JP2013054544A - Automatic follow-up type self-traveling carriage - Google Patents

Automatic follow-up type self-traveling carriage Download PDF

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JP2013054544A
JP2013054544A JP2011192399A JP2011192399A JP2013054544A JP 2013054544 A JP2013054544 A JP 2013054544A JP 2011192399 A JP2011192399 A JP 2011192399A JP 2011192399 A JP2011192399 A JP 2011192399A JP 2013054544 A JP2013054544 A JP 2013054544A
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self
carriage
differential
automatic tracking
caster
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Minoru Hasebe
実 長谷部
Takahiro Nagai
貴寛 永井
Yuichi Nagase
裕一 長瀬
Toshiaki Isomura
俊章 磯村
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Mitsuba Corp
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Mitsuba Corp
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Abstract

PROBLEM TO BE SOLVED: To provide an automatic follow-up type self-traveling carriage having an automatic follow-up function in a self-traveling carriage equipped with a differential type caster.SOLUTION: An automatic follow-up type self-traveling carriage 1 includes differential type casters (31, 32, 33) and an automatic follow-up device. The differential type caster (for example, 31) is equipped with first and second driving wheels (30e, 30f) to be driven to rotate independently from each other, and configured to freely vary their driving directions with respect to a carriage body 2. Then, the automatic follow-up device includes: detection means (11, 12) for detecting information relating to the distance and angle of the carrier 1 with respect to an object P to be followed-up; and a control device 20 for determining a direction in which the carrier 1 should travel and the traveling or stop of the carrier 1 on the basis of information detected by the detection means (11, 12), and for supplying control currents to the differential type casters (31, 32, 33) on the basis of the determined information.

Description

この発明は、自動追尾式自走台車に関し、特に、差動式キャスタを備えた自動追尾式自走台車に関する。   The present invention relates to an automatic tracking self-propelled carriage, and more particularly to an automatic tracking self-propelled carriage provided with a differential caster.

電動モータにより車輪が駆動する駆動手段を備えた自走台車において、駆動手段として差動式キャスタを備えた自走台車が提案されている（特許文献１から特許文献１４までを参照）。   In a self-propelled carriage provided with a driving means whose wheels are driven by an electric motor, a self-propelled carriage provided with a differential caster as a driving means has been proposed (see Patent Document 1 to Patent Document 14).

上記の差動式キャスタは、台車本体に回転自在に取り付けられており、電動モータにより互いに独立して回転駆動する第１および第２の駆動輪を有する。そして、差動式キャスタは台車本体に対して駆動方向を自在に可変することができるという特徴を有する。   The differential caster is rotatably attached to the carriage body, and has first and second drive wheels that are driven to rotate independently from each other by an electric motor. The differential caster has a feature that the driving direction can be freely changed with respect to the carriage main body.

このような特徴を有する差動式キャスタを備えた自走台車は、その場で回転することができ、目標地点に向けてその場で走行方向を可変することができる利点を有する。この利点により、差動式キャスタを備えた自走台車は、旋回走行をすることなく目標地点に対して直接に移動することができるという特徴を有する。   The self-propelled carriage provided with the differential caster having such a feature can be rotated on the spot, and has an advantage that the traveling direction can be varied on the spot toward the target point. Due to this advantage, the self-propelled carriage provided with the differential caster has a feature that it can move directly with respect to the target point without turning.

特開２０１１−６７５５６号公報JP 2011-67556 A 特開２０１１−６２３６４号公報JP 2011-62364 A 特開２０１１−６３１４１号公報JP 2011-63141 A 特開２０１１−６４２７９号公報JP 2011-64279 A 特開２００９−１７３０６８号公報JP 2009-173068 A 特開２００８−２３８９９３号公報JP 2008-233893 A 特開２００８−１３６８３７号公報JP 2008-136837 A 特開２００８−１３７６３１号公報JP 2008-137431 A 特開２００８−２１２２７２号公報JP 2008-212272 A 特開２００８−２１３５７０号公報JP 2008-213570 A 特開２００８−２１３５７１号公報JP 2008-213571 A 特開２００８−２１３５７２号公報JP 2008-213572 A 特開２００８−２１３５７３号公報JP 2008-213573 A 特開２００８−２１３５７４号公報JP 2008-213574 A

