JP2022128197A - Movable body and movable body control method - Google Patents

Abstract

To convey a truck in a stable state.SOLUTION: A movable body 1 includes a movable body main body 2, a holding part 3, a driving part, and a control part. The holding part 3 holds a truck 300 by lifting at least a part of the truck 300 while at least a part of the movable body main body 2 enters a lower side of the truck 300. The truck 300 is movable with a plurality of wheels 330 provided at a lower part of a truck main body 310 having a bottom part 320. The driving part moves the movable body main body 2. The control part controls the driving part such that at least a part of the movable body main body 2 enters a lower side of the bottom part 320 from a short side part 321 of the bottom part 320 of the truck 300. Further, the control part controls the driving part while the track 300 is held by the holding part 3 to move the movable body main body 2 so that the truck 300 is conveyed.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to mobile bodies and mobile body control methods. More specifically, the present disclosure relates to a moving body for transporting a trolley and a moving body control method.

Patent Literature 1 discloses a transport device for transporting a carriage such as a car carriage. The conveying device is connected to the truck by getting under the truck and raising the lift plate to lift the bottom surface of the loading section of the truck. An unmanned guided vehicle conveys a carriage by traveling while being coupled with the carriage.

JP 2020-77295 A

The above automatic guided vehicle is connected to the carriage by lifting the lift plate and lifting the bottom surface of the loading plate in a state where the long side of the loading plate, which is rectangular in plan view, is inserted under the carriage. Here, the truck is provided with fences along three sides (a long side and two short sides on both sides) of the outer periphery of the loading plate, and is provided along the short sides by flipping up the loading plate. There is a folding trolley that can fold two fences. When such a foldable cart is conveyed by a conveying device, when the conveying device slips under the cart from the long side portion of the loading plate, the lifting plate is raised to lift the bottom surface of the loading plate. jumps up, and the trolley becomes foldable. As a result, the state of the carriage becomes unstable, and there is a possibility that the transport state in which the AGV transports the carriage becomes unstable.

An object of the present disclosure is to provide a moving body and a moving body control method capable of transporting a cart in a stable state.

A moving body according to one aspect of the present disclosure includes a moving body main body, a holding section, a driving section, and a control section. The holding unit holds the carriage by lifting at least a part of the carriage in a state in which at least a part of the moving body main body is inserted under the carriage. The truck is movable on a plurality of wheels provided at the bottom of a truck body having a bottom. The driving section moves the moving body main body. The control section controls the driving section. The control unit controls the driving unit such that at least a portion of the moving body main body enters from the short side portion of the bottom of the carriage to the lower side of the bottom. The control unit transports the carriage by controlling the driving unit to move the moving body main body while the holding unit holds the carriage.

A mobile body according to one aspect of the present disclosure includes a mobile body body, a holding section, and a steering assist section. The holding unit holds the carriage by lifting at least a part of the carriage in a state in which at least a part of the moving body main body is inserted under the carriage. The truck is movable on a plurality of wheels provided at the bottom of a truck body having a bottom. The plurality of wheels include a fixed wheel arranged at one end in the longitudinal direction of the bottom and rotatable along a predetermined direction, and a fixed wheel arranged at the other end in the longitudinal direction of the bottom and rotatable in all circumferential directions. Including free wheel. The steering assisting part is provided on the moving body main body and causes the moving direction of the carriage to follow the moving direction of the moving body body by coming into contact with the carriage body. At least one holding portion is provided on both sides in the front-rear direction of the moving body main body. The steering assisting part is arranged on the holding part on the front side of the moving body main body. The holding portion holds the truck in a state in which the free wheels of the truck are in contact with the moving surface and the fixed wheels of the truck are floating from the moving surface.

A moving body control method according to one aspect of the present disclosure is a moving body control method for controlling a moving body. The moving body includes a moving body main body, a holding section, and a driving section. The holding unit holds the carriage by lifting at least a part of the carriage in a state in which at least a part of the moving body main body is inserted under the carriage. The carriage is movable on wheels provided at the bottom of a carriage body having a bottom. The driving unit moves the moving body main body. The moving body control method includes a first step and a second step. In the first step, the driving section is controlled such that at least a part of the moving body main body enters from the short side portion of the bottom of the carriage to the lower side of the bottom. In the second step, the carriage is conveyed by controlling the driving section to cause the moving body main body to travel while the holding section holds the carriage.

