. The connecting device 107 also has two through holes through which two bolts 107b for threaded engagement with the corner members 110 pass.

[0034] The corner members 110 are arranged at positions between the vehicle lengthwise members 106a, 106b and the vehicle widthwise members 106c, 106d, which are perpendicular to each other, in other words, at positions where extension lines (not shown) of the vehicle lengthwise members 106a, 106b intersect with extension lines (not shown) of the vehicle widthwise members 106c, 106d, and constitute the four corners of the rectangular upper frame 106 in a plan view. The corner members 110 are formed as blocks separate from the vehicle lengthwise members 106a, 106b and the vehicle widthwise members 106c, 106d. In this case, the corner members 110 are made of a material that is more susceptible to elastic or plastic deformation than the vehicle lengthwise members 106a, 106b and the vehicle widthwise members 106c, 106d.

[0035] Specifically, the corner member 110 can be made of a resin material (e.g., ABS resin, PLA resin, or rubber-like resin), a rubber material, a metal material (e.g., aluminum), or wood. In this embodiment, the corner member 110 is made of ABS resin. As shown in FIGS. 11 to 15 , the corner member 110 includes a first abutment surface 111, a second abutment surface 112, a corner surface 113, a first end surface 114, a second end surface 115, a storage section 116, first crushable zones 117a to 117h, and second crushable zones 118a and 118b.

[0036] The first abutment surface 111 is a portion against which each end face of the frame material 103 constituting the vehicle length direction member 106a or the vehicle length direction member 106b abuts, and is formed as a flat surface having a shape (in this embodiment, a rectangular shape) corresponding to each end face of the vehicle length direction member 106a or the vehicle length direction member 106b. The first abutment surface 111 is formed with a frame fitting portion 111a and has an opening to the second crushable zone 118a.

[0037] The frame fitting portion 111a is a portion that fits into a hole that opens on each end face of the frame material 103 that constitutes the vehicle length direction member 106a or the vehicle length direction member 106b, and positions the corner member 110 relative to the frame material 103, and is composed of two protrusions that extend in a direction perpendicular to the first abutment surface 111.

[0038] The second abutment surface 112 is a portion against which the end faces of the frame members 103 constituting the vehicle width direction member 106c or the vehicle width direction member 106d abut, and is formed as a flat surface having a shape (in this embodiment, a rectangular shape) corresponding to the end faces of the vehicle width direction member 106c or the vehicle width direction member 106d. The second abutment surface 112 is formed with a frame fitting portion 112a and has an opening for the second crushable zone 118b.

[0039] The frame fitting portion 112a is a portion that fits into a hole that opens on each end face of the frame material 103 that constitutes the vehicle width direction material 106c or the vehicle width direction material 106d, and positions the corner member 110 relative to the frame material 103, and is composed of two protrusions that extend in a direction perpendicular to the second abutment surface 112.

[0040] The corner surfaces 113 are portions that constitute the four corners of the upper frame 106, and are formed between the first abutment surface 111 and the second abutment surface 112. In this embodiment, the corner surfaces 113 are formed as curved surfaces that are curved in a convex arc shape in the perpendicular direction between the first abutment surface 111 and the second abutment surface 112. The corner surfaces 113 are formed with corner openings 113a consisting of two through holes for exposing the second distance measuring sensor 171, which will be described later.

[0041] In this case, corner surface 113 is formed with a recessed portion where corner opening 113a opens, and second distance measurement sensor 171 is formed so as not to protrude from the surface of corner surface 113. In other words, corner surface 113 prevents objects present around autonomous vehicle device 100 from coming into contact with second distance measurement sensor 171 exposed from corner opening 113a. In this embodiment, corner opening 113a is formed in a position biased to one side (first end surface 114 side) of each long side direction (the vertical direction in the figure) of first abutting surface 111 and second abutting surface 112 on corner surface 113.

[0042] The first end surface 114 is composed of a plane extending in a direction perpendicular to the first abutment surface 111, the second abutment surface 112, and the corner surface 113 on one side (the lower side in the figure) of each long side direction (the up-down direction in the figure) of the first abutment surface 111 and the second abutment surface 112.

[0043] The second end surface 115 is composed of a plane extending in a direction perpendicular to the first abutment surface 111, the second abutment surface 112, and the corner surface 113 on one side (the upper side in the figure) of each long side direction (the up-down direction in the figure) of the first abutment surface 111 and the second abutment surface 112.