上記のように差動式キャスタを備えた自走台車は、目標地点に対して直接に移動することができる特徴をもつため、その特徴を活かした適用例が様々想定される。そして、その適用例として、差動式キャスタを備えた自走台車に自動追尾機能を持たせたもの、すなわち、自動追尾式自走台車が考えられる。 Since the self-propelled carriage provided with the differential caster as described above has a characteristic that it can move directly with respect to the target point, various application examples utilizing the characteristic are assumed. As an application example thereof, a self-propelled carriage provided with a differential caster having an automatic tracking function, that is, an automatic tracking self-propelled carriage can be considered.

そこで、この発明は、上述した事情に鑑みてなされたものであって、差動式キャスタを備えた自走台車において、自動追尾機能を持たせた自動追尾式自走台車を提供するものである。 Accordingly, the present invention has been made in view of the above-described circumstances, and provides an automatic tracking type self-propelled carriage provided with an automatic tracking function in a self-propelled carriage provided with a differential caster. .

上記の課題を解決するために、請求項１に記載された自動追尾式自走台車は、互いに独立して回転駆動する第１および第２の駆動輪を有し、台車本体に対して駆動方向を自在に可変することができる差動式キャスタと、被追尾体に対する台車の距離および角度に関する情報を検出する検出手段と、検出手段により検出された情報に基づき台車が走行すべき方向、および走行または停止を決定するとともに、決定された情報に基づき差動式キャスタに制御電流を供給する制御装置と、を備えることを特徴とする。 In order to solve the above-mentioned problem, an automatic tracking self-propelled carriage described in claim 1 has first and second drive wheels that are driven to rotate independently of each other, and a driving direction with respect to the carriage main body. , A differential caster that can freely vary, a detection means that detects information about the distance and angle of the carriage with respect to the tracked body, a direction in which the carriage should travel based on the information detected by the detection means, and a travel Or a control device that determines a stop and supplies a control current to the differential caster based on the determined information.

また、請求項２に記載された自動追尾式自走台車は、請求項１に記載された自動追尾式自走台車において、検出手段は、前記被追尾体に取り付けられた発信器から到来する電波を受信する第１および第２のセンサからなり、制御装置は、第１および第２のセンサが受信した電波の強度差を算出する比較部と、第１および第２のセンサが受信した電波の絶対強度を算出する合成部と、比較部および合成部からの信号に基づき台車が走行すべき方向、および走行または停止を決定するとともに、決定された情報に基づき差動式キャスタに制御電流を供給する駆動制御部と、を備えることを特徴とする。 Further, the automatic tracking self-propelled cart described in claim 2 is the automatic tracking self-propelled cart described in claim 1, wherein the detecting means is a radio wave coming from a transmitter attached to the tracked body. The control device includes a comparison unit that calculates an intensity difference between the radio waves received by the first and second sensors, and a radio wave received by the first and second sensors. Based on the signals from the combining unit that calculates absolute intensity, the comparison unit and the combining unit, the direction in which the carriage should travel, and the travel or stop are determined, and the control current is supplied to the differential caster based on the determined information. And a drive control unit.

また、請求項３に記載された自動追尾式自走台車は、請求項２に記載された自動追尾式自走台車において、差動式キャスタは、３つ設けられていることを特徴とする In addition, the automatic tracking self-propelling cart described in claim 3 is the automatic tracking self-propelling cart described in claim 2, wherein three differential casters are provided.

本発明の自動追尾式自走台車によれば、差動式キャスタを備えた自走台車において、自動追尾機能を持たせることができる。 According to the automatic tracking self-propelled carriage of the present invention, an automatic tracking function can be provided in a self-propelled carriage provided with a differential caster.

