The present disclosure relates to an autonomous traveling apparatus which includes a detecting device with a plurality of optical detecting units, each of which detects a detection target object by using light, and autonomously travels while detecting a detection target object by using the detecting device.
In the related art, there is known a detecting device with a plurality of optical detecting units, each of which detects a detection target object by using light, (for example, refer to Japanese Unexamined Patent Application Publication No. 2015-40830) and such a detecting device is built into an autonomous traveling apparatus which autonomously travels while detecting a detection target object, for example.
However, in an autonomous traveling apparatus which includes a detecting device with a plurality of optical detecting units, each of which detects a detection target object by using light, and autonomously travels while detecting a detection target object by using the detecting device, detection ranges of the plurality of optical detecting units may limit each other although depending on the structure of a traveling apparatus body and the arrangement state of the plurality of optical detecting units. In addition, since the plurality of optical detecting units are arranged in a disorderly manner, the structure of the autonomous traveling apparatus becomes complicated.
It is desirable to provide an autonomous traveling apparatus which includes a detecting device with a plurality of optical detecting units, each of which detects a detection target object by using light, and autonomously travels while detecting a detection target object by using the detecting device and with which it is possible to suppress detection ranges of the plurality of optical detecting units being limited and to simplify the structure of the autonomous traveling apparatus.
According to an aspect of the disclosure, there is provided an autonomous traveling apparatus including a detecting device that is provided with a plurality of optical detecting units each of which detects a detection target object by using light. The autonomous traveling apparatus autonomously travels while detecting the detection target object by using the detecting device, and at least two optical detecting units out of the plurality of optical detecting units are arranged in a vertical direction.
Hereinafter, embodiments of the disclosure will be described with reference to drawings.
In addition,
As illustrated in
Each of the plurality of detecting units 210 to 210 detects a detection target object within a detection range that is set in advance (specifically, a detection range in a horizontal direction H, a detection range in a vertical direction V, or a detection range in both of the horizontal direction H and the vertical direction V).
The plurality of detecting units 210 to 210 include the plurality of optical detecting units 211 to 211 each of which detects a detection target object by using light.
Specifically, the autonomous traveling apparatus 100 is a vehicle with a three or four or more wheels (in this example, four wheels) that moves along a predetermined route that is set in advance. The autonomous traveling apparatus 100 includes a driving source provided in the autonomous traveling apparatus 100 (in this example, an electric motor 120 (refer to
It is possible to change both or one of the advancing speed and the advancing direction of the autonomous traveling apparatus 100 by controlling vehicle wheels 150 to 150 (refer to
Such an autonomous traveling apparatus 100 can be used as, for example, a monitoring robot that monitors a monitoring target such as a suspicious person or a suspicious object (the detection target object) while communicating with a monitoring center.
Meanwhile, in an autonomous traveling apparatus in the related art, detection ranges of a plurality of optical detecting units may limit each other although depending on the structure of a traveling apparatus body and the arrangement state of the plurality of optical detecting units. In addition, since the plurality of optical detecting units are arranged in a disorderly manner, the structure of the autonomous traveling apparatus becomes complicated.
In this regard, in the embodiment, at least two or at least three optical detecting units 211 (1) to 211 (n) (where n is an integer of 2 or 3 or more) (in this example, n=5) out of the plurality of optical detecting units 211 to 211 are arranged in the vertical direction V.
In this manner, detection ranges of at least two or at least three optical detecting units 211 (1) to 211 (n) can be arranged in the vertical direction V. Therefore, it is possible to suppress the detection ranges of at least two or at least three optical detecting units 211 (1) to 211 (n) being limited. Furthermore, it is possible to simplify the structure of the autonomous traveling apparatus 100.
In addition, the detection accuracy of the optical detecting units may be deteriorated in a case where the plurality of the optical detecting units are arranged in a disorderly manner. However, since the detection ranges of the optical detecting units 211 (1) to 211 (n) can be arranged in the vertical direction V, it is possible to efficiently suppress deterioration in detecting accuracy of the optical detecting units 211 (1) to 211 (n).
Specifically, the optical detecting units 211 (1) to 211 (n) are arranged in parallel such that the optical detecting units 211 (1) to 211 (n) are positioned on a vertical plane α (refer to
Here, as the optical detecting unit, any optical detecting unit that detects a detection target object by using light can be used. Examples of the optical detecting unit include a light detection and ranging device (or a laser imaging detection and ranging device) (a Lidar device) which specifies the position of a detection target object, the distance to the detection target object, and the shape of the detection target object through irradiation of a light beam (specifically, laser light) and an imaging camera (a photographing camera).
Representative examples of the Lidar device include a two-dimensional Lidar device (so-called 2D Lidar device) which detects a detection target object within a detection range in the horizontal direction H and a three-dimensional Lidar device (so-called 3D Lidar device) which detects a detection target object within a detection range in both of the horizontal direction H and the vertical direction V. Each of the two-dimensional Lidar device and the three-dimensional Lidar device can detect a detection target object in real time by using both or one of a moving image and a still image, for example.
In addition, representative examples of the imaging camera include a camera provided with an imaging element such as a charge coupled device (CCD) image sensor and a complementary metal oxide semiconductor (CMOS) image sensor which are sensitive to visible light. The imaging camera can image a detection target object in real time by using both or one of a moving image and a still image, for example. The imaging camera may be a camera that captures an image by using both or one of infrared light and ultraviolet light instead of visible light or in addition to visible light.
