JPS62272804A - Travelling service vehicle - Google Patents

Travelling service vehicle

Info

Publication number
JPS62272804A
JPS62272804A JP61115054A JP11505486A JPS62272804A JP S62272804 A JPS62272804 A JP S62272804A JP 61115054 A JP61115054 A JP 61115054A JP 11505486 A JP11505486 A JP 11505486A JP S62272804 A JPS62272804 A JP S62272804A
Authority
JP
Japan
Prior art keywords
section
power supply
feed
external power
power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP61115054A
Other languages
Japanese (ja)
Other versions
JPH0714241B2 (en
Inventor
Makoto Yamada
誠 山田
Fumio Yasutomi
文夫 安富
Naoto Tojo
直人 東條
Kazuyoshi Tsukamoto
塚本　一義
Masato Osumi
大隅　正人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sanyo Electric Co Ltd
Original Assignee
Sanyo Electric Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sanyo Electric Co Ltd filed Critical Sanyo Electric Co Ltd
Priority to JP61115054A priority Critical patent/JPH0714241B2/en
Publication of JPS62272804A publication Critical patent/JPS62272804A/en
Publication of JPH0714241B2 publication Critical patent/JPH0714241B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/18—Cables specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

PURPOSE:To positively connect an external power connecting section to a power feed section, by detecting the external power connecting section in electrical contact with the power feed section, and by pushing the external power connecting section against the power feed section. CONSTITUTION:Travelling to a working place is executed by selecting a storage battery 28 at a motor feed power switching section 77 and by controlling a vehicle motor driving section 76. When a vehicle comes to the working place, then signal from a plug socket position indicating section 51 is received at a plug socket position detecting section 52, and an external power connecting section 48 is connected to a power feed section 49. When the external power connecting section 48 comes in contact with the power feed section 49, then its feed is detected by a plug socket/plug connection detecting section 50, and by the signal of a car driving control section 70, a traveling service vehicle is moved backward to the power feed section 49, and the external power connecting section 48 is perfectly connected to the power feed section 49. When the external power connecting section 48 is connected to the power feed section 49, then feed from the storage battery 28 is switched to feed from the external power connecting section 48 by the motor feed power switching section 77.

Description

【発明の詳細な説明】 ３、発明の詳細な説明 （イ）　産業上の利用分野 本発明は搭載した蓄電池による駆動部と、商用電力線等
による駆動とを自動的に使い分ける移動作業車に関する
。Detailed Description of the Invention 3. Detailed Description of the Invention (a) Field of Industrial Application The present invention relates to a mobile work vehicle that automatically uses a drive unit driven by an on-board storage battery and a drive unit driven by a commercial power line or the like.

（ロ）　従来の技術 本発明に先行する技術として特開昭６０−１０６３０２
号公報に記載の作業用自走車電力供給システムがある。(b) Prior art As a technology prior to the present invention, Japanese Patent Application Laid-open No. 106302/1983
There is a power supply system for a self-propelled working vehicle described in the above publication.

該システムは所定のステーションで停止してこのステー
ションで所定の作業を行なうバッテリ駆動による作業用
自走車の電力供給システムにおいて前記ステーションに
設けられる電力供給電極部と前記作業用自走車に設けら
れ該作業用自走車が前記ステーションで停止したとき前
記電力供給電極部と結合する外部電極結合手段とを具備
し、前記外部電極結合手段により得られる電力で前記バ
ッテリ□を充電すると共に前記作業を行なうようにして
なるものである。しかしながら外部電極結合手段である
スプリングにて付勢された接続電極棒は電力供給電極部
である円盤型接続電極板と単に接触しているのみで機械
的接続が行なわれておらず、ステーションより外れた位
置での作業を行なうことができないと共に作業用自走車
に積み荷の落下等にて外力が作用し強制移動きれた時、
容易に接触部分が外れてしまうといった不都合が生じる
。This system is a power supply system for a battery-powered self-propelled work vehicle that stops at a predetermined station and performs a predetermined work at this station, and includes a power supply electrode section provided at the station and a power supply electrode provided on the self-propelled work vehicle. and an external electrode coupling means that couples with the power supply electrode section when the self-propelled work vehicle stops at the station, and charges the battery □ with electric power obtained by the external electrode coupling means and performs the work. It comes as you do it. However, the connecting electrode rod biased by a spring, which is the external electrode coupling means, is only in contact with the disk-shaped connecting electrode plate, which is the power supply electrode part, and there is no mechanical connection, and it is detached from the station. When work cannot be carried out in a certain position and an external force is applied to the self-propelled work vehicle due to falling cargo, etc., the work vehicle is forced to move.
This causes the inconvenience that the contact portion easily comes off.

（ハ）発明が解決しようとする問題点 本発明は、外部電源接続部とｔＲ給電部との接続を確実
なものとして安定した給電と作業とが行なえる移動作業
車を提供するものである。(c) Problems to be Solved by the Invention The present invention provides a mobile work vehicle that can perform stable power supply and work by ensuring the connection between the external power supply connection part and the tR power supply part.

（ニ）問題点を解決するための手段 本発明は塔載した蓄電池にて作業場間を走行し、作業場
において壁に形成した電源給電部を自動検出することで
外部ｔｉｔ接続部を接続して作業を行い、前記外部ｔＲ
接続部の電源給１部への電気的接触を検出して前記外部
＊Ｓ接続部を電源給電部に向い接続を深くすべく押圧制
御せしめる手段でもって問題点を解決するものである。(d) Means for solving the problem The present invention uses a storage battery mounted on a tower to travel between workplaces, automatically detects the power supply part formed on the wall in the workplace, connects the external tit connection part, and works. and the external tR
The problem is solved by means of detecting electrical contact of the connection part to the power supply part 1 and controlling the pressure so that the external *S connection part faces the power supply part and the connection is deepened.

（ホ）作用 本発明は電源給電部への外部１１Ｅ源接続部の接触によ
る給電により接続完了と検知するのではなくその接触状
態から接続を確実とするために外部ｔｆｉ接続部を電源
給電部に押圧するものである。(e) Effect The present invention does not detect that the connection is complete by supplying power by contacting the external 11E power supply connection to the power supply, but instead connects the external TFI connection to the power supply in order to ensure the connection from the contact state. It is something to press.