本発明の実施形態における自動追尾式自走台車の斜視図である。It is a perspective view of the automatic tracking type self-propelled cart in the embodiment of the present invention. 同じく本実施形態における自動追尾式自走台車の底面図である。It is a bottom view of the self-propelled self-propelled cart similarly in this embodiment. 同じく本実施形態における自動追尾式自走台車を示すシステムブロック図である。It is a system block diagram which similarly shows the automatic tracking type self-propelled carriage in this embodiment. 同じく本実施形態における自動追尾式自走台車の走行方向の決定方法を示す図である。It is a figure which similarly shows the determination method of the running direction of the automatic tracking type self-propelled carriage in this embodiment. 同じく本実施形態における自動追尾式自走台車の使用例を示す図である。It is a figure which similarly shows the usage example of the automatic tracking type self-propelled carriage in this embodiment.

次に、この発明の自動追尾式自走台車の実施形態を図１、図２および図３に基づいて説明する。ここで、図１は本実施形態における自動追尾式自走台車１を斜め上方から見た斜視図であり、図２は本実施形態における自動追尾式自走台車１を床面から見た底面図である。また、図３は本実施形態における自動追尾式自走台車１を示すシステムブロック図である。   Next, an embodiment of an automatic tracking self-propelled carriage according to the present invention will be described with reference to FIG. 1, FIG. 2, and FIG. Here, FIG. 1 is a perspective view of the automatic tracking self-propelled carriage 1 according to the present embodiment as viewed obliquely from above, and FIG. 2 is a bottom view of the automatic tracking self-propelled carriage 1 according to the present embodiment as viewed from the floor. It is. FIG. 3 is a system block diagram showing the automatic tracking self-propelled carriage 1 in this embodiment.

図１および図２に示されるように、台車１は、台車本体としての円盤形状の本体プレート２と、本体プレート２に取り付けられた３つの差動式キャスタ（３１，３２，３３）と、自動追尾装置（１１，１２，２０）と、追尾装置（１１，１２，２０）に電力を供給するバッテリー（４，４）と、を備える。また、本体プレート2の上方には、外径が本体プレート2と同一である円盤形状の荷台プレート３が複数の柱部材５を介して設けられている。   As shown in FIGS. 1 and 2, the carriage 1 includes a disc-shaped main body plate 2 as a main body of the carriage, three differential casters (31, 32, 33) attached to the main body plate 2, and automatic A tracking device (11, 12, 20) and a battery (4, 4) for supplying power to the tracking device (11, 12, 20) are provided. In addition, a disk-shaped cargo bed plate 3 having the same outer diameter as that of the main body plate 2 is provided above the main body plate 2 via a plurality of column members 5.

次に、差動式キャスタ３１について説明する。なお、３つの差動式キャスタ（３１，３２，３３）は、それぞれ共通部品により構成され全て同一の構造となっている。そのため、差動式キャスタ３１についてのみ説明し、他の差動式キャスタ（３２，３３）については同一の符号を付すとともに説明を省略する。   Next, the differential caster 31 will be described. The three differential casters (31, 32, 33) are configured by common parts and all have the same structure. Therefore, only the differential caster 31 will be described, and the other differential casters (32, 33) will be assigned the same reference numerals and description thereof will be omitted.

差動式キャスタ３１は、本体プレート２の底面側にて鉛直軸回りに回転自在に取り付けられた本体部３０ａと、本体プレート２を挟んで本体部３０ａと反対側（上面側）に取り付けられた回転検出部３０ｂと、を備える。そして、回転検出部３０ｂにより、本体プレート２に対する本体部３０ａの鉛直軸回りの回転位置が検出される。   The differential caster 31 is attached to the main body 30a that is rotatably attached around the vertical axis on the bottom surface side of the main body plate 2, and the opposite side (upper surface side) of the main body 30a with the main body plate 2 interposed therebetween. A rotation detector 30b. Then, the rotation position of the main body 30a relative to the main body plate 2 around the vertical axis is detected by the rotation detection unit 30b.