[0044] The accommodation section 116 is a portion that accommodates the second distance measurement sensor 171, and is formed by cutting out a recessed portion of the interior of the corner member 110 on the rear side of the corner surface 113, with a portion of the outer periphery on the rear side of the corner surface 113 remaining open. In this embodiment, the accommodation section 116 is configured at a position offset toward the first end surface 114 of the corner member 110, i.e., the lower half of the portion shown in the figure is hollow. Columnar support bosses 116a (three in this embodiment) are formed within the accommodation section 116 for attaching the second distance measurement sensor 171. Furthermore, a portion of the first end surface 114 that forms the bottom of the accommodation section 116 is cut out to form an opening 116b that communicates with the outside, allowing the wiring of the second distance measurement sensor 171 to be passed through or allowing the interior of the accommodation section 116 to be viewed from the outside.

[0045] The first crushable zones 117a to 117h are portions for attenuating the impact received by the corner member 110, and are formed as sealed cavities inside the corner member 110. In this embodiment, the first crushable zones 117a to 117h are formed as independent cavities at positions offset toward the second end face 115 inside the corner member 110, that is, in the upper half of the corner member 110 as shown in the figure.

[0046] Specifically, the first crushable zone 117a is formed as a fan-shaped (quarter-circular) space in plan view between the back surface of the corner surface 113 and the back surface of the second end surface 115 inside the corner member 110. The first crushable zones 117b and 117c are formed as spaces along the corner surface 113 at positions adjacent to each other on opposite sides of the first crushable zone 117a. These first crushable zones 117b and 117c are formed to have the same volume as each other but a smaller volume than the volume of the first crushable zone 117a.

[0047] The first crushable zone 117d is formed as a square space in a plan view at a position adjacent to the first crushable zone 117a and the first crushable zone 117b. The first crushable zone 117e is formed as a square space in a plan view at a position adjacent to the first crushable zone 117a and the first crushable zone 117c. These first crushable zones 117d and 117e are formed with the same volume, smaller than the volume of the first crushable zone 117a, and larger than the volumes of the first crushable zones 117b and 117c.

[0048] The first crushable zone 117f is formed as a space that extends toward the first end face 114 with the same cross-sectional shape as the first crushable zone 117a, located on the first end face 114 side of the first crushable zone 117a. This first crushable zone 117f is formed with a larger volume than the first crushable zone 117a. The first crushable zones 117g and 117h are formed as spaces that extend toward the first end face 114 with the same cross-sectional shape as the first crushable zones 117b and 117c, located on the first end face 114 side of the first crushable zones 117b and 117c. These first crushable zones 117g and 117h are formed with a larger volume than the respective volumes of the first crushable zones 117b and 117c. That is, the first crushable zones 117a to 117h are configured to include spaces of the same or different volumes.

[0049] The second crushable zones 118a, 118b are portions that cooperate with the vehicle length direction members 106a, 106b or the vehicle width direction members 106c, 106d to attenuate the impact that the corner member 110 receives, and are formed as concave openings on each end face of the first abutment surface 111 or the second abutment surface 112. In this embodiment, the second crushable zones 118a, 118b are formed as rectangular depressions when viewed from each end face side of the first abutment surface 111 or the second abutment surface 112.

[0050] Two bolts 107b passing through the connector 107 are threadedly fitted into through holes formed in two inner surfaces 119a, 119b that are perpendicular to each other on the opposite side of the corner surface 113, and these corner members 110 are disposed between the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d to form the upper frame 106. As a result, the upper frame 106 is formed in a rectangular shape whose longitudinal direction is the vehicle length direction of the autonomous vehicle device 100 in a plan view. A loading platform base 120 is provided on the upper surfaces of the vehicle length direction members 106a, 106b, the vehicle width direction members 106c, 106d, and the four corner members 110.

[0051] Platform base 120 is a component for placing luggage or various on-board equipment carried by autonomous vehicle device 100 on upper frame 106, and is configured as a resin, metal, or wooden plate. The back side of platform base 120 is attached to vehicle length direction members 106a, 106b and vehicle width direction members 106c, 106d. Fences 150a, 150b, 150c, and 150d and second operating elements 182a, 182b, 182c, and 182d are attached to upper frame 106 via mounting grooves 104.

[0052] The lower frame 121 is formed by assembling the above-mentioned metal frame members 102 and 103 in a state in which they hang down from the center of the vehicle length direction of the upper frame 106. More specifically, the lower frame 121 is formed by including four hanging direction members 121a, 121b, 121c, and 121d, two vehicle length direction members 121e and 121f, and one vehicle width direction member 121g.

[0053] The hanging direction members 121a, 121b, 121c, and 121d are formed of frame members 102 and are attached via brackets to vehicle lengthwise members 106a and 106b that constitute the upper frame 106, two of which hang down vertically. The vehicle lengthwise members 121e and 121f are formed of frame members 102 and are attached in a spanning state between the lower ends of the hanging direction members 121a and 121b and between the lower ends of the hanging direction members 121c and 121d. The vehicle widthwise member 121g is formed of frame member 103 and is attached in a spanning state between the vehicle lengthwise members 121e and 121f via brackets at the vehicle lengthwise center positions of the vehicle lengthwise members 121e and 121f.