（へ）実施例 第１図乃至第８図に示す第１実施例と第９図に示す第２
実施例に基つき本発明を説明する。(f) Example The first example shown in FIGS. 1 to 8 and the second example shown in FIG.
The present invention will be explained based on examples.

まず第１実施例について説明する。First, a first example will be explained.

第１図は移動作業車１の後部に保持した外部電源接続部
４８より突出する一対の接続電極棒８０を壁Ｗに形成し
た電源給電部４９の挾持電極板８１に接触した状態の要
部断面図、第２図は接続電極棒８０を挾持電極板８１に
挿入接続した状態の要部断面図、第３図は外部を源接続
部４８をｔ源給１部４９に接続した状態でコードリール
３１よりＩＥ源コード５４を引き出して移動作業車１が
壁Ｗより離れた状態の要部断面図、第４図は移動作業車
１の縦断面図で、上層部２と中層部３と下１部４とより
なる。第５図は第４図のｖ−７部分で切断した横断面図
、第６図は第４図の■−■部分で切断した横断面図、第
７図は第２図と同様状態における要部横断面図、第８図
は移動作業車１のブロック回路図である。FIG. 1 shows a cross section of a main part of a power supply section 49 in which a pair of connection electrode rods 80 protruding from an external power supply connection section 48 held at the rear of a mobile work vehicle 1 are formed on a wall W, in contact with a clamping electrode plate 81. 2 is a cross-sectional view of the main part of the connection electrode rod 80 inserted and connected to the clamping electrode plate 81, and FIG. FIG. 4 is a longitudinal sectional view of the mobile work vehicle 1 with the IE source cord 54 pulled out from the wall W and the mobile work vehicle 1 separated from the wall W. It consists of part 4. Figure 5 is a cross-sectional view taken at section v-7 in Figure 4, Figure 6 is a cross-sectional view taken at section FIG. 8 is a block circuit diagram of the mobile work vehicle 1.

前記移動作業車１の下層部４は第４図に示す如く、シャ
ーン板５と該ンヤーシ板５に立設した支持柱６にて支持
される下基板７との間に形成される。前記中層部３は第
４図に示す如く、前記下基板７の略中央開口に立設する
円筒支柱８の上端に上基板９を接続し、前記上下基板９
．７との間に形成される。前記シャーシ板５と上下基板
９．７は銀金にて成型され、前記円筒支柱８は金属管に
て形成され、前記支持柱６は金属棒にて形成される。前
記上層部２は上基板９の上面側に形成きれ、前記シャー
シ板５と上下基板９．７を被う合成樹脂製外装ケース１
０にて形成される。As shown in FIG. 4, the lower part 4 of the mobile work vehicle 1 is formed between a shear plate 5 and a lower base plate 7 supported by support columns 6 erected on the shear plate 5. As shown in FIG. 4, the middle layer section 3 has an upper substrate 9 connected to the upper end of a cylindrical column 8 that stands upright in the substantially central opening of the lower substrate 7, and the upper and lower substrates 9.
．． 7. The chassis plate 5 and the upper and lower substrates 9.7 are molded from silver and gold, the cylindrical column 8 is formed from a metal tube, and the support column 6 is formed from a metal rod. The upper layer part 2 is formed on the upper surface side of the upper substrate 9, and has a synthetic resin exterior case 1 that covers the chassis plate 5 and the upper and lower substrates 9.7.
0.

前記シャーシ板５０両側部には、右車輪１１と左車輪１
２を駆動する右車輪電動機１３と左車輪電動機１４を固
定している。前記右車輪電動機１３と左車輪電動機１４
０回転位置、いわゆる右車輪１１と左車輪１２の位置及
び回転数を検知する右車輪位置検知部１７と左車輪位置
検知部１８とを形成している。前記シャーン板５の後半
部半円型部分中心を通る前後方向上に前自在車輪１９と
後自在車輪２ｏを形成している。前記シャーシ板５の前
部には外装ケース１゜の下縁部面及び両側に回り込んで
位置するバンパ一体２１を形成している。該バンパ一体
２１には衝突検知部２２を形成している。該衝突検知部
２２は前・左・右に分割して形成きれ、本実施例におい
ては、バンパ一体２１内に近接して線状接片を一対配設
し、バンパ一体２１に圧力が加わり変形する時雨接片が
接触することで検知するように形成している。前記シャ
ーシ板５の前部下面には、床Ｆに接触摺動するブラシを
形成した吸込具２３を形成している。該吸込具２３の筒
状接続部２４はシャーシ板Ｓ内に突出し、筒状接続部２
４にはパイプ体２５を接続している。該パイプ体２５は
前記円筒支柱８内に挿通固定した吸込通風管体２６の下
端に接、続している。該吸込通風管体２６は円筒支柱８
の後部に寄せて配管きれ該円筒支柱８内に、上層部２と
下層部４とを連通ずる空間を形成し、ｔｆＡコード又は
制御線又は君号線等の電線２７の通路としている。前記
シャーシ板５には、前記左右車輪！動機１３．１４への
給電を行う蓄電池２８と、前記衝突検知部２２と左右車
輪位置検知部１７．１８等の各種検知部からり信号を受
け、移動作業車１の制御を行う制御回路２９とを装着し
ている。A right wheel 11 and a left wheel 1 are provided on both sides of the chassis plate 50.
A right wheel electric motor 13 and a left wheel electric motor 14 that drive the wheels 2 are fixed. The right wheel electric motor 13 and the left wheel electric motor 14
A right wheel position detecting section 17 and a left wheel position detecting section 18 are formed to detect the 0 rotation position, ie, the position and rotational speed of the right wheel 11 and the left wheel 12. A front swivel wheel 19 and a rear swivel wheel 2o are formed on the front and rear sides passing through the center of the semicircular portion of the rear half of the shear plate 5. A bumper body 21 is formed at the front of the chassis plate 5 and extends around the lower edge and both sides of the outer case 1°. A collision detection section 22 is formed in the bumper unit 21. The collision detection section 22 can be formed by being divided into front, left, and right parts. In this embodiment, a pair of linear contact pieces are disposed close to the inside of the bumper unit 21, and the bumper unit 21 is deformed when pressure is applied. It is designed so that it can be detected when the contact piece comes into contact with it. A suction tool 23 in the form of a brush that slides into contact with the floor F is formed on the lower front surface of the chassis plate 5. The cylindrical connection part 24 of the suction tool 23 protrudes into the chassis plate S, and the cylindrical connection part 24
4 is connected to a pipe body 25. The pipe body 25 is connected to the lower end of a suction ventilation pipe body 26 which is inserted and fixed into the cylindrical column 8. The suction ventilation pipe body 26 is a cylindrical support 8
A space is formed in the cylindrical support 8 near the rear of the pipe to communicate the upper part 2 and the lower part 4, and serves as a passage for an electric wire 27 such as a tfA cord, control line, or code line. The chassis plate 5 includes the left and right wheels! A storage battery 28 supplies power to the motive device 13.14, and a control circuit 29 receives signals from various detection units such as the collision detection unit 22 and the left and right wheel position detection units 17.18 and controls the mobile work vehicle 1. is attached.