また、差動式キャスタ３１は、本体部３０ａ内に背面が互いに対向して配置された２つの電動モータ（３０ｃ，３０ｄ）と、第１および第２の駆動輪（３０ｅ，３０ｆ）と、を備える。ここで、２つの電動モータの出力軸（３０ｃ１，３０ｄ１）は、互いに反対側に向けて本体部３０ａから外側に向けて突出しており、この出力軸（３０ｃ１，３０ｄ１）の端部にそれぞれ第１および第２の駆動輪（３０ｅ，３０ｆ）が取り付けられている。なお、電動モータ（３０ｃ，３０ｄ）は、出力軸（３０ｃ１，３０ｄ１）をダイレクトに回転するダイレクト駆動タイプのモータであってよく、減速装置を介して出力軸（３０ｃ１，３０ｄ１）を回転する減速装置付きのモータであってもよい。   Further, the differential caster 31 includes two electric motors (30c, 30d) whose rear surfaces are arranged opposite to each other in the main body 30a, and first and second drive wheels (30e, 30f). Prepare. Here, the output shafts (30c1, 30d1) of the two electric motors protrude outward from the main body portion 30a toward the opposite sides, and the first output shafts (30c1, 30d1) are respectively provided at the ends of the output shafts (30c1, 30d1). And the 2nd driving wheel (30e, 30f) is attached. The electric motors (30c, 30d) may be direct drive type motors that directly rotate the output shaft (30c1, 30d1), and a reduction gear that rotates the output shaft (30c1, 30d1) via a reduction gear. The attached motor may be used.

次に、自動追尾式自走台車１に備わる自動追尾装置（１１，１２，２０）について、図１および図３に基づき説明する。自動追尾装置（１１，１２，２０）は、検出手段としての第１および第２のセンサ（１１，１２）と、第１および第２のセンサ（１１，１２）からの信号に基づきバッテリ（４，４）からの電流を制御して制御電流を差動式キャスタ（３１，３２，３３）に供給する制御装置２０と、備える。   Next, the automatic tracking device (11, 12, 20) provided in the automatic tracking self-propelled carriage 1 will be described with reference to FIGS. The automatic tracking device (11, 12, 20) has a battery (4) based on signals from the first and second sensors (11, 12) as detection means and the first and second sensors (11, 12). , 4) and a control device 20 for supplying a control current to the differential casters (31, 32, 33) by controlling the current from 4).

第１および第２のセンサ（１１，１２）は、荷台プレート３の上面かつ前方部にて最大距離だけ離して取り付けされており、被追尾体Ｐに取り付けられた発信器１０から到来する電波をそれぞれ受信する。そして、この受信された電波により被追尾体Ｐに対する台車１の距離および角度に関する情報を検出する。   The first and second sensors (11, 12) are mounted on the upper surface of the cargo bed plate 3 and at a front portion with a maximum distance away from each other. The first and second sensors (11, 12) receive radio waves coming from the transmitter 10 attached to the tracked body P. Receive each one. And the information regarding the distance and angle of the trolley | bogie 1 with respect to the to-be-tracked body P is detected with this received electromagnetic wave.

ここで、発信器１０は、指向性が少なく広範囲に電波を発信できるとともに、距離に対する減衰が比較的大きい電波を発信できるよう設定されている。また、第１および第２のセンサ（１１，１２）は、指向性が大きいものが用いられている。 Here, the transmitter 10 is set so as to transmit a radio wave with a small directivity and a wide range and a relatively large attenuation with respect to a distance. In addition, the first and second sensors (11, 12) have large directivities.