[0054] As a result, the lower frame 121 forms a rectangular parallelepiped storage space SP extending in the vehicle width direction above the transverse members 121g. The storage space SP accommodates the control device 180 and the battery 183. In addition, a suspension mechanism 130 is provided on the underside of the lower frame 121.

[0055] The suspension mechanism 130 is a mechanical device for elastically supporting the wheels 140a to 140d relative to the base frame 101, and is mainly composed of a suspension plate 131, a first axle 135, a second axle 136, an oil damper 137, and a coil spring 138.

[0056] The suspension plate 131 is a component that connects the base frame 101 to the first axle 135 and the second axle 136 while attenuating the impacts and vibrations transmitted from the wheels 140a, 140b, 140c, and 140d, and is made of a flexible fiber-reinforced resin (e.g., glass fiber-reinforced resin, carbon fiber-reinforced resin, etc.) or metal material (e.g., spring steel) formed into a plate shape. The suspension plate 131 is formed in a strip shape long enough to span between the first axle 135 and the second axle 136, and is attached to the center of the vehicle width direction on the underside of the first axle 135, the vehicle width direction member 121g, and the second axle 136 via a center mounting plate 132 and front and rear mounting plates 133 and 134, respectively.

[0057] The central mounting plate 132 and the front and rear mounting plates 133, 134 are components for pressing and connecting the suspension plate 131 to the vehicle width direction member 121g, the first axle 135, and the second axle 136, respectively, and are configured by forming a metal material (for example, stainless steel) into a plate shape. The central mounting plate 132 and the front and rear mounting plates 133, 134 are each formed with through holes through which bolts 132a, 133a, 134a pass. The bolts 132a, 133a, 134a threadably fit into the nut plates 105 arranged in the mounting grooves 104 of the vehicle width direction member 121g, the first axle 135, and the second axle 136.

[0058] Furthermore, protective portions 132b, 133b, and 134b are formed on central mounting plate 132 and front and rear mounting plates 133, 134, respectively, which bend and extend outward in the vehicle length direction after hanging down at both ends of autonomous vehicle device 100. These protective portions 132b, 133b, and 134b protect bolts 132a, 133a, and 134a from obstacles or steps on the road on which autonomous vehicle device 100 is traveling, and are portions which improve the rigidity of central mounting plate 132 and front and rear mounting plates 133, 134.

[0059] The first axle 135 is a component that holds two wheels 140a, 140b and supports the base frame 101 together with the second axle 136, and is formed of a rod-shaped body that extends in the vehicle width direction of the base frame 101. More specifically, the first axle 135 is formed of the same aluminum frame material 102 as the base frame 101. The first axle 135 is disposed below one of both ends of the base frame 101 in the vehicle length direction. The wheels 140a, 140b are attached to both ends of the first axle 135 via steering mechanisms 142a, and oil dampers 137 are attached near both ends.

[0060] The second axle 136 is a component that holds two wheels 140c, 140d and supports the base frame 101 together with the first axle 135, and is configured as a rod-shaped body extending in the vehicle width direction of the base frame 101. More specifically, the second axle 136 is configured from the same aluminum frame material 102 as the base frame 101. The second axle 136 is disposed below the other of the two ends of the base frame 101 in the vehicle length direction. The wheels 140c, 140d are attached to both ends of the second axle 136 via steering mechanisms 142b, and oil dampers 137 are attached near each end. That is, the second axle 136 is disposed parallel to the first axle 135.

[0061] The four oil dampers 137 are components that mainly absorb and attenuate impacts applied to the upper frame 106 of the base frame 101. One end of each of these oil dampers 137 is connected to the first axle 135 and the second axle 136, and the other end is connected to the transverse members 106c and 106d of the upper frame 106, respectively.

[0062] The four coil springs 138 are made of spring steel and serve to support the base frame 101 while damping vibrations or shocks that the wheels 140a, 140b, 140c, and 140d receive. The oil damper 137 and the coil springs 138 are disposed between an upper plate 143 (described later) and the upper frame 106.

[0063] That is, the first axle 135 and the second axle 136 elastically support the base frame 101 via the oil damper 137 and the coil spring 138, respectively. Note that the oil damper 137 and the coil spring 138 are components that assist the suspension plate 131, and therefore may be omitted.

[0064] The wheels 140a, 140b, 140c, and 140d 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 rubber tires attached to the outside of metal wheels. Wheel drive motors 141a, 141b, 141c, and 141d are provided on the wheels 140a, 140b, 140c, and 140d, respectively.