A moving body control method according to one aspect of the present disclosure includes a holding step and a transporting step. In the holding step, the moving body main body holds the carriage in either the first holding state or the second holding state. The carriage is movable with two fixed wheels each rotatable along a predetermined direction and a free wheel rotatable in all circumferential directions. In the conveying step, the cart is conveyed while the movable body main body holds the cart. The first holding state is a state in which the free wheel is in contact with the moving surface and the two fixed wheels are lifted from the moving surface to hold the carriage. The second holding state is a state in which the carriage is held while the two fixed wheels and the free wheel are all floating from the moving surface. In the holding step, the carriage is held in the first holding state when the moving body main body enters the lower side of the carriage from between the two fixed wheels.

According to the present disclosure, the cart can be transported in a stable state.

FIG. 1 is a perspective view showing a state before a moving body according to an embodiment of the present disclosure enters the lower side of a carriage. FIG. 2 is a plan view showing a state before the same moving body enters the lower side of the carriage. FIG. 3 is a perspective view showing the appearance of the moving body of the same. FIG. 4 is a perspective view of a state in which the same moving body holds the carriage. FIG. 5 is a plan view showing a state in which the same moving body holds the carriage. FIG. 6 is a block diagram of a mobile object control system including the same mobile object. FIG. 7 is a perspective view of a truck conveyed by the same moving body. FIG. 8 is a schematic plan view of a pin chuck portion provided in the moving body of the same. FIG. 9 is a schematic perspective view of a pin chuck portion included in the moving body of the same. FIG. 10 is a flow chart for explaining the operation of holding the cart by the moving body of the same. FIG. 11 is a side view of a state in which the same moving body holds the carriage. 12A and 12B are operation explanatory diagrams for explaining the operation of conveying the cart by the moving body of the same. 13A and 13B are operation explanatory diagrams for explaining the operation of transporting the cart by the moving body of the same. 14A to 14E are operation explanatory diagrams for explaining the transport operation of the truck by the moving body of the same. 15A to 15C are operation explanatory diagrams for explaining the transport operation of the carriage by the moving body of the same. 16A to 16E are operation explanatory diagrams for explaining the transport operation of the carriage by the moving body of the same. 17A to 17C are operation explanatory diagrams for explaining the transport operation of the carriage by the moving body of the same.

(embodiment)
(1) Overview A moving body 1 (see FIGS. 1 to 5) according to the present embodiment transports a carriage 300 (see FIGS. 1, 2, 4 and 5) that can move on a moving surface with wheels. It is a mobile body for Each drawing described in the following embodiments is a schematic drawing, and the ratio of the size and thickness of each component in each drawing does not necessarily reflect the actual dimensional ratio. . In the following description, each direction is defined as indicated by the arrows "up", "down", "left", "right", "front", and "back" in FIG. These directions define the directions in which the moving body 1 moves forward while towing the carriage 300, and are not meant to limit the directions in which the moving body 1 is used. Also, the arrows indicating each direction in the drawings are only shown for explanation and are not substantial.

The moving body 1 is a device that moves on a moving plane G1 with one or more wheels (driving wheels) 41 (see FIGS. 1 and 5). In this embodiment, the moving body 1 is a device for transporting the cart 300 . The mobile unit 1 is installed in facilities such as distribution centers (including distribution centers), factories, offices, stores, schools, and hospitals. The moving plane G1 is a plane on which the moving body 1 and the carriage 300 move. When the cart 300 moves outdoors, the ground or the like becomes the moving surface G1. Below, the case where the moving body 1 is introduced into the distribution center will be described.

The moving body 1, as shown in FIGS. 1 to 5, includes a moving body body 2 that can move on a moving plane G1. The moving body main body 2 has wheels 41 and moves on the moving surface G1 with the wheels 41 . In this embodiment, the mobile body 2 is autonomously movable.

The mobile body 1 of this embodiment is used to transport a carriage 300 as shown in FIGS. 1 and 2 . The trolley 300 is, for example, a car trolley used for loading and carrying luggage. The truck 300 shown in FIGS. 1, 4 and 7 is a foldable truck, and includes a truck body 310 with wheels 330 provided at the bottom.

The carriage body 310 includes a first frame 311, a second frame 312, a bottom portion 320, a shelf board 325, fixed fences 341-343, movable fences 351-352, and the like.