前記上基板９の上層部２前部には、走行する移動作業車
１の前方向及び左右方向に位置する障害物を検知するた
めの障害物検知部３０を形成している。該障害物検知部
３０は障害物（壁、机、いす等）までの距離を計るもの
で、本実施例では超音波距離計測装置を用いている。前
記上基板９の上面には、後述するコードリール３１を駆
動するリール電動機３２を形成している。前記外装ケー
ス１０の前部上面には、開閉蓋３３を有する制御板部３
４を形成している。該制御板部３４に形成したスイッチ
が信号入力部３５となり、移動作業車１を制御設定する
。An obstacle detection section 30 is formed in the front part of the upper layer part 2 of the upper substrate 9 to detect obstacles located in the front direction and the left and right directions of the traveling mobile work vehicle 1. The obstacle detection section 30 measures the distance to obstacles (walls, desks, chairs, etc.), and uses an ultrasonic distance measuring device in this embodiment. A reel motor 32 for driving a cord reel 31, which will be described later, is formed on the upper surface of the upper substrate 9. A control plate portion 3 having an opening/closing lid 33 is provided on the front upper surface of the exterior case 10.
4 is formed. A switch formed on the control plate section 34 serves as a signal input section 35 to control and set the mobile work vehicle 1.

前記外装ケース１０の後部には作業部を形成し、本実施
例では集塵部３６と電動送風機部３７とよりなる。前記
集塵部３６は、前記外装ケース１０の後部に形成した収
納部３８に収納される。前記集塵部３６は集塵ケース３
９とフィルタ体４０とよりなる。前記収納部３８底部に
は前記吸込通風管体２６の上端が突出し、前記集塵ケー
ス３９の底部吸込口と嵌合する。A working section is formed at the rear of the exterior case 10, and consists of a dust collecting section 36 and an electric blower section 37 in this embodiment. The dust collecting section 36 is housed in a housing section 38 formed at the rear of the exterior case 10. The dust collection section 36 is the dust collection case 3
9 and a filter body 40. The upper end of the suction ventilation pipe body 26 protrudes from the bottom of the storage section 38 and is fitted into the bottom suction port of the dust collection case 39 .

前記電動送風機部３７は前記収納部３８を開閉する如く
、外装ケース１０に枢支され、クランプ体にて連結され
る。前記電動送風機部３７には電動送風機４４が内装さ
れている。該電動送風機４４を運転することで、吸込具
２３からパイプ体２５そして、吸込通風管体２６を通し
て、集塵部３６にゴミが吸い込まれ、フィルタ体４０で
ゴミが捕集された後、電動送風機４４にて排気口４５か
らゴミが除去された空気が排気される。排気口４５にも
フィルタ体４６を装着している。The electric blower section 37 is pivotally supported by the outer case 10 so as to open and close the storage section 38, and connected by a clamp body. An electric blower 44 is installed inside the electric blower section 37 . By operating the electric blower 44, dust is sucked into the dust collecting section 36 from the suction tool 23 through the pipe body 25 and the suction ventilation pipe body 26, and after the dust is collected by the filter body 40, the electric blower At 44, the air from which dust has been removed is exhausted from the exhaust port 45. A filter body 46 is also attached to the exhaust port 45.

前記上層部２の外装ケース１０後部には真壁が外装ケー
ス１０の曲面直径より大きい曲面直径の左右方向に伸び
る溝部４７を形成している。該溝部４７の中央部分いわ
ゆる最も最後部に位置する部分には図示しないが外部電
源接続部４８の結合部を形成している。該接続部４８は
プラグにて形成され、室壁等に形成した電源給電部４９
に接続部４８が接＃！きれることで給電される。前記接
続部４８の結合部への結合は、前記接続部４８の溝部４
７に沿った方向への移動に対しては自由に行なわれ、結
合部に連結されている状態での後方、溝部４７に直交す
る方向への移動に対しては固定となる。前記接続部４８
の電源給電部４９との接続、及び前記接続部４８の結合
部へのｍＲは、コンセント・プラグ接続検知部５０にて
行なわれている。前記ｔｆｌｌ給電部４９に対する接続
部４８の位置合わせは、前記電源給電部４９の位置を知
らせるコンセント位置報知部５１からの信号を前記溝部
４７内又は接続部４８の近傍に形成したコンセント位置
検知部５２にて検知し、前記移動作業車１を移動させて
行う。At the rear of the outer case 10 of the upper part 2, a straight wall forms a groove 47 extending in the left-right direction and having a curved surface diameter larger than the curved surface diameter of the outer case 10. Although not shown, a connecting portion for an external power supply connection portion 48 is formed in the central portion of the groove portion 47, that is, the most rearmost portion. The connecting portion 48 is formed of a plug, and a power feeding portion 49 formed on the room wall, etc.
The connection part 48 is connected to #! Power is supplied by turning off the power. The connecting portion 48 is coupled to the connecting portion by the groove portion 4 of the connecting portion 48.
It is free to move in the direction along the groove 47, and fixed to the rear in the direction perpendicular to the groove 47 while connected to the coupling part. The connection part 48
Connection with the power supply section 49 and mR to the coupling section of the connection section 48 are performed by an outlet/plug connection detection section 50. The positioning of the connection part 48 with respect to the TFLL power supply part 49 is achieved by using an outlet position detection part 52 in which a signal from an outlet position notification part 51 that informs the position of the power supply part 49 is formed in the groove part 47 or near the connection part 48. Detection is performed by moving the mobile work vehicle 1.