In a first embodiment, two or more optical detecting units 211 (1) to 211(m) out of the optical detecting units 211 (1) to 211 (n) arranged in the vertical direction V may be different from each other in detecting structure for detecting the detection target object (where m is an integer of 2 or more) (in this example, m=3).
In this case, it is possible to detect various detection target objects by a plurality of detection methods which are different from each other and thus it is possible to recognize a detection target object at high accuracy.
The detection ranges in the horizontal direction H of the optical detecting units 211 (1) to 211 (n) may be different from each other. However, if the optical detecting units are arranged in the vertical direction V in a state where the widths of the detection ranges are random, the detection ranges in the horizontal direction H of the optical detecting units 211 (1) to 211 (n) are likely to limit each other. Therefore, it is desirable to make the detection ranges HR (1) to HR (n) in the horizontal direction H of the optical detecting units 211 (1) to 211 (n) be likely to limit each other.
In this regard, in the first embodiment, two or more optical detecting units 211 (1) to 211 (m) (in this example, m=3) out of the optical detecting units 211 (1) to 211 (n) arranged in the vertical direction V may be arranged such that detection ranges HR (1) to HR (m) (refer to
In this case, the two or more optical detecting units 211 (1) to 211 (m) can be arranged such that detection ranges HR (1) to HR (m) thereof in the horizontal direction H become wider from one side toward the other side in the vertical direction V. Therefore, it is possible to make the detection ranges HR (1) to HR (m) in the horizontal direction H of the two or more optical detecting units 211 (1) to 211 (m) be unlikely to limit each other.
The detection range HR (1) in the horizontal direction H of the optical detecting unit 211 (1) which is closest to the one side out of the two or more optical detecting unit 211 (1) to 211 (m) is the narrowest and there may be a case where no detection range in the horizontal direction H is provided as the detection range HR (1).
Meanwhile, as the height of a detection position of each of the optical detecting units 211 (1) to 211 (m) increases, the field of view becomes wider so that a detection target object far away can be detected. Accordingly, it is desirable to arrange the optical detecting units 211 (1) to 211 (m) in the vertical direction V such that the optical detecting units 211 (1) to 211 (m) detect a detection target object with fields of view thereof in the horizontal direction H becoming wider from the lower side to the upper side.
In this regard, in the first embodiment, the two or more optical detecting units 211 (1) to 211 (m) may be arranged such that detection ranges HR (1) to HR (m) thereof in the horizontal direction H become wider from the lower side toward the upper side.
In this case, the two or more optical detecting units 211 (1) to 211 (m) can detect a detection target object with the fields of view thereof in the horizontal direction H becoming wider toward the upper side.
In the first embodiment, central positions or approximately central positions of the detection ranges HR (1) to HR (m) in the horizontal direction H of the two or more optical detecting units 211 (1) to 211 (m) may be aligned with each other in the vertical direction V.
In this case, it is possible for each of the optical detecting units 211 (1) to 211 (m) to reliably detect a detection target object.
Specifically, the central positions or the approximately central positions of the detection ranges HR (1) to HR (m) in the horizontal direction H of the two or more optical detecting units 211 (1) to 211 (m) are arranged in parallel such that the central positions or the approximately central positions of the detection ranges HR (1) to HR (m) are positioned on the vertical plane α.
In the first embodiment, the optical detecting units 211 (1) to 211 (n) arranged in the vertical direction V may include two Lidar devices (in this example, a three-dimensional Lidar device 211 (1) and a two-dimensional Lidar device 211 (3)) and an imaging camera 211 (2).
If the two Lidar devices (in this example, the three-dimensional Lidar device 211 (1) and the two-dimensional Lidar device 211 (3)) detect a detection target object while being positioned close to each other, light beams (specifically, laser light) may interfere with each other and the detecting accuracies of the two Lidar devices may be deteriorated. Therefore, it is desirable to improve the detecting accuracies of the two Lidar devices.
In this regard, in the first embodiment, the imaging camera 211 (2) may be disposed between the two Lidar devices (in this example, between the three-dimensional Lidar device 211 (1) and the two-dimensional Lidar device 211 (3)).
In this case, since the imaging camera 211 (2) is disposed between the two Lidar devices (in this example, between the three-dimensional Lidar device 211 (1) and the two-dimensional Lidar device 211 (3)), it is possible to separate the two Lidar devices away from each other. Therefore, it is possible to suppress light beams (specifically, laser light) from the two Lidar device interfering with each other and thus it is possible to improve the detecting accuracies of the two Lidar devices.
In this example, the three-dimensional Lidar device 211 (1), the imaging camera 211 (2), and the two-dimensional Lidar device 211 (3) are arranged in this order in a direction from one side to the other side in the vertical direction V.
In the first embodiment, the two Lidar devices may be the three-dimensional Lidar device and the two-dimensional Lidar device, and the three-dimensional Lidar device 211 (1), the imaging camera 211 (2), and the two-dimensional Lidar device 211 (3) may be arranged in this order in a direction from the lower side to the upper side such that detection ranges thereof in the horizontal direction H become wider from the lower side toward the upper side.
In this case, the imaging camera 211 (2) can detect a detection target object with a wider field of view in the horizontal direction H than the three-dimensional Lidar device 211 (1) and the two-dimensional Lidar device 211 (3) can detect a detection target object with a wider field of view in the horizontal direction H than the imaging camera 211 (2).