[0065] The wheel drive motors 141a, 141b, 141c, and 141d are prime movers for driving and rotating the wheels 140a, 140b, 140c, and 140d, respectively, and their operation is controlled by a control device 180, which will be described later. These four wheel drive motors 141a, 141b, 141c, and 141d are so-called in-wheel motors provided inside the wheels (hubs) of the wheels 140a, 140b, 140c, and 140d. Note that the wheel drive motors 141a, 141b, 141c, and 141d do not necessarily have to be in-wheel motors, and may be provided outside the wheels 140a, 140b, 140c, and 140d. Furthermore, the wheel drive motors 141a, 141b, 141c, and 141d may be configured as a single prime mover that commonly drives the wheels 140a, 140b, 140c, and 140d.

[0066] The steering mechanisms 142a and 142b are mechanical devices that change the orientation of the two wheels 140a and 140b or the wheels 140c and 140d, respectively, in order to change the direction of travel of the base frame 101. Since the steering mechanisms 142a and 142b have the same configuration, only the steering mechanism 142a will be described.

[0067] The steering mechanism 142 a is mainly composed of an upper plate 143 , a lower plate 144 , a rotating shaft 145 , a link bar 146 , and a steering drive motor 147 .

[0068] The upper plate 143 is a component that, together with the lower plate 144, holds the rotating shaft 145 in a freely rotatable state, and is configured as a metal (e.g., steel) plate. The upper plate 143 is bolted to the first axle 135 (or the second axle 136) in a state that it protrudes in the longitudinal direction from the upper surface of the end of the first axle 135 (or the second axle 136) in order to rotatably hold the upper portion of the rotating shaft 145.

[0069] The lower plate 144 is a component for rotatably holding the rotating shaft 145 together with the upper plate 143, and is configured as a metal (e.g., steel) plate. The lower plate 144 is bolted to the first axle 135 (or the second axle 136) in a state where it protrudes in the longitudinal direction from the underside of the end of the first axle 135 (or the second axle 136) in order to rotatably hold the lower portion of the rotating shaft 145.

[0070] The pivot shaft 145 is a component for changing the orientation of the wheel 140a (or wheels 140b to 140d), and is configured by forming a metal material (e.g., steel) into a columnar shape. More specifically, the pivot shaft 145 has a columnar portion extending in the vertical direction, to which the central axis of the wheel 140a (or wheels 140b to 140d) is connected. The pivot shaft 145 has both ends of the columnar portion extending in the vertical direction that are sandwiched and held between the upper plate 143 and the lower plate 144 in a freely rotatable state. An arm extends from the columnar portion extending in the vertical direction of the pivot shaft 145 in the horizontal direction perpendicular to the columnar portion, and a link bar 146 is connected to the arm.

[0071] The link bar 146 is a component for transmitting a force for rotating the rotary shaft 145, and is made of a metal material (e.g., steel) formed into a rod shape. In this embodiment, the link bar 146 is made of a pipe material. One end of the link bar 146 is connected to the rotary shaft 145, and the other end is connected to the steering drive motor 147.

[0072] The steering drive motor 147 is a prime mover that generates a driving force for changing the orientation of the wheels 140a and 140b (or the wheels 140c and 140d), and its operation is controlled by the control device 180. The steering drive motor 147 is supported by the first axle 135 (or the second axle 136) and is connected to the link bar 146 via a mechanical element that converts rotational motion into horizontal reciprocating linear motion.

[0073] Fences 150a, 150b, 150c, and 150d are devices for preventing items placed on platform base 120 from falling off and for supporting parts or equipment depending on the intended use of autonomous vehicle device 100. Specifically, fences 150a to 150d are formed in a barricade shape as a whole by connecting legs 152 made of four or two frame members 102 in a hanging state to frame-shaped body 151 formed by assembling frame members 102 in a rectangular shape extending along each of the four sides of platform base 120. In this case, the four or two legs 152 provided on one frame-shaped body 151 are provided at intervals corresponding to the width of display devices 160a and 160b.

[0074] These fences 150a, 150b, 150c, and 150d have the legs 152 connected via brackets to the mounting grooves 104 of the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d that make up the upper frame 106. As a result, the fences 150a, 150b, 150c, and 150d are arranged with the frame-shaped bodies standing upright around (on all four sides of) the loading platform base 120. Of these fences 150a, 150b, 150c, and 150d, display devices 160a and 160b are attached to the fences 150c and 150d, respectively.

[0075] Display devices 160a and 160b are devices for displaying information relating to the state of autonomous vehicle device 100 or information to be provided to the surroundings of autonomous vehicle device 100, and are configured as liquid crystal display devices whose operation is controlled by control device 180. In this embodiment, display devices 160a and 160b are formed in the shape of a horizontally elongated rectangular parallelepiped extending horizontally when viewed from the front.

[0076] Here, the information relating to the status of autonomous vehicle device 100 displayed by display devices 160a, 160b includes information on the start, stop or standby state, running or stopped state, direction of travel, remaining battery charge, travel speed, fault status, and maintenance of autonomous vehicle device 100. Furthermore, the information provided to the area around autonomous vehicle device 100 includes information on alerts or advertising for people around autonomous vehicle device 100. These display devices 160a, 160b are configured to be detachable from at least two positions on autonomous vehicle device 100. Furthermore, display devices 160a, 160b can display only white color and have a simple lighting function.