制御装置２０は、バッテリ（４，４）とともに本体プレート２の上面に取り付けられるとともに、第１および第２のセンサ（１１，１２）、バッテリ（４，４）および差動式キャスタ（３１，３２，３３）に接続されている。そして、第１および第２のセンサ（１１，１２）により検出された被追尾体Ｐに対する台車１の距離および角度に関する情報に基づき、台車が走行すべき方向、および走行または停止を決定するとともに、決定された情報に基づき差動式キャスタ（３１，３２，３３）に制御電流を供給する。なお、第１および第２のセンサ（１１，１２）と制御装置２０とは、有線で接続されてよく無線により接続されてよい。   The control device 20 is attached to the upper surface of the main body plate 2 together with the batteries (4, 4), and the first and second sensors (11, 12), the batteries (4, 4), and the differential casters (31, 32). , 33). And based on the information regarding the distance and angle of the trolley 1 with respect to the tracked body P detected by the first and second sensors (11, 12), the direction in which the trolley should travel and the travel or stop are determined. Based on the determined information, a control current is supplied to the differential casters (31, 32, 33). The first and second sensors (11, 12) and the control device 20 may be connected by a wire or may be connected wirelessly.

制御装置２０は、第１のセンサ１１に接続された計測部２１と、第２のセンサ１２に接続された計測部２２と、計測部（２１，２２）からの信号を処理する比較器２３および合成器２４と、駆動制御部２５と、を備えている。   The control device 20 includes a measuring unit 21 connected to the first sensor 11, a measuring unit 22 connected to the second sensor 12, a comparator 23 that processes signals from the measuring units (21, 22), and A synthesizer 24 and a drive control unit 25 are provided.

計測部（２１，２２）には、センサ（１１，１２）からの受信信号が供給され、サンプリングやＡ／Ｄ変換などの処理により、センサ（１１，１２）にて受信された電波の強度がそれぞれ計測され、それらの２つの計測信号が、比較部２３おおび合成部２４に供給される。   The measurement unit (21, 22) is supplied with the received signal from the sensor (11, 12), and the intensity of the radio wave received by the sensor (11, 12) is obtained by processing such as sampling and A / D conversion. These are measured, and these two measurement signals are supplied to the comparison unit 23 and the synthesis unit 24.

比較部２３では、計測部（２１，２２）からの計測信号が比較され、上記の２つのセンサ（１１，１２）により受信される電波の強度差が算出され、強度差の大きさに対応する差分信号が出力される。一方、合成部２４では、計測部（２１，２２）からの計測信号が
合成され、上記の２つのセンサ（１１，１２）により受信される電波の絶対強度が算出され、これを予め設定されている基準値と比較されるとともに比較結果に対応する比較信号が出力される。 In the comparison unit 23, the measurement signals from the measurement units (21, 22) are compared, the intensity difference between the radio waves received by the two sensors (11, 12) is calculated, and corresponds to the magnitude of the intensity difference. A differential signal is output. On the other hand, the synthesizing unit 24 synthesizes the measurement signals from the measuring units (21, 22), calculates the absolute intensity of the radio wave received by the two sensors (11, 12), and sets this in advance. And a comparison signal corresponding to the comparison result is output.

駆動制御部２５では、比較部２３からの差分信号に基づき台車１が走行すべき方向が決定される。そして、この決定された方向に台車１が走行するよう差動式キャスタ（３１，３２，３３）の駆動方向を転向させるべく、制御された制御電流を差動式キャスタ（３１，３２，３３）に備わる電動モータ（３０ｃ，３０ｄ）に供給する。さらに、駆動制御部２５では、合成部２４からの比較信号に基づき台車１の走行または停止が決定される。そして、台車１を走行させる場合には、台車１を走行させるべく、制御された制御電流を差動式キャスタ（３１，３２，３３）に備わる電動モータ（３０ｃ，３０ｄ）に供給する。また、台車１を停止させる場合には、台車１を停止させるべく、制御電流の電動モータ（３０ｃ，３０ｄ）への供給を停止する。   In the drive control unit 25, the direction in which the carriage 1 should travel is determined based on the difference signal from the comparison unit 23. Then, in order to turn the driving direction of the differential casters (31, 32, 33) so that the carriage 1 travels in the determined direction, the controlled control current is supplied to the differential casters (31, 32, 33). Are supplied to the electric motors (30c, 30d). Further, the drive control unit 25 determines whether the carriage 1 is to run or stop based on the comparison signal from the synthesis unit 24. And when making the trolley | bogie 1 run, in order to make the trolley | bogie 1 run, the controlled control current is supplied to the electric motors (30c, 30d) provided in the differential casters (31, 32, 33). When the carriage 1 is stopped, the supply of the control current to the electric motors (30c, 30d) is stopped in order to stop the carriage 1.