In this example, the detection ranges HR (1), HR (2), and HR (3) in the horizontal direction H of the three-dimensional Lidar device 211 (1), the imaging camera 211 (2), and the two-dimensional Lidar device 211 (3) are a 60-degree range, a 197-degree range, and a 270-degree range, respectively. The detection ranges in the vertical direction H of the three-dimensional Lidar device 211 (1) and the imaging camera 211 (2) are a 50-degree range and a 120-degree range, respectively.
Examples of the optical detecting unit further include an infrared camera (a so-called infrared (IR) camera) and an omnidirectional camera.
Representative examples of the infrared camera include an infrared imaging camera provided with an infrared detecting element which is sensitive to infrared light. The infrared imaging camera can image a detection target object (an imaging target object) in real time by using both or one of a moving image and a still image, for example. Examples of infrared detecting element include an indium gallium arsenide (InGaAs) element (with a sensible wavelength range of approximately 0.9 μm to 1.7 μm, for example), an indium antimonide (InSb) element (with a sensible wavelength range of approximately 1.5 μm to 5 μm, for example), and a microbolometer (with a sensible wavelength range of approximately 7 μm to 14 μm, for example).
In addition, the omnidirectional camera is a camera that can perform an imaging operation over the whole circumference in the horizontal direction H and may be a camera of which a non-imaging area is both or one of a partial area including an area immediately above the camera and a partial area including an area immediately below the camera.
Examples of the omnidirectional camera include an omnidirectional imaging camera in which a single imaging camera rotates in the horizontal direction H or in a direction approximately parallel to the horizontal direction H (rotating around a rotation axis that extends along the vertical direction V or in a direction approximately parallel to the vertical direction V), an omnidirectional imaging camera provided with a single imaging fisheye camera (for example, a fisheye lens with an angle of view in the vertical direction V exceeding 180 degrees), and an omnidirectional imaging camera in which a plurality of imaging cameras are arranged in parallel such that angles of view of the imaging cameras overlap each other and the imaging cameras are positioned radially and uniformly in the horizontal direction. The omnidirectional imaging camera can image a detection target object (an imaging target object) in real time by using both or one of a moving image and a still image, for example.
In the first embodiment, the optical detecting units 211 (1) to 211 (n) arranged in the vertical direction V may further include an infrared camera 211 (4) and an omnidirectional camera 211 (5). In this example, the infrared camera 211 (4) and the omnidirectional camera 211 (5) are provided on the front side of the autonomous traveling apparatus 100.
Meanwhile, since the infrared camera is suitable for an in-dark place imaging operation (for example, an at-night imaging operation) and the omnidirectional camera can perform an imaging operation over the whole circumference in the horizontal direction, it is desirable that any of the infrared camera and the omnidirectional camera is disposed at a high position.
In this regard, the infrared camera 211 (4) and the omnidirectional camera 211 (5) may be provided above other optical detecting units (in this example, the three-dimensional Lidar device 211 (1), the imaging camera 211 (2) and the two-dimensional Lidar device 211 (3)) out of the optical detecting units 211 (1) to 211 (n) arranged in the vertical direction V (that is, above optical detecting units other than the infrared camera 211 (4) and the omnidirectional camera 211 (5)).
In this case, it is possible for the infrared camera 211 (4) to perform an in-dark place imaging operation (for example, an at-night imaging operation) with respect to a detection target object (an imaging target object) with a wide field of view at a high position and it is possible for the omnidirectional camera 211 (5) to image a detection target object (an imaging target object) over the whole circumference in the horizontal direction at a high position.
In the second embodiment, the infrared camera 211 (4) and the omnidirectional camera 211 (5) may be arranged in this order in a direction from the lower side to the upper side.
In this case, it is possible for the omnidirectional camera 211 (5) to reliably image a detection target object (an imaging target object) over the whole circumference in the horizontal direction H at a higher position than the infrared camera 211 (4).
Meanwhile, in a case where the infrared camera 211 (4) and the omnidirectional camera 211 (5) image a detection target object (an imaging target object) positioned higher than a traveling apparatus body 101, it may be difficult for the infrared camera 211 (4) and the omnidirectional camera 211 (5) to sufficiently image the detection target object (the imaging target object). Therefore, to improve imaging functions of the infrared camera 211 (4) and the omnidirectional camera 211 (5), it is desirable that the infrared camera 211 (4) and the omnidirectional camera 211 (5) are disposed at higher positions.
In this regard, in the second embodiment, the autonomous traveling apparatus 100 may further include the traveling apparatus body 101 that is provided with two or more optical detecting units 211 (1) to 211(m) out of the optical detecting units 211 (1) to 211 (n) arranged in the vertical direction V (in this example, m=3), the lifting and lowering table 102, and the lifting and lowering device 103 that lifts and lowers the lifting and lowering table 102 with respect to the traveling apparatus body 101.
Specifically, the lifting and lowering device 103 are provided on an upper portion of the traveling apparatus body 101 of the autonomous traveling apparatus 100.