[0077] Specifically, the display devices 160a, 160b can be attached to the upper frame 106 or the fences 150a-150d via display device-side attachments 161. In this case, the display devices 160a, 160b are connected to the control device 180 by wire (not shown), but of course they can also be connected wirelessly. Furthermore, the wiring electrically connecting the display devices 160a, 160b to the control device 180 is formed to a length that allows the display devices 160a, 160b to be attached at multiple attachment positions. Furthermore, if the display devices 160a, 160b do not use the battery 183 (described later) as their power source, they can be configured with a built-in primary or secondary battery.

[0078] As shown in FIG. 8 , the display device-side mounting fixture 161 is a component for detachably mounting the display device 160a to the frame members 102 and 103. Specifically, the display device-side mounting fixture 161 is primarily composed of a bolt 161a and a nut plate 105. The bolt 161a is a mechanical element having a male thread that penetrates the housings of the display devices 160a and 160b and is threadedly engaged with the female thread of the nut plate 105. The bolt 161a is disposed by passing through through holes (not shown) formed on both longitudinal end sides of the display devices 160a and 160b. That is, the display devices 160a and 160b are mounted to the mounting grooves 104 of the frame members 102 and 103 that respectively constitute the upper frame 106 or the fences 150a to 150d by the display device-side mounting fixture 161. In this embodiment, the display devices 160a and 160b are mounted to the fences 150c and 150b, respectively.

[0079] The first ranging sensor 170 is a detector for detecting potential obstacles, such as people or objects, present in the direction of travel or around the autonomous vehicle device 100. Specifically, the first ranging sensor 170 is configured with a light source, a light-receiving element, and a rotating mirror, and its operation is controlled by the control device 180. That is, the first ranging sensor 170 is configured as a so-called "2DLiDAR" that detects the distance, direction, or nature of a detected object present within a 360° area around the first ranging sensor 170 in a two-dimensional plane centered on the first ranging sensor 170 based on the return time and wavelength of laser light. This "2DLiDAR" is well known, so further explanation is omitted. The first ranging sensor 170 is attached via bolts to the underside of the platform base 120 in the center of the vehicle width direction near both ends of the vehicle length direction. The first distance measuring sensor 170 is attached via a bracket (not shown) attached to the center of the vehicle width direction of the vehicle width direction members 106c and 106d.

[0080] Second distance measurement sensor 171 is a detector for detecting a detection target, such as a person or an object, that may be an obstacle around autonomous vehicle device 100. Specifically, second distance measurement sensor 171 is configured with an ultrasonic transmitter and an ultrasonic receiver, and its operation is controlled by control device 180. That is, second distance measurement sensor 171 is configured with an ultrasonic sensor that detects the distance to a detection target based on the return time of a reflected wave that is emitted radially toward the side opposite second distance measurement sensor 171. This second distance measurement sensor 171 is housed in housing 116 while exposed to corner surface 113 of corner member 110. In this case, second distance measurement sensor 171 is housed in housing 116 while exposed to corner surface 113 of corner member 110.

[0081] Control device 180 is configured with 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 180 controls the operation of wheel drive motors 141a to 141d and steering drive motor 147 based on instructions from first operator 181 or second operators 182a, 182b, 182c, 182d 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.

[0082] In this case, the control device 180 performs not only manual driving control, which controls the operation of the wheel drive motors 141a to 141d and the steering drive motor 147 based on direct instructions from the operator via the first operator 181 or the second operators 182a, 182b, 182c, and 182d, but also automatic driving control (e.g., SLAM (Simultaneous Localization and Mapping)), in which the control device 180 itself determines and controls driving in accordance with an autonomous driving control program pre-stored in a storage device such as a ROM. In these cases, the control device 180 can perform each driving control based on detection signals from the first distance measurement sensor 170 and the second distance measurement sensor 171. The control device 180 is attached to a mounting groove 104 exposed on the inner surface of the upper frame 106 within the accommodation space SP via bolts (not shown).

[0083] First operator 181 is an input device for inputting instructions from the operator operating autonomous vehicle device 100 to control device 180, and is configured with a joystick, toggle switch, push button, dial, etc. that are manually operated by the operator. First operator 181 is provided as an independent remote control box that is physically separated from autonomous vehicle device 100. In this case, first operator 181 is connected wirelessly to control device 180, but it goes without saying that it may also be connected by wire.