前記円筒支柱８の外側には、前記リール電動機３２にて
駆動される筒状中間回転軸５３を枢支し、その外側にフ
ードリール３１を枢支している。前記下基板７の上面と
コードリール３１との間には、ｔＳフード５４の引出口
部５５を形成した回転支持部材５６を配置し、該回転支
持部材５６は円筒支柱８に枢支している。前記円筒支柱
８と中間回転軸５３とコードリール３１と回転支持部材
５６と下基板７との間には軸受体５７．５８．５９．６
０を介在している。前記中間回転軸５３の上部外周には
、リール電動機３２の歯車６１と噛み合う歯車６２と、
前記フードリール３１に形成したクラッチ爪体６３と係
合するクラッチ歯車６４とを形成している。前記クラッ
チ爪体６３は、常にクラッチ歯車６４に当接する方向に
付勢している。A cylindrical intermediate rotating shaft 53 driven by the reel motor 32 is pivotally supported on the outside of the cylindrical support 8, and a food reel 31 is pivotally supported on the outside thereof. A rotary support member 56 in which an outlet portion 55 of the tS hood 54 is formed is disposed between the upper surface of the lower substrate 7 and the cord reel 31, and the rotary support member 56 is pivotally supported on the cylindrical column 8. . Bearing bodies 57, 58, 59, 6 are provided between the cylindrical support 8, the intermediate rotation shaft 53, the cord reel 31, the rotation support member 56, and the lower substrate 7.
0 is intervening. A gear 62 that meshes with a gear 61 of the reel motor 32 is provided on the upper outer periphery of the intermediate rotating shaft 53;
A clutch gear 64 that engages with a clutch claw body 63 formed on the food reel 31 is formed. The clutch pawl body 63 is always biased in the direction of contacting the clutch gear 64.

本実施例において、前記リール電動機３２にて歯車６１
が右回転されると、中間回転軸５３が左回転に駆動され
、クラッチ歯車６４が左回転することで、クラッチ爪体
６３と係合し、コードリール３１が左回転に駆動される
。該コードリール３１が左回転きれると前記ｉＥ電源フ
ード４は巻き取られる。前記リール電動機３２により歯
車６１が左回転きれると中間回転軸５３が右回転し、ク
ラッチ歯車６４とクラッチ爪体６３は該クラッチ爪体６
３がクラッチ歯車６４にて外側に押し出されることで係
合せず、フードリール３１は回転しない、また、リール
電動＠３２の停止中には、電源フード５４を外力にて引
張すると、前記フードリール３１は右回転しようとする
が、クラッチ爪体６３がクラッチ歯車６４に係合するこ
とで、右方向に回転できない、前記電源フード５４の引
き出しは、前記リール電動！ｊ１３２にて歯車６１を左
回転し、中間回転軸５３を右回転させ、コードリール３
１の左回転によるクラッチ爪体６３のクラッチ歯車６４
への係合を行なえないようにすることで、外力にて電源
コード５４を引き出すことで行う。In this embodiment, the gear 61 is
When the is rotated clockwise, the intermediate rotating shaft 53 is driven to rotate to the left, and the clutch gear 64 is rotated to the left to engage with the clutch pawl body 63, and the cord reel 31 is driven to rotate to the left. When the cord reel 31 is completely rotated to the left, the iE power supply hood 4 is wound up. When the gear 61 is completely rotated to the left by the reel motor 32, the intermediate rotating shaft 53 is rotated to the right, and the clutch gear 64 and the clutch pawl body 63 are rotated to the left.
3 is pushed outward by the clutch gear 64 and is not engaged, and the hood reel 31 does not rotate.Furthermore, when the power supply hood 54 is pulled by an external force while the electric reel @ 32 is stopped, the hood reel 31 tries to rotate clockwise, but cannot rotate clockwise because the clutch pawl body 63 engages with the clutch gear 64. Pulling out the power supply hood 54 is caused by the reel electric! At j132, the gear 61 is rotated to the left, the intermediate rotating shaft 53 is rotated to the right, and the cord reel 3 is rotated.
Clutch gear 64 of clutch pawl body 63 due to left rotation of 1
This is done by disabling the power cord 54 from being engaged with the power cord 54 and pulling out the power cord 54 using an external force.

前記引出口部５５には引き出しをスムーズに行なわせる
ためのローラ体を形成し、構造を図示しない電源コード
たるみ検知部６６と、電源コード長検知部６７とを形成
している。前記回転支持部材５６は、有底円筒状に形成
きれ、前記引出口部５５を形成した一半側壁部分は、外
装ケース１０に形成した切欠を閉じるように露出してい
る。前記回転支持部材５６はフードリール３１の位置に
関係なく、回動でき、前記外装ケース１０に対する引出
部５５の位置を後方１８０度の開き角度範囲で、自由に
変更できるものであり、前記移動作業車１の向きに関係
なく、前記引出部５５を前記電源給電部４９に向けるこ
とができ、最短のｔＲコード５４の引き出し長さを得る
ことができる。該ｔｆｉフード５４からの給電はフード
リール３１の上面に形成した摺動リング６８に接触片６
９を接触せしめて行なう、前記を源フードたるみ検知部
６６はマイクロスイッチにて形成され、ｔＲコード長検
知部６７はローラに連動した回転数検知装置にて形成さ
れ、各検知部６６及び６７からの雪量は、回転支持部材
５６に形成した慴動リングと下基板７に形成した接触片
にて伝達きれ、制御部７０に送られる。The outlet portion 55 is provided with a roller body for smooth extraction, and is also provided with a power cord slack detection portion 66 and a power cord length detection portion 67, the structure of which is not shown. The rotation support member 56 is formed into a cylindrical shape with a bottom, and one half of the side wall portion forming the outlet portion 55 is exposed so as to close a notch formed in the exterior case 10. The rotation support member 56 can be rotated regardless of the position of the food reel 31, and the position of the drawer portion 55 relative to the outer case 10 can be freely changed within an opening angle range of 180 degrees rearward, and the movement operation can be performed. Regardless of the direction of the vehicle 1, the pull-out section 55 can be directed toward the power supply section 49, and the shortest length of the tR cord 54 can be obtained. The power is supplied from the TFI hood 54 through a contact piece 6 on a sliding ring 68 formed on the top surface of the hood reel 31.
The hood sag detection section 66 is formed by a microswitch, and the tR cord length detection section 67 is formed by a rotation speed detection device linked to a roller. The amount of snow is transmitted by the sliding ring formed on the rotation support member 56 and the contact piece formed on the lower substrate 7, and sent to the control section 70.