The lifting and lowering device 103 includes a parallel link mechanism 1031 (refer to
The parallel link mechanism 1031 supports the lifting and lowering table 102 and lifts and lowers the lifting and lowering table 102 while keeping the lifting and lowering table 102 upright with respect to the horizontal direction or a direction approximately parallel to the horizontal direction. The parallel link mechanism 1031 includes a first supporting arm 1031a and a second supporting arm 1031b (refer to
One end portion of the first supporting arm 1031a supports the lifting and lowering table 102 and the other end of the first supporting arm 1031a is supported by the traveling apparatus body 101. Specifically, the one end portion of the first supporting arm 1031a supports the lifting and lowering table 102 such that the lifting and lowering table 102 can rotate around a first rotation axis (specifically, a first rotation shaft Q1 (refer to
The second supporting arm 1031b is positioned below the first supporting arm 1031a. One end portion of the second supporting arm 1031b supports the lifting and lowering table 102 and the other end of the second supporting arm 1031b is supported by the traveling apparatus body 101. Specifically, the one end portion of the second supporting arm 1031b supports the lifting and lowering table 102 such that the lifting and lowering table 102 can rotate around a third rotation axis (in this example, a third rotation shaft Q3 which is closer to the front side than the first rotation shaft Q1 is (refer to
The rotation supporting portion 1032 supports a base end portion of the parallel link mechanism 1031 such that the parallel link mechanism 1031 can rotate around a rotation axis that extends in the horizontal direction H.
The driving unit 1033 drives the parallel link mechanism 1031 to lift and lower the parallel link mechanism 1031. The driving unit 1033 is provided with a driving unit body 1033a which is supported by the traveling apparatus body 101 (refer to
In addition, the connecting member 1034 connects the parallel link mechanism 1031 and the driving unit 1033 to each other. One end portion of the connecting member 1034 rotates around the second rotation axis (specifically, the second rotation shaft Q2) along with the first supporting arm 1031a or rotates around the fourth rotation axis (specifically, the fourth rotation shaft Q4) along with the second supporting arm 1031b. In this example, the one end portion of the connecting member 1034 is fixed to the second supporting arm 1031b and rotates integrally with the second supporting arm 1031b. A base end portion of the driving unit body 1033a of the driving unit 1033 is supported by the traveling apparatus body 101 such that the base end portion can rotate around a fifth rotation axis (specifically, a fifth rotation shaft Q5 (refer to
In the lifting and lowering device 103 having a configuration as described above, the parallel link mechanism 1031 is rotated in a first rotation direction R1 (refer to
In addition, the infrared camera 211 (4) and the omnidirectional camera 211 (5) may be provided on the lifting and lowering table 102.
In this case, the infrared camera 211 (4) and the omnidirectional camera 211 (5) can be disposed at further higher positions. Therefore, it is possible for the infrared camera 211 (4) and the omnidirectional camera 211 (5) to reliably image a detection target object (an imaging target object) even in a case where the infrared camera 211 (4) and the omnidirectional camera 211 (5) image a detection target object (an imaging target object) positioned higher than the traveling apparatus body 101.
Note that, the plurality of detecting units 210 to 210 include one ultrasonic wave detecting unit 210 (212) or a plurality of (in this example, two) ultrasonic wave detecting units 210 (212) and 210 (212) (refer to
In addition, a cover member 300 and the like which are illustrated in
In addition,
In the third embodiment, the autonomous traveling apparatus 100 may further include the traveling apparatus body 101 that is provided with the two or more optical detecting units 211 (1) to 211 (m) out of the optical detecting units 211 (1) to 211 (n) (in this example, m=3) arranged in the vertical direction V and the cover member 300 (refer to
In a case where the cover member 300 which covers the traveling apparatus body 101 is a single member, the entire cover member 300 is removed when the two or more optical detecting units 211 (1) to 211 (m) are exposed for a maintenance operation for the two or more optical detecting units 211 (1) to 211 (m) or the like. Therefore, there is an adverse influence on the workability in the maintenance operation or the like. Accordingly, it is desirable to improve the workability in the maintenance operation for the like of the two or more optical detecting units 211 (1) to 211 (m).
In this regard, in the third embodiment, the cover member 300 may include a body covering portion 310 (refer to
In this case, it is possible to remove only the optical detecting unit covering portion 320 which is a portion of the cover member 300 and covers the two or more optical detecting units 211 (1) to 211 (m) even when the two or more optical detecting units 211 (1) to 211 (m) are exposed for the maintenance operation for the two or more optical detecting units 211 (1) to 211 (m) or the like. Therefore, it is possible to improve the workability in the maintenance operation or the like for the two or more optical detecting units 211 (1) to 211 (m).
Meanwhile, if the optical detecting unit covering portion 320 is attached to the body covering portion 310, there is a decrease in attachment strength of the optical detecting unit covering portion 320. Accordingly, it is desirable to improve the attachment strength of the optical detecting unit covering portion 320.
In this regard, in the third embodiment, the autonomous traveling apparatus 100 may further include an optical detecting unit fixing frame 104 (refer to
In this case, it is possible to attach the optical detecting unit covering portion 320 to the optical detecting unit fixing frame 104 having a larger strength than the body covering portion 310. Therefore, it is possible to improve the attachment strength of the optical detecting unit covering portion 320.