[0084] Similar to first operator 181, second operators 182a, 182b, 182c, and 182d are input devices for inputting instructions from the operator operating autonomous vehicle device 100 to control device 180, and are configured to include a joystick, toggle switch, push button, dial, etc. that are manually operated by the operator. In the present embodiment, second operators 182a, 182b, and 182c are configured to include push buttons with the minimum necessary functions, such as an emergency stop button, and second operator 182d is configured to include a joystick and push button that can control the direction of travel of autonomous vehicle device 100.

[0085] These second operators 182a, 182b, 182c are detachably attached to vehicle lengthwise members 106a, 106b constituting upper frame 106 of autonomous vehicle device 100 using the same attachment structure as display devices 160a, 160b, i.e., bolts and nut plates 105, in attachment grooves 104. In this case, second operators 182a, 182b, 182c are connected to control device 180 by wire (not shown), but of course they may also be connected wirelessly.

[0086] Additionally, the second operating element 182d is held by the vehicle length direction member 106b by attaching a holder that detachably holds the second operating element 182d to an attachment groove 104 in the vehicle length direction member 106b that constitutes the upper frame 106. In this case, the second operating element 182d is connected to the control device 180 by a long wire (only a portion of which is shown) so that the second operating element 182d can be removed from the holder attached to the upper frame 106 and pulled out relative to the upper frame 106, but it goes without saying that the second operating element 182d may be connected wirelessly.

[0087] Battery 183 is a power supply device for supplying power to various electrical devices provided in autonomous vehicle device 100, such as wheel drive motors 141a to 141d, steering drive motor 147, display devices 160a and 160b, first distance measurement sensor 170, second distance measurement sensor 171, control device 180, and second operators 182a to 182d. Battery 183 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.

[0088] In this embodiment, the battery 183 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, not shown). The battery 183 is connected to each device that requires power via a converter (not shown). The battery 183 is attached to a mounting groove 104 exposed on the upper surface of the transverse member 121g within the storage space SP by means of a bracket (not shown) and a bolt (not shown). The battery 183 is connected to a power supply unit that controls the input and output of power to and from the battery 183, as well as electric wires that transmit electricity, but these are not directly related to the present invention and will not be described here.

[0089] (Operation of Autonomous Vehicle Device 100) Next, a description will be given of the operation of the 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, information collection (including measurement), or information provision in commercial facilities, public facilities, parking lots, forests, farms, factories, construction sites, etc.

[0090] First, the operator operates first operator 181 to instruct control device 180 to start driving autonomous vehicle device 100. In this case, the operator can drive autonomous vehicle device 100 by directly operating first operator 181, and can also input a driving route or destination of autonomous vehicle device 100 to control device 180 via first operator 181 in advance to cause autonomous driving.

[0091] In response to this instruction, control device 180 controls the operation of wheel drive motors 141a-141d and steering drive motor 147 to start traveling of autonomous vehicle device 100. In this case, control device 180 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 170 and second distance measurement sensor 171. Control device 180 also travels autonomous vehicle device 100 while displaying preset content on display devices 160a, 160b according to the travel state (states such as starting, traveling, stopping, accelerating / decelerating, turning, or when an abnormality occurs).

[0092] During the travel of autonomous vehicle device 100, corner member 110 of autonomous vehicle device 100 may unavoidably come into contact with or collide with an object or person present around autonomous vehicle device 100. In this case, corner member 110 is made of a resin material that is more susceptible to elastic or plastic deformation than frame members 103 that respectively constitute two adjacent vehicle lengthwise members 106a, 106b and vehicle widthwise members 106c, 106d. Therefore, the elastic or plastic deformation of corner member 110 can reduce the impact on the object or person that it comes into contact with or collides with. In this case, corner member 110 includes first crushable zones 117a-117h or second crushable zones 118a, 118b, and therefore can more effectively absorb the impact of the collision.

[0093] Furthermore, if corner member 110 is damaged, the operator (or a maintenance technician for autonomous vehicle device 100) can replace the damaged corner member 110 with a new corner member 110. Specifically, after removing bed base 120 from upper frame 106, the operator can remove corner member 110 from coupler 107, vehicle length direction members 106a, 106b, and vehicle width direction members 106c, 106d by removing bolts 107b used to attach corner member 110 to coupler 107. The operator then attaches newly prepared corner member 110 by positioning it between vehicle length direction members 106a, 106b and vehicle width direction members 106c, 106d via coupler 107.

[0094] As can be understood from the above description of the operating method, according to the above embodiment, the autonomous vehicle device 100 has corner members 110 formed separately from the frame members 103 (vehicle lengthwise members 106a, 106b and vehicle widthwise members 106c, 106d) that make up the base frame 101, between two adjacent frame members 103 that extend in different directions (between the vehicle lengthwise members 106a, 106b and the vehicle widthwise members 106c, 106d).Therefore, the function or appearance of the base frame 101 can be restored with less labor or economic burden than repairing the frame members 103.