前記電源給電部４９とコンセント位置報知部５１とは一
体化され壁Ｗに埋設きれる。前記ｔｇ給宣部４９には電
力線８２を接続した挟持電極板８１が形成されている。The power supply section 49 and the outlet position notification section 51 are integrated and buried in the wall W. A clamping electrode plate 81 to which a power line 82 is connected is formed in the TG supply section 49 .

該挾持電極板８１は二つ折りした導電板の開放端を外側
に開いた構造に形成されている。The clamping electrode plate 81 is formed of a conductive plate folded in half with the open end thereof opened outward.

また、前記外部電源接続部４８の接続電極棒８０は導電
板体にて形成される。該接続電極棒８０は挾持電極板８
１の開放端部分に接触し、きらに押圧されることで挾持
電極板８１間に挿入きれて挾持され、機械的な接続が行
なわれる。Further, the connection electrode rod 80 of the external power supply connection part 48 is formed of a conductive plate. The connecting electrode rod 80 is connected to the clamping electrode plate 8
By contacting the open end portion of 1 and being pressed firmly, the electrode plate 81 is completely inserted between the clamping electrode plates 81 and clamped, thereby establishing a mechanical connection.

次に第８図に示す電気回路に基づき、移動作業車１の動
作を説明する。Next, the operation of the mobile work vehicle 1 will be explained based on the electric circuit shown in FIG.

該移動作業車１は、移動を制御するための車駆動制御部
７０と、作業を制御するための掃除機制御駆動部７１と
にて全体の動作を制御する。前記車駆動制御部７０と帰
陣機制御・駆動部７１とは、本実施例においてはマイク
ロコンピュータにて形成されており、フンバクト高機能
を容易に得られる。The entire operation of the mobile work vehicle 1 is controlled by a vehicle drive control section 70 for controlling movement and a cleaner control drive section 71 for controlling work. The vehicle drive control section 70 and the return aircraft control/drive section 71 are formed by a microcomputer in this embodiment, and can easily provide high functionality.

面記車駆動制御部７０への主な入力信号発生部は、制御
板部３４に形成された信号入力部３５と、電動式コード
リール３１からのｔｉフード５４の引き出し状態を検知
するｔｆＡコード長検知部６７とｔ源フードたるみ検知
部６６と、移動時の前方障害物を検出する障害物検知部
３０と衝突検知部２２と、作業場における給電を行うた
めにｔｆＡコード５４を電源給電部４９に接続するため
のサーチを行うコンセント位置検知部５２とコンセント
・プラグ接続検知部５ｏと、左右車輪１１．１２の位置
及び走行距離を検出する右車輪位置検知部１７と左車輪
位置検知部１８と、左右車輪１１．１２が走行し、吸込
具２３が摺接する床Ｆの状態を検出する床状態検知部７
２と、掃除機制御・駆動部７１とがある。前記車駆動制
御部７ｏからの制御用信号は、移動作業車１の運転状態
と異常を示す表示部７３と、異常を光又は音等にて示す
報知部７４と、電動式フードリール３１．３２の正逆回
転停止を行うリール電動機駆動部７５と、左右車輪電動
機１３．１４の正逆回転停止を行う車輪電動機駆動部７
６と、各電動機１３．１４．３２．４４への蓄電池２８
又はｉｓ給１部４９かもの給電とを切り替えると共に充
ｉＥ部７８への給電とを切り替える電動機供給電源切替
部７７と、掃除機制御・駆動部７１とに出力される。The main input signal generators to the marking wheel drive control unit 70 are a signal input unit 35 formed on the control plate unit 34 and a tfA cord length generator that detects the state of the TI hood 54 being pulled out from the electric cord reel 31. A detection unit 67, a t-source hood sag detection unit 66, an obstacle detection unit 30 that detects obstacles in front during movement, a collision detection unit 22, and a tfA cord 54 to a power supply unit 49 for power supply in the workplace. An outlet position detection unit 52 and an outlet/plug connection detection unit 5o that perform a search for connection, a right wheel position detection unit 17 and a left wheel position detection unit 18 that detect the positions and travel distances of the left and right wheels 11 and 12, A floor condition detection unit 7 that detects the condition of the floor F on which the left and right wheels 11 and 12 run and the suction tool 23 comes into sliding contact.
2, and a vacuum cleaner control/drive section 71. Control signals from the vehicle drive control section 7o are sent to a display section 73 that indicates the operating status and abnormality of the mobile work vehicle 1, a notification section 74 that indicates an abnormality with light or sound, etc., and an electric food reel 31, 32. A reel motor drive section 75 that stops the forward and reverse rotation of the left and right wheel motors 13 and 14, and a wheel motor drive section 7 that stops the forward and reverse rotation of the left and right wheel motors 13 and 14.
6 and storage batteries 28 to each electric motor 13, 14, 32, 44
Alternatively, it is output to the motor supply power switching unit 77 which switches between the power supply to the IS supply unit 49 and the power supply to the charging iE unit 78, and the vacuum cleaner control/drive unit 71.

前記信号入力部３５は、移動作業車１の全ての機能が全
自動で行なわれる場合には単なる停動スイッチと作業場
間又は運搬時のスムーズな移動を行うための手動操作ス
イッチがあればよい。だが、種々の作業場に対応させる
ためには、プログラムの変更を可能にすることで移動及
び作業の自由度を増すことが必要となり、そのための構
造として１０キ一部、ＩＣカード入力部、ＲＯＭカート
リンジ接続部、フロッピーディスク挿入読取部、外部入
出力端子等を形成してもよい。前記プログラム変更部を
形成することで作業場間の移動ルート、作業場の配置、
形状、ｉ源給軍部４９の位置を適宜記憶させることがで
き、それに伴ない移動作業車１の移動・作業をよりスム
ーズなものとできる。If all functions of the mobile work vehicle 1 are to be performed fully automatically, the signal input section 35 may include a simple stop switch and a manual operation switch for smooth movement between work sites or during transportation. However, in order to adapt to various workplaces, it is necessary to increase the freedom of movement and work by making it possible to change the program, and the structure for this purpose is a 10-kilometre part, an IC card input part, and a ROM cart. A ring connection part, a floppy disk insertion/reading part, an external input/output terminal, etc. may be formed. By forming the program change section, the movement route between the workplaces, the layout of the workplaces,
The shape and the position of the i-source supply unit 49 can be memorized as appropriate, and accordingly, the movement and work of the mobile work vehicle 1 can be made smoother.