Specifically, the traveling apparatus body 101 is provided with a body frame 101a (refer to
The body covering portion 310 is attached and fixed to the body frame 101a. A plurality of (in this example, two) fixation tools 101b and 101b (specifically, an equilateral or scalene mountain-shaped steel that constitutes an L-shaped fixation tool (a so-called L-angle)) (refer to
A through hole 101b1 (refer to
The body covering portion 310 is attached to the body frame 101a with a fixation members SC1 and SC1 (refer to
In addition, the optical detecting unit fixing frame 104 extends in the front-rear direction Hy and has a hollow hexahedron shape of which the front surface and the rear surface are open. One side in the vertical direction V (in this example, the lower side) of the front surface of the optical detecting unit fixing frame 104 is inclined frontward so that the area of a bottom surface is larger than the area of a flat surface. The optical detecting unit fixing frame 104 is provided with triangular openings HL1 and HL1 each of which is disposed on the front side of each of a right side plate 104b (refer to
The rear side end portion of the optical detecting unit fixing frame 104 is fixed to the body frame 101a with fixation members BT such as bolts (refer to
The optical detecting unit 211 (1) is fixed to an upper surface 104e1 (refer to
The optical detecting unit 211 (2) is fixed to one fixation portion 320a or a plurality of (in this example, two) fixation portions 320a and 320a (refer to
The optical detecting unit 211 (3) is fixed to one fixation portion 320a or a plurality of (in this example, two) fixation portions (not shown) provided on the front side of an upper surface 104d1 of the top plate 104d (refer to
In addition, the optical detecting unit covering portion 320 is provided with one boss 320c or a plurality of (in this example, four) bosses 320c to 320c (refer to
The positioning members 320d and 320d of the optical detecting unit covering portion 320 having a configuration as described above are inserted into the positioning through holes 104f and 104f provided in the optical detecting unit fixing frame 104. In addition, the fixation members SC4 and SC4 such as screws are fastened to the bosses 320c to 320c while being inserted into fixation portions 104a to 104a provided in the optical detecting unit fixing frame 104. Therefore, it is possible for the optical detecting unit fixing frame 104 to fix the optical detecting unit covering portion 320 in a state where the optical detecting unit covering portion 320 has been positioned.
In the third embodiment, the two or more optical detecting units 211 (1) to 211 (m) out of the optical detecting units 211 (1) to 211 (n) arranged in the vertical direction V may protrude outwards (in this example, upwards) from the traveling apparatus body 101.
Meanwhile, in a case where the two or more optical detecting units 211 (1) to 211 (m) protrude outwards (in this example, upwards) from the traveling apparatus body 101, if the cover member 300 is a single member, the cover member 300 is likely to come into contact with the two or more optical detecting units 211 (1) to 211 (m) when the cover member 300 is attached to the traveling apparatus body 101 and thus the two or more optical detecting units 211 (1) to 211 (m) may be scratched or damaged. Accordingly, it is desirable to suppress the two or more optical detecting units 211 (1) to 211 (m) being scratched or damaged.
In this regard, in the third embodiment, the optical detecting unit covering portion 320 (in this example, the first optical detecting unit covering portion 321) may cover the two or more optical detecting units 211 (1) to 211 (m) which protrude outwards (in this example, upwards) from the body covering portion 310 which is formed separately from the optical detecting unit covering portion 320.
In this case, it is possible to attach the optical detecting unit covering portion 320 after attaching the body covering portion 310 in a state where the two or more optical detecting units 211 (1) to 211 (m) are provided on the traveling apparatus body 101. Accordingly, it is possible to make the optical detecting unit covering portion 320 to be unlikely to come into contact with the two or more optical detecting units 211 (1) to 211 (m) and to suppress the two or more optical detecting units 211 (1) to 211 (m) being scratched or damaged.
Specifically, the traveling apparatus body 101 is formed such that the height of the traveling apparatus body 101 decreases toward the rear side (specifically, the traveling apparatus body 101 is formed to have a linear shape, a curved shape, or a streamline shape). The body covering portion 310 is formed in accordance with the shape of the traveling apparatus body 101. Meanwhile, the optical detecting unit fixing frame 104 is formed to be kept upright with respect to the horizontal direction or a direction approximately parallel to the horizontal direction. Accordingly, the front side of the optical detecting unit fixing frame 104 which protrudes from the traveling apparatus body 101 has a triangular shape or an approximately triangular shape.
In addition, the optical detecting unit covering portion 320 includes opening portions 320e (1) to 320e (m) (refer to
Therefore, it is possible for the two or more optical detecting units 211 (1) to 211 (m) to reliably detect a detection target object even if the optical detecting unit covering portion 320 covers the two or more optical detecting units 211 (1) to 211 (m).
Specifically, the opening portions 320e (1) to 320e (m) are formed such that the opening portions 320e (1) to 320e (m) do not interrupt the detection ranges HR (1) to HR (m) of the two or more optical detecting units 211 (1) to 211 (m).
In the third embodiment, the optical detecting unit covering portion 320 may include the first optical detecting unit covering portion 321 (refer to
The first optical detecting unit covering portion 321 covers the two or more optical detecting units 211 (1) to 211 (m) provided on the traveling apparatus body 101 except for the entire portion or a portion of a tip end position optical detecting unit 211 (m) (in this example, the two-dimensional Lidar device 211 (3)) (in this example, a portion of the tip end position optical detecting unit 211 (m), specifically, an upper side of the two-dimensional Lidar device 211 (3)) which is an optical detecting unit positioned at a tip end position out of the two or more optical detecting units 211 (1) to 211 (m) provided on the traveling apparatus body 101 (in this example, the first optical detecting unit covering portion 321 covers a lower side of the two-dimensional Lidar device 211 (3), the three-dimensional Lidar device 211 (1), and the imaging camera 211 (2)). The second optical detecting unit covering portion 322 covers the entire portion or a portion of the tip end position optical detecting unit 211 (m) which protrudes outwards (in this example, upwards) from the first optical detecting unit covering portion 321 (in this example, the second optical detecting unit covering portion 322 covers a portion of the tip end position optical detecting unit 211 (m), specifically, the upper side of the two-dimensional Lidar device 211 (3)).