[0095] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the scope of the present invention. In the modifications described below, the same components as those in the above-described embodiments are designated by the same reference numerals, and their description will be omitted.

[0096] For example, in the above embodiment, the corner members 110 are provided at each of the four corners of the upper frame 106. However, it is sufficient that the corner members 110 are provided between two adjacent frame members 103 (between the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d) that extend in different directions among the frame members 103 (the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d) that make up the base frame 101. Therefore, the corner member 110 can be provided at least at one of the four corners of the upper frame 106.

[0097] In the above embodiment, the upper frame 106 including the corner members 110 is formed to have a rectangular shape in a plan view. However, the upper frame 106 may have a shape other than a rectangle as long as it has corners, for example, a rectangle such as a square, parallelogram, or trapezoid, a polygon such as a triangle or hexagon, or an irregular shape.

[0098] Furthermore, in the above embodiment, corner member 110 is provided on upper frame 106 of base frame 101. However, corner member 110 may be provided on base frame 101 that is formed in a frame shape extending in the front-rear and left-right directions of autonomous vehicle device 100 in a plan view and that supports an object to be mounted on autonomous vehicle device 100 or a load to be carried on autonomous vehicle device 100. Therefore, corner member 110 can be provided at a corner of lower frame 121, for example, between hanging direction members 121a to 121d and vehicle length direction members 121e and 121f.

[0099] In the above embodiment, the corner members 110 are made of a resin material that is more susceptible to elastic or plastic deformation than the metal frame members 102, 103. However, the corner members 110 may be made of the same material as the frame members 102, 103.

[0100] In the above embodiment, the corner members 110 are attached to the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d, respectively, via the connectors 107. However, the corner members 110 may be attached directly to the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d, respectively, instead of or in addition to the connectors 107. In this case, the corner members 110 can be connected to the vehicle length direction members 106a, 106b and the vehicle width direction members 106c, 106d by means of fitting or bolts, for example.

[0101] In the above embodiment, the corner member 110 is configured such that the corner surface 113 is formed into a curved surface having a circular arc cross section. However, the corner member 110 may be configured such that the corner surface 113 is formed into a cross section having a shape other than a curved surface having a circular arc cross section, for example, a spherical curved surface, a right-angled shape, or a chamfered cross section.

[0102] Furthermore, in the above embodiment, corner member 110 has first crushable zones 117a to 117h and second crushable zones 118a, 118b each formed as a hollow portion on the inside (i.e., inside corner member 110) of corner surface 113, which is the outer surface facing the outside of autonomous vehicle device 100. However, corner member 110 may also be configured as a solid body by omitting first crushable zones 117a to 117h and second crushable zones 118a, 118b.

[0103] In the above embodiment, the first crushable zones 117a to 117h are configured to include spaces of the same or different volumes. However, the first crushable zones 117a to 117h may be configured to include only spaces of the same or different volumes. In this way, the corner member 110 can improve its rigidity by dividing the interior into crushable zones.

[0104] In this case, the first crushable zones 117a-117h are surrounded by walls (including those with holes) on all four horizontal sides and all six vertical sides, thereby further improving the rigidity of the corner member 110. It goes without saying that the first crushable zones 117a-117h can be formed in a state where they are in communication with adjacent crushable zones or with the outside of the corner member 110, rather than as sealed spaces. The corner member 110 can be further improved in rigidity by forming multiple crushable zones in layers, stacked from the outer surface (corner surface 113, first end surface 114, second end surface 115) of the corner member 110 exposed to the surroundings toward the inside (i.e., along the horizontal and / or vertical directions), as in the above embodiment.

[0105] In the above embodiment, the corner member 110 is configured to have the storage section 116 to hold the second distance measuring sensor 171. However, the corner member 110 may be configured without the storage section 116 if there is no need to store an item such as a sensor inside. The storage section 116 may also be used as a space to store various items other than sensors.

[0106] Furthermore, in the above embodiment, the corner member 110 forms the first crushable zones 117a to 117h and the second crushable zones 118a and 118b above the storage section 116. This allows the corner member 110 to protect the second distance measuring sensor 171 housed in the storage section 116. However, the corner member 110 can also form the first crushable zones 117a to 117h and the second crushable zones 118a and 118b below the storage section 116 instead of or in addition to the above the storage section 116.

[0107] Furthermore, corner member 110 is formed so that corner surface 113 does not have corner opening 113a and storage section 116 does not communicate with the outside (outside autonomous vehicle device 100), and corner surface 113 is made of a material that is easy to cut, such as a resin or rubber material, so that corner opening 113a can be added to corner surface 113 in the future to store second distance measuring sensor 171 or various other items in storage section 116. Corner member 110 can also be configured without opening 116b.