前記表示部７３と報知部７４は、移動作業車１の各種運
転状態及び異常を表示・報知するもので、例えば、蓄電
池２８の容量及び充電時期、電源給１部４９と外部電源
接続部４８との作業中における外れ、転倒脱輪、回避で
きない障害物（扉、階段等）による移動阻止、集塵部３
６の集塵量表示と廃棄時期、作業完了部分の表示、作業
終了の表示及び報知等を行う。The display section 73 and the notification section 74 display and notify various operating states and abnormalities of the mobile work vehicle 1, such as the capacity and charging time of the storage battery 28, the power supply section 49 and the external power connection section 48, etc. Dislodgement during work, fall and derailment, movement obstruction due to unavoidable obstacles (doors, stairs, etc.), dust collection section 3
Displays the amount of collected dust, the time of disposal, the part of the work completed, and the end of the work as described in 6.

前記移動作業車１は車庫から作業場及び作業場から作業
場への移動は電動機供給電源切替部７７にて蓄電池２８
を選択し、車輪電動機駆動部７６に蓄電池２８から給電
され、障害物検知部３０と衝突検知部２２と床状態検知
部７２からの信号により車輪電動機駆動部７６を制御し
て走行させる。左右車輪電動機１３、１４が同一方向に
同一速度で回転すると前進、後退を行い、速度が異なる
と右、左に曲り、逆回転すると、その場所で方向転換す
る。前記左右車輪１１．１２に対する前自在車輪１９と
後自在車輪２０の位置が同一であることから前進と後退
とを同様に行なわすことができ、走行軌跡を同一とでき
る。The mobile work vehicle 1 is moved from the garage to the workshop and from one workshop to another using the storage battery 28 at the motor supply power switching section 77.
is selected, power is supplied to the wheel motor drive unit 76 from the storage battery 28, and the wheel motor drive unit 76 is controlled by signals from the obstacle detection unit 30, the collision detection unit 22, and the floor condition detection unit 72 to cause the vehicle to travel. When the left and right wheel electric motors 13 and 14 rotate in the same direction and at the same speed, the vehicle moves forward or backward; when the speeds are different, the vehicle turns to the right or left; and when it rotates in the opposite direction, the vehicle changes direction at that location. Since the positions of the front adjustable wheel 19 and the rear adjustable wheel 20 with respect to the left and right wheels 11, 12 are the same, the vehicle can move forward and backward in the same manner, and the travel trajectory can be the same.

作業場に着くと、移動作業車１は後部に形成したコンセ
ント位置検知部５２にてコンセント位置報知部５１から
の信号（赤外線信号）を受け、電源給電部４９の位置を
判断しながら後退し、前記外部電源接続部４８を電源給
電部４９に接続する。前記外部電源接続部４８が電源給
電部４９に接触すると、その給電をコンセント・プラグ
接続検知部５０にて検出し、初期の接触があったことを
検知し、前記単駆動制御部７０の信号にて移動作業車７
０をまっすぐ電源給電部４９に向い後退させて、前記外
部電源接続部４８を電源給電部４９に完全に接続する。Upon arriving at the workplace, the mobile work vehicle 1 receives a signal (infrared signal) from the outlet position notification unit 51 at the outlet position detection unit 52 formed at the rear, and moves backward while determining the position of the power supply unit 49. The external power supply connection section 48 is connected to the power supply section 49 . When the external power supply connection section 48 comes into contact with the power supply section 49, the power supply is detected by the outlet/plug connection detection section 50, detecting that there is an initial contact, and responding to the signal from the single drive control section 70. mobile work vehicle 7
0 straight toward the power supply section 49 and back to completely connect the external power connection section 48 to the power supply section 49.

該外部電源接続部４８と電源給電部４９が完全に接続さ
れると、外部電源接続部４８に組み込んだスイッチにて
形成きれたコンセント・プラグ接続検知部５０の構成部
が完全接続を検知し、単駆動制御部７０に入力し、該単
駆動制御部７０からのそれに基づく出力信号が、電動機
供給電源切替部７７に入力され、前記蓄電池からの給電
を外部ｔｆｉ接続部４８からの給電に切替える。給電が
切替えられると前記車輪電動機駆動部７６への蓄電池２
８と同一の１２Ｖの直流の給電と前記リール電動機駆動
部７５及び掃除機制御・駆動部７１への外部電源接続部
４８からの入力交流１００Ｖが給電され、前記蓄電池２
８への充電部７８に給１１きれる。該充電部７８への給
電により蓄電池２８の消費した電力量の補充が行なわれ
、補充が完了すると自動的に充電部がストップする。When the external power supply connection part 48 and the power supply part 49 are completely connected, the component of the outlet/plug connection detection part 50 formed by the switch built into the external power supply connection part 48 detects the complete connection, An output signal based on the single drive control unit 70 is input to the motor supply power switching unit 77, which switches power supply from the storage battery to power supply from the external TFI connection unit 48. When the power supply is switched, the storage battery 2 to the wheel motor drive unit 76
8, and 100 V input AC from the external power supply connection section 48 to the reel motor drive section 75 and vacuum cleaner control/drive section 71 are supplied, and the storage battery 2
11 can be supplied to the charging section 78 to 8. By supplying power to the charging section 78, the amount of power consumed by the storage battery 28 is replenished, and when the replenishment is completed, the charging section is automatically stopped.

前記移動作業車１が作業開始位置まで移動し、停止する
と単駆動制御部７０の信号が掃除機制御・駆動部７１に
入力され、電動送風機４４への給電が始まり掃除を開始
する。前記外部電源接続部４８の溝部４７の結合部から
の分離は、前記移動作業車１の回転により溝部４７に沿
う方向に接続部４８が移動するようにすることで行なわ
れる。前記外部電源接続部４８が溝部４７より分離きれ
移動作業車１が走行を開始すると、その走行量に応じた
電源フード５４がコードリール３１より引き出される。When the mobile work vehicle 1 moves to the work start position and stops, a signal from the single drive control section 70 is input to the cleaner control/drive section 71, and power supply to the electric blower 44 starts to start cleaning. The external power supply connecting portion 48 is separated from the coupling portion of the groove portion 47 by moving the connecting portion 48 in a direction along the groove portion 47 as the mobile work vehicle 1 rotates. When the external power supply connection part 48 is separated from the groove part 47 and the mobile work vehicle 1 starts traveling, the power supply hood 54 is pulled out from the cord reel 31 according to the distance traveled.