Meanwhile, if the first optical detecting unit covering portion 321 and the second optical detecting unit covering portion 322 are integrally formed with each other, it is difficult to manufacture the optical detecting unit covering portion 320 with ease. Therefore, it is desirable to manufacture the optical detecting unit covering portion 320 with ease.
In this regard, in the third embodiment, the first optical detecting unit covering portion 321 and the second optical detecting unit covering portion 322 may be formed separately from each other.
In this case, it is possible to manufacture the first optical detecting unit covering portion 321 and the second optical detecting unit covering portion 322 separately. Accordingly, it is possible to manufacture the optical detecting unit covering portion 320 with ease.
Specifically, a portion of the tip end position optical detecting unit 211 (m) protrudes outwards (in this example, upwards) from the first optical detecting unit covering portion 321. The first optical detecting unit covering portion 321 is attached and fixed to the optical detecting unit fixing frame 104. The second optical detecting unit covering portion 322 is attached and fixed to the first optical detecting unit covering portion 321.
The first optical detecting unit covering portion 321 includes a first top plate 321a that extends in the horizontal direction or in a direction approximately parallel to the horizontal direction (refer to
The first top plate 321a passes through an upper side of the tip end position optical detecting unit 211 (m) and covers a lower side of the tip end position optical detecting unit 211 (m) and the optical detecting units 211 (1) to 211 (m-1) while being positioned above the lower side of the tip end position optical detecting unit 211 (m) and the optical detecting units 211 (1) to 211 (m-1). The first left side plate 321b, the first front surface plate 321c, the first right side plate 321d covers the lower side of the tip end position optical detecting unit 211 (m) and the optical detecting units 211 (1) to 211 (m-1) while being positioned on the left side, the front side, and the right side of the lower side of the tip end position optical detecting unit 211 (m) and the optical detecting units 211 (1) to 211 (m-1), respectively.
The first left side plate 321b and the first right side plate 321d are formed such that a gap therebetween becomes larger toward the rear side.
The first top plate 321a, the first left side plate 321b, the first front surface plate 321c, and the first right side plate 321d are integrally formed with each other to constitute the first optical detecting unit covering portion 321. In addition, the first front surface plate 321c is provided with the opening portions 320e (1) and 320e (2) for the optical detecting units 211 (1) and 211 (2) which penetrate the first front surface plate 321c in the front-rear direction Hy and the first top plate 321a is provided with the opening portion 320e (m) for the optical detecting unit 211 (m) which penetrates the first top plate 321a in the vertical direction V.
The second optical detecting unit covering portion 322 includes a second top plate 322a that extends in the horizontal direction or in a direction approximately parallel to the horizontal direction (refer to
The second top plate 322a covers the upper side (specifically, an upper surface 2111 (refer to
The second top plate 322a, the second left side plate 322b, the second front surface plate 322c, and the second right side plate 322d are integrally formed with each other to constitute the second optical detecting unit covering portion 322.
In the third embodiment, the tip end position optical detecting unit 211 (m) may have a detection range HR (m) (in this example, HR (3)) in which a detection target object is detected and a non-detection range NHR (m) (in this example, NHR (3)) in which the detection target object is not detected (refer to
Meanwhile, if the second optical detecting unit covering portion 322 is provided within the detection range HR (m) of the tip end position optical detecting unit 211 (m), the second optical detecting unit covering portion 322 interrupts a detecting operation of the tip end position optical detecting unit 211 (m) with the second optical detecting unit covering portion 322 being positioned within the detection range HR (m) of the tip end position optical detecting unit 211 (m). Therefore, it is desirable to restrict the second optical detecting unit covering portion 322 from interrupting the detecting operation of the tip end position optical detecting unit 211 (m).
In this regard, in the third embodiment, the second optical detecting unit covering portion 322 may be provided to extend toward the upper surface 2111 of the tip end position optical detecting unit 211 (m) from the first optical detecting unit covering portion 321 in the non-detection range NHR (m) of the tip end position optical detecting unit 211 (m).
In this case, it is possible to restrict the second optical detecting unit covering portion 322 from being positioned within the detection range HR (m) of the tip end position optical detecting unit 211 (m). Therefore, it is possible to restrict the second optical detecting unit covering portion 322 from interrupting the detecting operation of the tip end position optical detecting unit 211 (m).
Specifically, the second optical detecting unit covering portion 322 is positioned at the central position or the approximately central position in the horizontal direction H of the non-detection range NHR (m) of the tip end position optical detecting unit 211 (m).
The second optical detecting unit covering portion 322 includes a first covering portion 3221 which is provided to extend toward the upper surface 2111 of the tip end position optical detecting unit 211 (m) from the first optical detecting unit covering portion 321 (refer to
Meanwhile, since the tip end position optical detecting unit 211 (m) is an optical detecting unit positioned at a tip end position out of the two or more optical detecting units 211 (1) to 211 (m) provided on the traveling apparatus body 101, if the autonomous traveling apparatus 100 is operated in an environment such as an outdoor environment in which water may fall onto the autonomous traveling apparatus 100, water droplets such as rain are likely to adhere to the tip end position optical detecting unit 211 (m). Therefore, it is desirable to make water droplets such as rain be unlikely to adhere to the tip end position optical detecting unit 211 (m) even in a case where the autonomous traveling apparatus 100 is operated in an environment such as an outdoor environment in which water may fall onto the autonomous traveling apparatus 100.