The first frame 311 protrudes in a direction perpendicular to the long side member 313 (leftward in FIG. 1) from the long side member 313 and one longitudinal end of the long side member 313 (front end in FIG. 1). Together with the short side member 314, the shape in plan view is L-shaped. The long side members 313 and the short side members 314 are each made of steel, and the long side members 313 are longer than the short side members 314 . Two wheels 330 are provided at both ends (both ends in the left-right direction) of the short side member 314 at the lower portion of the short side member 314 of the first frame 311 . Here, the two wheels 330 provided on the short side member 314 are fixed wheels 331 rotatable in predetermined directions. In this embodiment, the two fixed rings 331 are provided so as to be rotatable along the direction parallel to the longitudinal direction of the long side member 313 (the front-rear direction in FIGS. 1 and 2). The short side member 314 of the first frame 311 is provided with a columnar pin 360 projecting downward from the longitudinal middle portion of the short side member 314 . It should be noted that it is not essential that the pin 360 is provided integrally with the carriage 300, and may be retrofitted.

The second frame 312 is rotatably attached to the other longitudinal end of the long side member 313 (rear end in FIG. 1) via a hinge. Here, the second frame 312 protrudes in a direction perpendicular to the long side member 313 (leftward in FIG. 1) from the other longitudinal end of the long side member 313 (see FIG. 1). , and a second position (see FIG. 7) arranged side by side with the long side member 313 along the long side member 313 . Two wheels 330 are provided at both ends of the second frame 312 in the longitudinal direction in the lower portion of the second frame 312 . Here, the two wheels 330 provided on the second frame 312 are free wheels 332 rotatable in all circumferential directions on the movement plane G1. Further, the second frame 312 is provided with a columnar pin 361 projecting downward from the middle portion of the second frame 312 in the longitudinal direction. It should be noted that it is not essential that the pin 361 is provided integrally with the carriage 300, and it may be retrofitted. Alternatively, the pin 360 may be provided only on the short side portion of the truck 300 on which the fixed ring 331 is provided. Can detect short sides.

A bottom portion 320 made of a rectangular plate material on which an article is placed is rotatably attached to the long side member 313 of the first frame 311 via a hinge. The bottom portion 320 is rotatably provided between a deployed position substantially parallel to the plane of movement G1 and a retracted position substantially perpendicular to the plane of movement G1.

Fixed rails 341, 342, and 343 protruding upward are provided on the long side member 313 and the short side member 314 of the first frame 311 and the second frame 312, respectively. Here, the fixed fence 342 provided on the short side member 314 is positioned on the tip side of the short side member 314 (the far end from the long side member 313 and the left end in FIG. 1). A rotatable movable fence 351 is attached to the fixed fence 342 via a hinge provided at the site. In addition, the fixed fence 343 provided on the second frame 312 is also attached to the tip side of the second frame 312 (the end opposite to the side connected to the first frame 311, which is the left end in FIG. 1). ), a movable fence 352 rotatable with respect to the fixed fence 343 is attached via a hinge provided at a portion located at .

As described above, the plurality of wheels 330 included in the carriage 300 are arranged on one longitudinal end side of the bottom portion 320, and are arranged on a fixed wheel 331 rotatable along a predetermined direction and on the other longitudinal end side of the bottom portion 320. and a free wheel 332 which is arranged in the plane of movement G1 and is rotatable in all circumferential directions. In this embodiment, two fixed wheels 331 and two free wheels 332 are provided, but the number of fixed wheels 331 and free wheels 332 can be changed as appropriate.

The cart 300 shown in FIGS. 1, 4 and 7 is a collapsible cart. FIGS. 1 and 4 show the transport state when the cart 300 is used to transport articles, and FIG. 7 shows the folded storage state. ing. When the cart 300 is used for transporting articles, the second frame 312 is rotated in the direction of the arrow DR1 from the stored state of FIG. to move. When the second frame 312 moves to a position orthogonal to the long side member 313, for example, the protrusion provided on one of the second frame 312 and the long side member 313 is replaced by the protrusion provided on the other of the second frame 312 and the long side member 313. The second frame 312 is held at a position perpendicular to the long side members 313 by fitting into the recessed portions.