また走行量と走行方向と電源コード５４の引き出し量及
びたるみを前記左右車輪位置検知部１７．１８と電源コ
ード長検知部６７と電源コードたるみ検知部６６にて検
知し、単駆動制御部７０による判断にて適正な電源コー
ド５４の引き出し量及びたるみとなる如く、前記リール
電動機駆動部７５に単駆動制御部７０から信号が出力さ
れる。In addition, the traveling distance, the traveling direction, the amount of pullout of the power cord 54, and the slack of the power cord 54 are detected by the left and right wheel position detectors 17, 18, the power cord length detector 67, and the power cord slack detector 66. A signal is outputted from the single drive control section 70 to the reel motor drive section 75 so that the amount of pullout and slack of the power cord 54 is determined to be appropriate.

前記移動作業車１が作業を開始し、その順路は、種々の
パターンがある。最もオーツドックスな順路としては、
電源給電部４９を形成した室壁に並行に作業し、隣接す
る室壁に衝突又は近接した位置で１８０度方向を変えて
再度室壁に並行に作業することを繰り返し、対面する室
壁に向い、順次に作業をし、折り返せなくなったことで
、作業終了とする順路である。該順路を一つの基本パタ
ーンとし、その移動上に障害物があれば、障害物検知部
３０と衝突検知部２２にて検出し、適宜方向を変えて、
作業を行う。The mobile work vehicle 1 starts work, and there are various patterns for the route. The most traditional route is
Work parallel to the room wall where the power supply part 49 was formed, change direction 180 degrees when colliding with or close to an adjacent room wall, repeat work parallel to the room wall again, and then move to face the facing room wall. , the work is done one after another, and when it becomes impossible to turn back, the work is completed. The route is taken as one basic pattern, and if there is an obstacle on the movement, the obstacle detection section 30 and collision detection section 22 detect it, change the direction as appropriate,
Do the work.

前記移動作業車１の作業中に床状態検知部７２にて床Ｆ
の状態、例えば木板床、コンクリート床、畳、ジュータ
ン等を検知し、前記移動作業車１の走行速度と掃＃％機
制御・駆動部７１を制御して寛動送風機４４の吸込仕事
率と、吸込具２３を床Ｆに適した吸込具への切替とを行
う、吸込具２３は摺接ブラシの出入による切替、ジュー
タンに適したタービンブラシの停動がオーツドックスな
切替である。During the work of the mobile work vehicle 1, the floor condition detection unit 72 detects the floor F.
detecting the state of the floor, for example, a wooden floor, concrete floor, tatami, carpet, etc., and controlling the traveling speed of the mobile work vehicle 1 and the sweeper control/drive unit 71 to adjust the suction power of the reciprocating blower 44; The suction tool 23 is switched to a suction tool suitable for the floor F. The suction tool 23 is switched by sliding the brush in and out, and the turbine brush stops, which is suitable for jutan, as an orthodox switch.

前記移動作業車１の作業場での作業を終了すると、前記
電動送風機４４は停止し、前記電源フード５４をコード
リール３１に巻き取りながら、前記電源給電部４９に向
い移動し、前記外部電源接続部４８を溝部４７の結合部
に連結する。該結合部への連結が検知されると、前記電
動機供給電源切替部７７への信号の入力にて、蓄電池２
８からの給電に切替え、移動作業車１を前進させて、外
部ＩＥ源接続部４８とｔ源給電部４９との接続を解除し
、次の作業場へ移動する。When the mobile work vehicle 1 finishes working in the workshop, the electric blower 44 stops, moves toward the power supply section 49 while winding the power supply hood 54 around the cord reel 31, and connects the external power supply connection section. 48 is connected to the joint portion of the groove portion 47. When connection to the coupling part is detected, a signal is input to the motor supply power supply switching part 77, and the storage battery 2
8, move the mobile work vehicle 1 forward, disconnect the external IE source connection section 48 and the t-source power supply section 49, and move to the next work site.

本実施例において外部電源接続部４８への電源給電部４
９からの接触初期給電はコンセント・プラグ接続検知部
５０にて車駆動制御部７ｏへの制御言置に交換処理し、
該車駆動制御部７ｏからの制御言置にて車輪電動機駆動
部７６を制御して移動作業車１を電源給電部４９に向い
後退させて接続電極棒８ｏを挾持電極板８１に挿入せし
めて接続する。従って完全に接続するまでは電動機供給
ｔＳ切替部７７による蓄電池２８からの給電を電源給電
部４９による給電に切り替える動作は本実施例では行な
われない、また前記電源給電部４９への外部電源接続部
４８の押圧による接続は本実施例において外部！？ｊｉ
ｔ接続部４８に形成したスイッチにて検知し制御するも
のであるが初期接触時のコンセント・プラグ接続検知部
５０による検出と同時に車駆動制御部７０に組み込まれ
た走行タイマを駆動し一定時間後退きせるようにして行
なってもよい、さらに初期接触後の走行（後退）を蓄電
池２８による給電ではなく電動機供給電源切替部７７に
て切り替えた後行なってもよい。In this embodiment, the power supply section 4 to the external power supply connection section 48
The contact initial power supply from 9 is exchanged with a control statement to the vehicle drive control unit 7o at the outlet/plug connection detection unit 50,
The wheel motor drive unit 76 is controlled by the control instructions from the vehicle drive control unit 7o to move the mobile work vehicle 1 backward toward the power supply unit 49, and the connecting electrode rod 8o is inserted into the clamping electrode plate 81 for connection. do. Therefore, in this embodiment, the operation of switching the power supply from the storage battery 28 by the motor supply tS switching unit 77 to the power supply by the power supply supply unit 49 is not performed until the connection is complete. The connection by pressing 48 is external in this embodiment! ? ji
It is detected and controlled by a switch formed in the T-connection part 48, but at the same time as the outlet/plug connection detection part 50 detects the initial contact, a running timer built into the vehicle drive control part 70 is activated to set the vehicle back for a certain period of time. Further, the traveling (reversing) after the initial contact may be performed after switching the electric power supply switching unit 77 instead of the power supply by the storage battery 28.