In this regard, in the third embodiment, the second optical detecting unit covering portion 322 may include a projecting portion 3222a that projects outwards in the horizontal direction H from the upper surface 2111 of the tip end position optical detecting unit 211 (m) (refer to
In this case, it is possible to cause the projecting portion 3222a of the second optical detecting unit covering portion 322 which projects outwards in the horizontal direction H from the upper surface 2111 of the tip end position optical detecting unit 211 (m) to function as a roof. Therefore, it is possible to make water droplets such as rain be unlikely to adhere to the tip end position optical detecting unit 211 (m) even in a case where the autonomous traveling apparatus 100 is operated in an environment such as an outdoor environment in which water may fall onto the autonomous traveling apparatus 100.
Specifically, the projecting portion 3222a of the second covering portion 3222 constitutes a roof that projects outwards in the horizontal direction H from the upper surface 2111 of the tip end position optical detecting unit 211 (m) by a predetermined distance which is determined in advance. Fixation of Second Optical Detecting Unit Covering Portion
Meanwhile, even in a case where the second optical detecting unit covering portion 322 is provided to extend toward the upper surface 2111 of the tip end position optical detecting unit 211 (m) from the first optical detecting unit covering portion 321, there is still a possibility that the attachment strength of the second optical detecting unit covering portion 322 with respect to the first optical detecting unit covering portion 321 may decrease. Therefore, it is desirable to improve the attachment strength of the second optical detecting unit covering portion 322 with respect to the first optical detecting unit covering portion 321.
In this regard, in the third embodiment, the first optical detecting unit covering portion 321 may include a body portion 321a1 (refer to
In this case, it is possible to reinforce the second optical detecting unit covering portion 322 with the protrusion portion 321e. Therefore, it is possible to improve the attachment strength of the second optical detecting unit covering portion 322 with respect to the first optical detecting unit covering portion 321.
Specifically, the body portion 321a1 is a flat surface-shaped covering portion. The body portion 321a1 extends in the horizontal direction H or in a direction approximately parallel to the horizontal direction H. The protrusion portion 321e is erected on the body portion 321a1 at the right angle or an approximately right angle. The protrusion portion 321e includes a pair of first protrusion portions 321e1 and 321e1 (refer to
The pair of first protrusion portions 321e1 and 321e1 and the second protrusion portion 321e2 are integrally formed with each other to constitute the protrusion portion 321e. The body portion 321a1 and the protrusion portion 321e are integrally formed with each other to constitute the first top plate 321a.
A rear side end portion of the second optical detecting unit covering portion 322 (in this example, the second top plate 322a) is locked onto the first optical detecting unit covering portion 321 (in this example, the first top plate 321a).
The rear side end portion of the second optical detecting unit covering portion 322 (in this example, the second top plate 322a) is provided with one engaging claw 322a1 or a plurality of (in this example, two) engaging claws 322a1 and 322a1 (refer to
The second optical detecting unit covering portion 322 is fixed to the first optical detecting unit covering portion 321 in the horizontal direction H via the engaging claws 322a1 and 322a1. The engaging claws 322a1 and 322a1 are locked while being inserted into the lock portions 321a2 and 321a2 provided in the first optical detecting unit covering portion 321.
The second optical detecting unit covering portion 322 (in this example, the second top plate 322a) is provided with one fixation portion 322e or a plurality of (in this example, three) fixation portions 322e to 322e (refer to
The second optical detecting unit covering portion 322 is attached and fixed to the first optical detecting unit covering portion 321 with the fixation members SC5 to SC5 such as screws. The fixation members SC5 to SC5 are fastened to the fixation portions 322e to 322e while being inserted into the through holes 321a3 to 321a3 provided in the first optical detecting unit covering portion 321. In addition, the second optical detecting unit covering portion 322 is positioned by the positioning members 322f and 322f. The positioning members 322f and 322f are inserted into the positioning through holes 321a4 to 321a4 provided in the first optical detecting unit covering portion 321. Shape of First Optical Detecting Unit Covering Portion
Meanwhile, in a case where the size (in this example, the size in the horizontal direction H) of a portion of the first optical detecting unit covering portion 321 which is close to the traveling apparatus body 101 is equal to or smaller than the size (in this example, the size in the horizontal direction H) of a portion of the first optical detecting unit covering portion 321 which is distant from the traveling apparatus body 101, it is desirable to attach the first optical detecting unit covering portion 321 while paying attention to restrict the first optical detecting unit covering portion 321 from coming into contact with the two or more optical detecting units 211 (1) to 211 (m) in a state where the two or more optical detecting units 211 (1) to 211 (m) are provided on the traveling apparatus body 101. This is because the first optical detecting unit covering portion 321 is likely to come into contact with the two or more optical detecting units 211 (1) to 211 (m) and the two or more optical detecting units 211 (1) to 211 (m) are likely to be scratched or damaged. Therefore, it is desirable to suppress the two or more optical detecting units 211 (1) to 211 (m) being scratched or damaged.