After that, when the movable fences 351 and 352 are opened outward and the bottom part 320 is tilted in the direction of the arrow DR3 to move the bottom part 320 to a position substantially parallel to the movement plane G1, The locked lever is hooked on a hook provided on the carriage body 310, and the bottom 320 is held at that position. In the transportation state, the space above the bottom portion 320 is surrounded in three directions by the fixed fences 341 to 343, and one side is open. Further, a shelf board 325 (see FIGS. 1 and 2) can be attached to the middle portion of the fixed fences 341 to 343 in the vertical direction on the carriage 300 in the transportation state. After the articles are placed on the bottom 320 and the shelf board 325, the movable fences 351 and 352 are rotated inward to close the opening surface, and binding members such as ropes are attached to the fixed fences 341 to 343 and the movable fences 351 and 352. , and fixed so that the movable fences 351 and 352 do not open, the carriage 300 is moved by the moving body 1 or human power.

When the cart 300 is to be folded into the stored state, the movable fences 351 and 352 are opened outward, the shelf plate 325 is removed, and the locked state by the lock lever provided on the bottom portion 320 is released. 320 is flipped up in the direction of arrow DR4. Then, after the movable fences 351 and 352 are rotated inward and folded, the locked state by the lock lever of the second frame 312 is released, the second frame 312 is rotated in the direction of the arrow DR2, and the carriage 300 is flattened. Fold it so that it looks like an L shape. By arranging the carriages 300 folded in the stored state side by side in this way, it becomes possible to store a plurality of carriages 300 compactly.

The moving body 1 of the present embodiment moves under the bottom portion 320 of the truck 300 (see FIGS. 1 and 2) that is being transported and holds the truck 300 by lifting the bottom portion 320 upward. Here, the bottom portion 320 of the foldable carriage 300 has lower strength than a carriage whose bottom portion is fixed to the carriage body. Therefore, when a heavy object is loaded on the truck 300 and the moving body 1 slips under the bottom portion 320 from the long side portion 322 of the bottom portion 320 and lifts the bottom portion 320, the bottom portion 320 bends and moves in the longitudinal direction of the bottom portion 320. , and the fixed ring 331 may come into contact with the moving surface G1. When the moving body 1 travels with the fixed wheels 331 in contact with the moving surface G1, the fixed wheels 331 can only rotate in one direction. There is a possibility that the conveying state of the cart 300 will become unstable.

The object of the moving body 1 of the present embodiment is to convey the carriage 300 in a stable state, and the moving body 1 includes a moving body main body 2, a holding section 3, a driving section 22, and a control section 12. I have.

The moving body main body 2 is movable on the movement plane G1.

The holding unit 3 holds the truck 300 by lifting at least a portion of the truck 300 while at least a portion of the mobile body 2 is inserted under the truck 300 . The carriage 300 is movable on wheels 330 provided at the bottom of the carriage body 310 . The carriage body 310 has a bottom portion 320 . In this embodiment, the bottom portion 320 has a rectangular shape in plan view.

The drive unit 22 moves the moving body main body 2 .

The control section 12 controls the driving section 22 . The control unit 12 controls the driving unit 22 so that at least a portion of the moving body main body 2 enters from the short side portion 321 of the bottom portion 320 of the carriage 300 to the lower side of the bottom portion 320 . The control unit 12 conveys the carriage 300 by controlling the driving unit 22 to move the moving body main body 2 while the holding unit 3 is holding the carriage 300 .

Here, the holding unit 3 holds the carriage 300 by slipping under the carriage 300 and lifting at least a part of the carriage 300 . In addition, holding|maintenance by the holding|maintenance part 3 can include holding|maintaining at least one part of the trolley|bogie 300 by hooking, fitting, etc., for example.

In the moving body 1 of the present embodiment, the driving part 22 is controlled so that at least a part of the moving body main body 2 enters from the short side portion 321 of the bottom part 320 of the carriage 300 to the bottom side of the bottom part 320 . The holding part 3 holds the moving body main body 2 in a state in which at least a part of the moving body main body 2 is inserted into. When the holder 3 lifts the bottom portion 320 while the moving body main body 2 has entered from the long side portion 322 of the bottom portion 320 to the lower side of the bottom portion 320 , the bottom portion 320 bends, causing the long side portions 322 of the bottom portion 320 to move. Both sides may drop downward and the wheels 330 of the truck 300 may touch the ground. On the other hand, the mobile body 1 of the present embodiment is configured such that the mobile body main body 2 enters the lower side of the bottom portion 320 from the short side portion 321 of the bottom portion 320, and the holding portion 3 lifts at least a portion of the carriage 300. Since it is held, the bending of both sides of the short side portion 321 can be reduced, and the possibility of the wheel 330 contacting the ground can be reduced. In addition, when the holding part 3 lifts the carriage 300, the short side member 314 of the first frame 311 can be lifted. It is possible to reduce the possibility that the transport state of 300 becomes unstable. Therefore, when the moving body 1 conveys the carriage 300, the possibility that the wheels 330 hit the moving surface G1 and cause resistance can be reduced, and the carriage 300 can be conveyed in a stable state.