前記ｔＲ給電部４９が商用電ｉ（交流１００Ｖ）の場合
は電動機供給電源切替部７７に降圧トランスとＡＣ／Ｄ
Ｃ変換整流・平滑回路を必要とするが電源給電部４９が
直流電源の場合は特に降圧トランス等を必要としない、
前記外部電源接続部４８の押圧を移動作業車１の走行に
よる抑圧ではなく、外部電源接続部４８を直接押し出す
ことで行なってもよい。When the tR power supply unit 49 is commercial electricity i (100V AC), the motor supply power switching unit 77 is equipped with a step-down transformer and an AC/D
A C conversion rectifier/smoothing circuit is required, but if the power supply section 49 is a DC power supply, a step-down transformer etc. is not required.
The external power supply connection part 48 may be pressed by directly pushing out the external power supply connection part 48 instead of being suppressed by traveling of the mobile work vehicle 1.

第９図に示す第２実施例は外部を源接続部４８の接続電
極棒８０を一対の導電板体を一文字に並べて形成したも
のである。従ってｔ源給電部４９の挾持電極板８１への
挿入接続の自由度（方向性）が増し、移動作業車１の多
少ずれたまた斜め方向からの後退によっても接続できる
ものである。In the second embodiment shown in FIG. 9, the connecting electrode rod 80 of the source connecting portion 48 is formed by arranging a pair of conductive plates in a line. Therefore, the degree of freedom (directivity) in inserting and connecting the t-source power feeding section 49 to the clamping electrode plate 81 is increased, and the connection can be made even when the mobile work vehicle 1 is moved backward to some extent or from an oblique direction.

（ト）発明の効果 本発明は外部電源接続部のｔ源給電部への電気的接触を
検出して外部電源接続部をｔ源給電部へ押圧することで
両者の確実な接続が行え、安定した給電と作業が行なわ
れるものである。(g) Effects of the Invention The present invention detects the electrical contact of the external power supply connecting part to the t-source power supply part and presses the external power supply connection part against the t-source power supply part, thereby making it possible to establish a reliable connection between the two, thereby stabilizing the connection between the two. The power supply and work will be carried out.

【図面の簡単な説明】[Brief explanation of the drawing]

図は本発明の実施例を示すもので、第１図は外部Ｎ、源
接続部と電源給電部の接触状態の要部断面図、第２図は
同接続状態の要部断面図、第３図は同接続状態において
電源コードを引き出した要部断面図、第４図は縦断面図
、第５図は第４図のＶ−Ｖ横断面図、第６図は第４図の
■−■横断面図、第７図は第２図と同状態の要部横断面
図、第８図はブロック回路図、第９図は第２実施例を示
す要部分離斜視図である。The figures show an embodiment of the present invention, and FIG. 1 is a cross-sectional view of the main part in the state of contact between the external N, the source connection part and the power supply feeding part, FIG. 2 is a cross-sectional view of the main part in the same connection state, and FIG. The figure is a sectional view of the main part with the power cord pulled out in the same connected state, Fig. 4 is a longitudinal sectional view, Fig. 5 is a cross-sectional view taken along V-V in Fig. 4, and Fig. 6 is a -■-■ in Fig. 4. FIG. 7 is a cross-sectional view of the main part in the same state as FIG. 2, FIG. 8 is a block circuit diagram, and FIG. 9 is an isolated perspective view of the main part showing the second embodiment.

Claims (1)

【特許請求の範囲】 １、搭載した蓄電池にて作業場間を走行し、作業場にお
いて壁に形成した電源給電部を自動検出することで外部
電源接続部を接続して作業を行うものに於て、前記外部
電源接続部の電源給電部への電気的接触を検出して前記
外部電源接続部を電源給電部に向い接続を深くすべく押
圧制御せしめてなる移動作業車。 ２、前記外部電源接続部の電源給電部への電気的接触を
コンセント・プラグ接続検知部にて検出し、該コンセン
ト・プラグ接続検知部からの信号にて左右車輪電動機を
電源給電部に向う方向に走行せしめてなる特許請求の範
囲第１項記載の移動作業車。[Scope of Claims] 1. In an apparatus that travels between workplaces using an on-board storage battery and connects an external power supply connection part by automatically detecting a power supply part formed on the wall in the workplace and performs work, A mobile work vehicle configured to detect electrical contact of the external power supply connection part to the power supply part and perform pressure control to direct the external power supply connection part toward the power supply part and deepen the connection. 2. Electrical contact of the external power supply connection part to the power supply part is detected by the outlet/plug connection detection part, and the left and right wheel electric motors are directed toward the power supply part based on the signal from the outlet/plug connection detection part. A mobile work vehicle according to claim 1, which is made to travel on a vehicle.
JP61115054A 1986-05-20 1986-05-20 Mobile work vehicle Expired - Fee Related JPH0714241B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP61115054A JPH0714241B2 (en) 1986-05-20 1986-05-20 Mobile work vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61115054A JPH0714241B2 (en) 1986-05-20 1986-05-20 Mobile work vehicle

Publications (2)

Publication Number Publication Date
JPS62272804A true JPS62272804A (en) 1987-11-27
JPH0714241B2 JPH0714241B2 (en) 1995-02-15

Family

ID=14653035

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61115054A Expired - Fee Related JPH0714241B2 (en) 1986-05-20 1986-05-20 Mobile work vehicle

Country Status (1)

Country Link
JP (1) JPH0714241B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012095951A1 (en) * 2011-01-12 2012-07-19 トヨタ自動車株式会社 Cord housing apparatus

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012095951A1 (en) * 2011-01-12 2012-07-19 トヨタ自動車株式会社 Cord housing apparatus
CN103444036A (en) * 2011-01-12 2013-12-11 丰田自动车株式会社 Cord housing apparatus
US9038795B2 (en) 2011-01-12 2015-05-26 Toyota Jidosha Kabushiki Kaisha Cord storage apparatus

Also Published As

Publication number Publication date
JPH0714241B2 (en) 1995-02-15

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