In this regard, in the third embodiment, the first optical detecting unit covering portion 321 may have a trapezoidal shape or an approximately trapezoidal shape and the size (in this example, the size in the horizontal direction H) of a portion of the first optical detecting unit covering portion 321 which is close to the traveling apparatus body 101 may be larger than the size (in this example, the size in the horizontal direction H) of a portion of the first optical detecting unit covering portion 321 which is distant from the traveling apparatus body 101.
In this case, it is possible to make the first optical detecting unit covering portion 321 be unlikely to come into contact with the two or more optical detecting units 211 (1) to 211 (m) when attaching the first optical detecting unit covering portion 321 to the traveling apparatus body 101 which is provided with the two or more optical detecting units 211 (1) to 211 (m) and to suppress the two or more optical detecting units 211 (1) to 211 (m) being scratched or damaged.
Specifically, the first optical detecting unit covering portion 321 is formed to have an isosceles trapezoid shape or an approximately isosceles trapezoid shape as seen from a predetermined direction (in this example, from the front surface side). The first left side plate 321b and the first right side plate 321d of the first optical detecting unit covering portion 321 are formed such that a gap therebetween becomes smaller from one side in the vertical direction V (in this example, the lower side) toward the other side in the vertical direction V (in this example, the upper side). In addition, the first optical detecting unit covering portion 321 is formed to have a trapezoidal shape or an approximately isosceles trapezoidal shape as seen from a predetermined direction (in this example, from the right surface side or the left surface side). One side of the first front surface plate 321c in the vertical direction V (in this example, the lower side) is inclined frontwards.
Meanwhile, in a case where the first optical detecting unit covering portion 321 is fixed to the optical detecting unit fixing frame 104 and the second optical detecting unit covering portion 322 is fixed to the first optical detecting unit covering portion 321, a distance between the first optical detecting unit covering portion 321 and the fixation portions 104a to 104a of the optical detecting unit fixing frame 104 and a distance between the first optical detecting unit covering portion 321 and the fixation portions 322e to 322e of the second optical detecting unit covering portion 322 are likely to become long. Therefore, it is desirable to extend the fixation portions 104a to 104a of the optical detecting unit fixing frame 104 toward the first optical detecting unit covering portion 321 side and it is desirable to extend the fixation portions 322e to 322e of the second optical detecting unit covering portion 322 to the first optical detecting unit covering portion 321 side. In this case, the strengths of the fixation portions 104a to 104a of the optical detecting unit fixing frame 104 and the fixation portions 322e to 322e of the second optical detecting unit covering portion 322 are likely to decrease. Therefore, it is desirable to improve the strengths of the fixation portions 104a to 104a of the optical detecting unit fixing frame 104 and the fixation portions 322e to 322e of the second optical detecting unit covering portion 322.
In this regard, in the third embodiment, the first optical detecting unit covering portion 321 may be provided with a first base 321f (refer to
In this case, it is possible to restrict the fixation portions 104a to 104a of the optical detecting unit fixing frame 104 from extending toward the first optical detecting unit covering portion 321 side or to suppress the fixation portions 104a of the optical detecting unit fixing frame 104 extending toward the first optical detecting unit covering portion 321 side and it is possible to restrict the fixation portions 322e to 322e of the second optical detecting unit covering portion 322 from extending toward the first optical detecting unit covering portion 321 side or to suppress the fixation portions 322e of the second optical detecting unit covering portion 322 extending toward the first optical detecting unit covering portion 321 side. Therefore, it is possible to improve the strengths of the fixation portions 104a to 104a of the optical detecting unit fixing frame 104 and the fixation portions 322e to 322e of the second optical detecting unit covering portion 322.
Specifically, the first base 321f is a protrusion portion that protrudes toward the second optical detecting unit covering portion 322 side (refer to
The front side of the first erected portion 321f1 of the first base 321f constitutes the second protrusion portion 321e2 and the right and left sides of the first erected portion 321f1 constitute a portion of the pair of first protrusion portions 321e1 and 321e1. The rear side of the first erected portion 321f1 is provided with a connection portion 321f1a (refer to
The first flat surface portion 321f2 of the first base 321f is provided with the through holes 321a3 to 321a3 and the positioning through holes 321a4 to 321a4.
In addition, the second base 321g is a protrusion portion that protrudes toward the optical detecting unit fixing frame 104 side (refer to
The second base 321g has a rectangular parallelepiped-like shape. That is, each of the second erected portion 321g1 and the second flat surface portion 321g2 of the second base 321g has a square shape or a rectangular shape.
The bosses 320c to 320c and the positioning members 320d and 320d are provided on a portion of the second flat surface portion 321g2 of the second base 321g which is close to the optical detecting unit fixing frame 104 side. In addition, the second flat surface portion 321g2 is provided with a plurality of through holes 320f to 320f (specifically, drain holes) (refer to
The disclosure is not limited to the above-described embodiments and can be implemented in various forms which are different from the above-described embodiments. Therefore, the above-described embodiments are merely an example in every respect and are not to be construed as limiting the scope of the disclosure. The scope of the disclosure is defined by the claims and is not restricted by the description in the specification. All modifications and changes within the range of equivalents of the claims are within the scope of the present disclosure.
The present disclosure contains subject matter related to that disclosed in Japanese Priority Patent Application JP 2016-173690 filed in the Japan Patent Office on Sep. 6, 2016, the entire contents of which are hereby incorporated by reference.
It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and alterations may occur depending on design requirements and other factors insofar as they are within the scope of the appended claims or the equivalents thereof.
Number | Date | Country | Kind |
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2016-173690 | Sep 2016 | JP | national |