When the moving body 1 conveys the carriage 300 while the holding unit 3 is holding the carriage 300, there is a traveling mode in which the moving body 1 leads the towing of the carriage 300; pushes the carriage 300. In general, the traveling mode in which the truck 300 is towed is more stable than the traveling mode in which the truck 300 is pushed from the rear side, so that the moving body 1 usually moves by pulling the truck 300. - 特許庁

(2) Details Hereinafter, the configuration of the mobile body 1 and the mobile body control system 100 including the mobile body 1 according to the present embodiment will be described in detail with reference to FIGS. 1 to 17. FIG.

(2.1) Moving body The moving body 1 includes a moving body body 2, a holding part 3, a driving part 22, and a processing part 10 including a control part 12, as shown in FIGS. ing. The moving body 1 further includes a state detection unit 21 , an elevating mechanism 23 , an opening/closing mechanism 24 , a holding detection unit 25 , a communication unit 26 and a storage unit 27 . The holding unit 3, the processing unit 10, the state detection unit 21, the driving unit 22, the lifting mechanism 23, the opening/closing mechanism 24, the holding detection unit 25, the communication unit 26, and the storage unit 27 are all mounted on the mobile body 2. ing.

The moving body 1 autonomously travels on a flat moving surface G1 such as a floor surface of a facility, for example. Here, as an example, the moving body 1 is provided with a storage battery and operates using electrical energy stored in the storage battery. The moving body 1 travels on the movement plane G1 while the holding part 3 holds the carriage 300, thereby transporting the carriage 300 placed at one place in the facility to another place in the facility. It is possible to

The moving body main body 2 has a rectangular parallelepiped shape that is longer in the front-rear direction than in the left-right direction and smaller in the vertical direction than in the left-right direction and the front-rear direction. Although details will be described later, in this embodiment, at least part of the moving body main body 2 slips under the carriage 300, the holding part 3 lifts at least part of the carriage 300, and at least the fixed wheels 331 are lifted from the movement plane G1. In this state, the carriage 300 is loaded on the moving body main body 2 . Hereinafter, the state in which the two free wheels 332 are in contact with the moving surface G1 and the two fixed wheels 331 are floating from the moving surface G1 to hold the carriage 300 is also referred to as a first holding state.

The moving body main body 2 is provided with a plurality of elevating plates 31 and 32, a pin chuck portion 33, a pair of steering assisting portions 37, and the like. In this embodiment, the moving body main body 2 is made of metal. However, the moving body main body 2 is not limited to being made of metal, and may be made of resin, for example.

The moving body main body 2 is supported on the moving surface G1 by a plurality of (here, two) wheels 41 and a plurality of (here, two) auxiliary wheels 42 (see FIG. 5).

The plurality of wheels 41 are arranged at intervals in the width direction (horizontal direction) of the mobile body 2 at the central portion in the longitudinal direction (front-rear direction) of the mobile body 2 . Each of the plurality of wheels 41 is individually rotatable by receiving the driving force from the driving section 22 .

The plurality of auxiliary wheels 42 are arranged at intervals in the longitudinal direction (front-rear direction) of the mobile body 2 at the central portion in the width direction (left-right direction) of the mobile body 2 . Each of the plurality of auxiliary wheels 42 is individually rotatable without receiving a driving force from the driving section 22 .

In the present embodiment, all of the plurality of wheels 41 are driving wheels driven by the drive section 22 . By individually driving the plurality of wheels 41 by the drive unit 22, the moving body main body 2 can move in all directions. That is, the plurality of wheels 41 rotate at different angular velocities, so that the vehicle can turn in either the left or right direction. can be done. Therefore, the moving body main body 2 can move forward, backward, and turn in the horizontal direction (including pivot turn and super pivot turn). Further, the moving body main body 2 can also move so as to draw a curved trajectory (that is, a curve).

In this embodiment, the holding unit 3 that holds the truck 300 lifts the truck 300 to hold the plurality of lifting plates 31 and 32 that hold the truck 300 and the pins 360 or 361 of the truck 300 to lift the truck 300. and a pin chuck portion 33 for holding. That is, the holding section 3 includes a pin chuck section 33 that holds the pin 360 or 361 provided at at least one end in the longitudinal direction of the carriage 300 .