次に、図４に基づき自動追尾式自走台車１の走行すべき方向の決定方法、および駆動方法について説明する。   Next, a method for determining the direction in which the automatic tracking self-propelled carriage 1 should travel and a driving method will be described with reference to FIG.

被追尾者Ｐに携帯された発信器１０が、進行方向の中心線Ａ０−Ａ１上にある場合には、第１および第２のセンサ（１１，１２）にて検出される電波の強度に差が殆どなく、比較部２３からは、そのまま直進すべき旨の差分信号が出力される。しかしながら、同図に示すように、発信器１０が、進行方向の中心線Ａ０−Ａ１からずれた位置（図４においては、第２のセンサ１２よりにずれた位置）にある場合には、比較部２３からは、ずれた方向に向けて（図４においては、第２のセンサ１２側に向けて）走行すべき旨の差分信号が出力される。そして、この差分信号を受けた駆動制御部２５は、このずれた方向に向けて（図４においては、第２のセンサ１２側に向けて）台車１を走行させるために、差動式キャスタ（３１，３２，３３）の駆動方向を転向すべく制御電流を差動式キャスタ（３１，３２，３３）に備わる電動モータ（３０ｃ，３０ｄ）に供給する。 When the transmitter 10 carried by the tracked person P is on the center line A0-A1 in the traveling direction, there is a difference in the intensity of the radio waves detected by the first and second sensors (11, 12). The comparison unit 23 outputs a difference signal indicating that the vehicle should go straight as it is. However, as shown in the figure, when the transmitter 10 is at a position deviated from the center line A0-A1 in the traveling direction (a position deviated from the second sensor 12 in FIG. 4), the comparison is made. From the unit 23, a difference signal indicating that the vehicle should run in the direction of deviation (toward the second sensor 12 side in FIG. 4) is output. Then, the drive control unit 25 that has received the difference signal moves the cart 1 toward this shifted direction (toward the second sensor 12 side in FIG. 4) in order to run the differential caster ( A control current is supplied to the electric motors (30c, 30d) provided in the differential casters (31, 32, 33) in order to turn the driving direction of the 31, 32, 33).

本実施形態の自動追尾式自走台車１の使用例を図５に示す。同図では、台車１がスーパーマーケットなどの小売店にて使用される例が示されており、荷台プレート３上に購入品が満載された買い物かごＢが載せられており、図５に示すように、発信器１０は買い物客（被追尾体）Ｐに取り付けられ、台車１は、買い物客Ｐからの電波に基づき自動追尾動作を行う。   An example of use of the automatic tracking self-propelled carriage 1 of this embodiment is shown in FIG. In the figure, an example in which the cart 1 is used in a retail store such as a supermarket is shown, and a shopping basket B full of purchased items is placed on the loading platform plate 3, as shown in FIG. The transmitter 10 is attached to a shopper (tracked body) P, and the carriage 1 performs an automatic tracking operation based on radio waves from the shopper P.

１ 台車
２ 台車本体（本体プレート）
３ 荷台プレート
４ バッテリ
１０ 発信器
１１ 第１のセンサ
１２ 第２のセンサ
２０ 制御装置
２１，２２ 計測部
２３ 比較部
２４ 合成部
２５ 駆動制御部
３１，３２，３３ 差動式キャスタ
３０ａ 本体部
３０ｂ 回転検出部
３０ｃ，３０ｄ 電動モータ
３０ｄ 電動モータ
３０ｅ 第１の駆動輪
３０ｆ 第２の駆動輪
Ｐ 被追尾体（買い物客）
Ｂ 買い物かご 1 dolly 2 dolly body (body plate)
3 Loading platform plate 4 Battery 10 Transmitter 11 First sensor 12 Second sensor 20 Control device 21, 22 Measuring unit 23 Comparison unit 24 Combining unit 25 Drive control unit 31, 32, 33 Differential caster 30a Main body 30b Rotation Detection unit 30c, 30d Electric motor 30d Electric motor 30e First drive wheel 30f Second drive wheel P Tracked object (shopper)
B Shopping basket