[0108] Furthermore, in the above embodiment, the corner member 110 holds the second ranging sensor 171 consisting of an ultrasonic sensor, but the sensor held by the corner member 110 can be various physical quantity detection sensors that detect physical quantities around the autonomous vehicle device 100 (e.g., temperature, humidity, pressure, vibration, magnetism, light, or electric field, etc.), as well as items other than sensors (e.g., poles, etc.) themselves or supports such as bolts or nuts for holding these items.

[0109] In the above embodiment, the corner member 110 is configured to include the convex frame fitting portions 111 a, 112 a that fit onto the end faces of the vehicle length direction members 106 a, 106 b and the vehicle width direction members 106 c, 106 d, respectively. However, the corner member 110 may be configured without the frame fitting portions 111 a, 112 a.

[0110] In the above embodiment, the base frame 101 is configured with frame members 102 and 103 having mounting grooves 104. However, the base frame 101 may be configured with any member capable of supporting a load to be mounted on or carried by the autonomous vehicle device 100. Therefore, the base frame 101 may also be configured with bar-shaped, solid bar-shaped, or tubular frame members 102 and 103 that do not have mounting grooves 104. The base frame 101 may also be configured without the loading platform base 120 or the lower frame 121. The base frame 101 may also be configured without the fences 150a to 150d.

[0111] In the above embodiment, 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.

[0112] SP...storage space, 100...autonomous vehicle device, 101...base frame, 102, 103...frame material, 104...mounting groove, 104a...opening, 105...nut plate, 106...upper frame, 106a, 106b...vehicle length direction material, 106c, 106d...vehicle width direction material, 107...connector, 107a, 107b...bolt, 110...corner member, 111...first abutment surface, 111a...frame fitting portion, 112...second abutment surface, 112a...frame fitting portion, 113...corner surface, 113a...corner opening, 114...first end surface, 115...second end surface, 116...accommodation portion, 116a...support boss, 116b...opening, 117a to 117h...first crushable zone, 118a, 118b...second crushable zone, 119a, 119b...inner surface, 120...loading platform base, 121...lower frame, 121a, 121b, 121c, 121d...hanging direction member, 121e, 121f...vehicle length direction member, 121g...vehicle width direction member, 130...Suspension mechanism, 131...Suspension plate, 132...Central mounting plate, 132a...Bolt, 132b...Protective part, 133, 134...Front and rear mounting plates, 133a, 134a...Bolt, 133b, 134b...Protective part, 135...First axle, 136...Second axle, 137...Oil damper, 138...Coil spring, 140a, 140b, 140c, 140d...Wheels, 141a, 141b, 141c, 141d...Wheel drive motor, 142a, 142b...Steering mechanism, 143...Upper plate, 144...Lower plate, 145...Pivoting shaft, 146...Link bar, 147...Steering drive motor, 150a, 150b, 150c, 150d...Fence, 151...Frame-shaped body, 152...Leg body, 160a, 160b...display device, 161...display device side mounting fixture, 161a...bolt, 170...first distance measuring sensor, 171...second distance measuring sensor, 180...control device, 181...first operator, 182a, 182b, 182c, 182d...second operator, 183...battery.

Claims

1. An autonomous vehicle device that drives autonomously on a road surface, comprising a base frame formed in a frame shape extending in all directions of the autonomous vehicle device in a plan view, for supporting an object to be mounted on the autonomous vehicle device or a load to be carried on the autonomous vehicle device, wherein the base frame has at least two frame members that extend in different directions at adjacent positions and form at least a part of the outer edge of the base frame, and corner members that are formed separately from the two adjacent frame members and are located at positions where the extension lines of these two frame members intersect.

2. An autonomous vehicle device according to claim 1, wherein the corner members are made of a material that is more susceptible to elastic or plastic deformation than the two adjacent frame members.

3. An autonomous vehicle device according to claim 1, wherein the base frame has one connector that connects two adjacent frame members to each other via the corner members, and the corner members are attached to the connector.

4. An autonomous vehicle device according to claim 1, wherein the corner member has a hollow portion therein that functions as a crushable zone.

5. An autonomous vehicle device according to claim 4, wherein the corner member is partitioned to form a plurality of crushable zones.

6. An autonomous vehicle device according to claim 4, wherein the crushable zone is formed as an enclosed space.

7. An autonomous vehicle device as described in claim 1, wherein the corner member has a storage section consisting of a hollow section for storing items inside the corner surface, which is the outer surface facing outward of the autonomous vehicle device, and which opens to the inner surface on the opposite side from the corner surface.

8. An autonomous vehicle device according to claim 7, wherein the storage section has an opening at the bottom that communicates with the outside.

9. An autonomous vehicle device according to claim 7, wherein the corner member accommodates a physical quantity detector in the accommodation portion for detecting physical quantities around the autonomous vehicle device.

10. An autonomous vehicle device according to claim 7, wherein the corner member has a hollow portion that functions as a crushable zone above or below the storage portion.

Images