Each of the plurality of elevator plates 31 and 32 is arranged above the mobile body 2 so as to cover at least part of the upper surface of the mobile body 2 . The two front elevation plates 31 are provided on the upper surface of the mobile body 2 so as to cover the vicinity of the left and right corners of the front portion. The two rear elevating plates 32 are provided on the upper surface of the mobile body 2 so as to cover the left and right corners of the rear portion. The lift plates 31 and 32 can be lifted and lowered with respect to the moving body main body 2 by the processing unit 10 operating the lift mechanism 23 (see FIG. 6) that lifts and lowers the lift plates 31 and 32 .

FIGS. 11 and 14E show a state in which the moving body 1 transports the carriage 300 on which two of the four wheels 330 are fixed wheels 331 and pins 360 and 361 are provided. In this case, the moving body 1 lifts the front portion of the carriage 300 with the two front elevating plates 31 to lift the two fixed wheels 331 from the moving surface G1 and hold the pin 360 with the pin chuck portion 33. By doing so, the carriage 300 is held. In this case, the upper surfaces of the front two lifting plates 31 serve as loading surfaces for loading the carriages 300 .

FIG. 16E shows a state in which two of the four wheels 330 are fixed wheels 331 and the moving body 1 conveys the carriage 300A without pins 360 and 361 . The moving body 1 lifts the carriage 300A with the front and rear elevating plates 31 and 32, and holds the carriage 300A in a state in which all four wheels 330 are lifted from the movement plane G1. In this case, the upper surfaces of the front and rear elevating plates 31 and 32 serve as loading surfaces for loading the truck 300A. Hereinafter, the state in which the carriage 300 is held by the moving body main body 2 while the two fixed wheels 331 and the two free wheels 332 are all floating from the movement plane G1 is also referred to as a second holding state.

It is preferable that the upper surfaces of the lifting plates 31 and 32, which serve as the loading surfaces, have a coefficient of friction greater than that of the upper surface of the moving body main body 2, for example, by applying non-slip processing. As a result, the objects (carriage 300 or 300A) loaded on the elevator plates 31 and 32 are less likely to slip on the elevator plates 31 and 32 .

Further, on the upper surface of the moving body main body 2, one steering assist section 37 is arranged on each side of the two front elevator plates 31. As shown in FIG. Each of the pair of steering assisting portions 37 is made of a metal plate. One longitudinal end portion (front end portion in FIG. 1) of each steering assisting portion 37 is attached to the upper surface of the mobile body 2 so as to be able to rise and fall, and the other longitudinal end portion (front end portion in FIG. 1) of each steering assisting portion 37 is attached. rear end) protrudes rearward. A pair of steering assisting portions 37 are provided on the left and right sides of the pair of lifting plates 31, respectively. Each steering assisting portion 37 is held downward by the adjacent elevator plate 31 when the adjacent elevator plate 31 is lowered. When the adjacent elevating plate 31 rises, each steering assisting portion 37 is no longer held down by the adjacent elevating plate 31, and the other longitudinal end portion of each steering assisting portion 37 is lifted upward. Here, when the elevator plate 31 is raised, the other longitudinal end of each steering assisting portion 37 protrudes above the elevator plate 31. The end portion can come into contact with the carriage body 310 of the carriage 300 placed on the elevating plate 31 . In this embodiment, at least one holding portion 3 (elevating plates 31 and 32) is provided on both sides of the moving body main body 2 in the front-rear direction. It is arranged in the part 3 (elevating plate 31). Therefore, when the moving body 1 moves backward while holding the carriage 300 with the fixed wheels 331 of the carriage 300 floating, the steering assist section 37 comes into contact with the carriage body 310 so that the movement direction of the carriage 300 is changed to that of the moving body. 1 moving direction can be followed.