Claims (3)

互いに独立して回転駆動する第１および第２の駆動輪を有し、台車本体に対して駆動方向を自在に可変することができる差動式キャスタと、
被追尾体に対する台車の距離および角度に関する情報を検出する検出手段と、
前記検出手段により検出された情報に基づき台車が走行すべき方向、および走行または停止を決定するとともに、決定された情報に基づき前記差動式キャスタに制御電流を供給する制御装置と、を備えることを特徴とする自動追尾式自走台車。 A differential caster having first and second drive wheels that are driven to rotate independently of each other and capable of freely changing the drive direction with respect to the carriage body;
Detection means for detecting information about the distance and angle of the carriage relative to the tracked object;
A control device that determines a direction in which the carriage should travel based on information detected by the detection means, and travel or stop, and supplies a control current to the differential caster based on the determined information. Auto-tracking self-propelled cart characterized by 請求項１に記載された自動追尾式自走台車において、
前記検出手段は、前記被追尾体に取り付けられた発信器から到来する電波を受信する第１および第２のセンサからなり、
前記制御装置は、前記第１および第２のセンサが受信した電波の強度差を算出する比較部と、前記第１および第２のセンサが受信した電波の絶対強度を算出する合成部と、前記比較部および前記合成部からの信号に基づき台車が走行すべき方向、および走行または停止を決定するとともに、決定された情報に基づき前記差動式キャスタに制御電流を供給する駆動制御部と、を備えることを特徴とする自動追尾式自走台車。 In the automatic tracking self-propelled cart according to claim 1,
The detection means includes first and second sensors that receive radio waves coming from a transmitter attached to the tracked body,
The control device includes: a comparison unit that calculates a difference in intensity between radio waves received by the first and second sensors; a synthesis unit that calculates an absolute intensity of radio waves received by the first and second sensors; A driving control unit that determines a direction in which the carriage should travel based on signals from the comparison unit and the combining unit, and travel or stop, and supplies a control current to the differential caster based on the determined information; A self-propelled self-propelled cart characterized by comprising. 請求項２に記載された自動追尾式自走台車において、
前記差動式キャスタは、３つ設けられていることを特徴とする自動追尾式電動台車。 In the automatic tracking self-propelled cart according to claim 2,
The differential tracking caster is provided with three automatic tracking electric carts.
JP2011192399A 2011-09-05 2011-09-05 Automatic follow-up type self-traveling carriage Withdrawn JP2013054544A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018152735A (en) * 2017-03-13 2018-09-27 公立大学法人岩手県立大学 Automatic tracking system, automatic tracking method, and program
JP2020502646A (en) * 2017-06-15 2020-01-23 浙江吉利控股集団有限公司Ｚｈｅｊｉａｎｇ Ｇｅｅｌｙ Ｈｏｌｄｉｎｇ Ｇｒｏｕｐ Ｃｏ．，Ｌｔｄ． Mobile power supply for outdoor power supply

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018152735A (en) * 2017-03-13 2018-09-27 公立大学法人岩手県立大学 Automatic tracking system, automatic tracking method, and program
JP7064229B2 (en) 2017-03-13 2022-05-10 公立大学法人岩手県立大学 Automatic tracking system, automatic tracking method, program
JP2020502646A (en) * 2017-06-15 2020-01-23 浙江吉利控股集団有限公司Ｚｈｅｊｉａｎｇ Ｇｅｅｌｙ Ｈｏｌｄｉｎｇ Ｇｒｏｕｐ Ｃｏ．，Ｌｔｄ． Mobile power supply for outdoor power supply

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