When the moving body 1 tries to turn while holding the carriage 300, the carriage body 310 is pushed by one of the pair of steering assisting parts 37 according to the turning motion of the moving body main body 2. , the orientation of the carriage body 310 can be changed. For example, FIG. 5 is a plan view showing a state in which the moving body 1 is transported with the front side of the truck 300 lifted. In this conveying state, when the moving body 1 moves forward and tries to turn to the left, the steering assist part 37 on the left side pushes the left part of the carriage body 310, so that the moving direction of the carriage 300 follows the moving body 1. can be made Further, when the moving body 1 tries to turn to the left while traveling backward in the transport state of FIG. It can follow the body 1. As described above, the moving body 1 includes the steering assisting portion 37 that makes the movement direction of the carriage 300 follow the movement direction of the moving body body 2 by coming into contact with the carriage body 310 . When the moving body 1 holding the carriage 300 is about to turn, the steering assisting part 37 pushes the carriage main body 310 so that the moving direction of the carriage 300 can follow the moving direction of the moving body 1.例文帳に追加

The pin chuck portion 33 includes a holding plate 34 attached to the upper surface of the moving body main body 2 and two levers 36, 36, as shown in FIGS. The holding plate 34 is arranged between the two lifting plates 31 on the upper surface of the moving body main body 2 . A U-shaped holding groove 35 is provided in the intermediate portion in the left-right direction of the rear side of the holding plate 34 . Fan-shaped levers 36 , 36 are rotatably attached to the opening of the holding groove 35 on both sides in the left-right direction.

The holding plate 34 is provided so as to be vertically movable by the lifting mechanism 23 in the same manner as the front lifting plate 31 . That is, the holding plate 34 does not have an independent drive structure, but is attached to the lifting plate 31 and moves up and down together with the lifting plate 31 . When the lifting mechanism 23 lifts the lifting plate 31, the holding plate 34 also rises as the lifting plate 31 rises. When the holding plate 34 is positioned at the lower limit position, the holding plate 34 is positioned below the lower ends of the pins 360 and 361 of the carriage 300 . When the holding plate 34 is lifted by the lifting mechanism 23 , the holding plate 34 is positioned above the lower ends of the pins 360 and 361 of the carriage 300 , and the pins 360 and 361 can be held by the pin chuck portion 33 . When the pin 360 is inserted into the holding groove 35 from the rear side of the holding plate 34 while the holding plate 34 is raised, the levers 36 , 36 are pushed by the pin 360 to open the opening of the holding groove 35 . direction (direction of arrow DR5). When the pin 360 is inserted into the innermost portion of the holding groove 35, the levers 36 rotate in the closing direction (opposite to the direction of the arrow DR5) to close the opening of the holding groove 35, A pin 360 is held by the pin chuck portion 33 while being surrounded by the levers 36 , 36 .

Here, each lever 36 can be moved in the opening direction or the closing direction by the processing unit 10 operating the opening/closing mechanism 24 that rotates each lever 36 .

The holding detection unit 25 detects whether the pin 360 or the pin 361 is held by detecting whether the pin 360 or the pin 361 is present at the holding position which is the deepest part of the holding groove 35 . do. That is, the holding detection unit 25 detects whether or not the pin chuck unit 33 holds the pin 360 or the pin 361 provided on the carriage 300 . The holding detection unit 25 is composed of an object detection sensor that detects whether or not the pin 360 or the pin 361 exists at the holding position using laser light or ultrasonic waves. The holding detection unit 25 outputs the detection result to the processing unit 10 .

When the moving body 1 holds a carriage 300 having two fixed wheels 331 and pins 360 and 361, the lift plate 31 lifts the front portion of the carriage 300, and the pin chuck portion 33 holds the pins 360 or 361. , the carriage 300 is held by the moving body 1 . When releasing the holding of the carriage 300 , holding the carriage 300 by the moving body 1 is released by lowering each lifting plate 31 while the moving body 1 is holding the carriage 300 .

Further, when the moving body 1 holds the carriage 300A without the pins 360 and 361, the carriage 300A is held by the moving body 1 by lifting the carriage 300 with the lifting plates 31 and 32 and lifting all the four wheels 330. is held to When releasing the holding of the carriage 300A, the carriage 300A is released from the holding of the carriage 300A by the moving body 1 by lowering the lift plates 31 and 32 while the moving body 1 is holding the carriage 300A.

The state detection unit 21 detects the surrounding situation of the mobile body 2, the position where the mobile body 2 exists, the behavior of the mobile body 2, and the like. The “peripheral situation” referred to in the present disclosure may include the situation of the cart 300 that exists around the mobile body 2 . The status of the trolley 300 includes information about the presence or absence of the trolley 300, and when the presence of the trolley 300 is detected, information about the distance between the wheels 330 provided on the trolley 300 and information about the presence or absence of the pins 360 and 361 can be included. That is, the state detection unit 21 has the function of a pin detection unit that detects whether or not the pins 360 and 361 are present on the carriage 300 . The term "behavior" as used in the present disclosure means actions, appearances, and the like. In other words, the behavior of the mobile body 2 includes the operating state of the mobile body 2 indicating whether the mobile body 2 is moving or at rest, the speed (and speed change) of the mobile body 2, 2, the posture of the mobile body 2, and the like.

Specifically, the state detection unit 21 includes sensors 21A and 21B (see FIG. 5) such as LiDAR (Light Detection and Ranging) or radar (RADAR: Radio Detection and Ranging). The sensors 21A and 21B are provided on both longitudinal sides (that is, the front side and the rear side) of the mobile body 2, respectively, and detect the surrounding conditions in the front and rear detection areas A1 and A2 of the mobile body 2, respectively. . Note that the LiDAR is a sensor that uses light (laser light) to measure the distance to an object and the direction of the object based on reflected light from an object existing around the mobile body 2 . A radar is a sensor that uses electromagnetic waves (radio waves) such as microwaves to measure the distance to an object and the direction of the object based on reflected waves from objects existing around the mobile body 2 . That is, the detection results of the sensors 21A and 21B (output of the state detection unit 21) are information related to the distance between the moving body 1 (moving body main body 2) and the object, and information related to the direction in which the object exists. Contains at least information. The state detection unit 21 also includes sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the behavior of the mobile body 2 with these sensors. The state detection unit 21 also provides information related to the distance to surrounding objects detected using the sensors 21A and 21B, information related to the direction of the object, and pre-acquired electronic map information within the facility. and the like are used to obtain information related to the position where the mobile body 2 exists.

The driving unit 22 directly or indirectly applies a driving force to the two wheels 41 which are driving wheels. The drive unit 22 is built in the mobile body 2 . The driving unit 22 includes, for example, an electric motor (motor), and indirectly applies driving force generated by the electric motor to each wheel 41 via a gearbox, a belt, or the like. Moreover, the drive part 22 may be configured to directly apply a driving force to each wheel 41 like an in-wheel motor. Based on the control signal input from the processing unit 10, the drive unit 22 drives each of the plurality of wheels 41 at a rotation direction and a rotation speed according to the control signal.

The elevating mechanism 23 is a mechanism that receives a control command from the processing unit 10 and raises and lowers the front two elevating plates 31 and the two rear elevating plates 32 individually. The elevating mechanism 23 moves the elevating plates 31 and 32 vertically relative to the moving body main body 2 to raise or lower the upper surfaces (loading surfaces) of the elevating plates 31 and 32 . The elevating mechanism 23 moves the elevating plates 31 and 32 between the lower limit position and the upper limit position of the movable ranges of the elevating plates 31 and 32, respectively.

When the moving body 1 holds the carriage 300 provided with the pins 360 and 361, the moving body main body 2 slips under the bottom part 320 from the short side portion 321 of the bottom part 320, and the lifting mechanism 23 is moved to the front side. By raising the lifting plate 31, the front part of the truck 300 is lifted. As a result, the moving body 1 can hold the carriage 300 with the fixed wheels 331 floating. Further, when the moving body 1 holds the carriage 300A without the pins 360 and 361, the moving body main body 2 slips under the bottom part 320 from the short side portion 321 of the bottom part 320, and the lifting mechanism 23 moves the lifting plate. By raising all 31 and 32, the whole truck 300A is lifted. As a result, the moving body 1 can hold the truck 300A with all the four wheels 330 floating.

The opening/closing mechanism 24 has an actuator such as an electric motor (motor), and receives a control command from the processing unit 10 to rotate the levers 36, 36 in the opening direction or the closing direction. A spring is provided to push the levers 36, 36 in the closing direction, and when the opening/closing mechanism 24 does not apply a force pushing the levers 36, 36 in the opening direction, the force of the spring moves the levers 36, 36 in the closing direction. You may do so.

The processing unit 10 has an acquisition unit 11 and a control unit 12 . The acquisition unit 11 and the control unit 12 are implemented as one function of the processing unit 10 .

The processing unit 10 is mainly composed of a computer system having one or more processors and memories. The functions of the processing unit 10 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in a memory, provided through an electric communication line such as the Internet, or recorded in a non-temporary recording medium such as a memory card and provided.

Acquisition unit 11 executes an acquisition process. Acquisition processing is processing for acquiring the detection result of the state detection unit 21 and the detection result of the holding detection unit 25 in the moving body 1 . As described above, the detection result of the state detection unit 21 includes information on the distance to an object existing around the moving body 1 and information on the direction of the object. The acquisition unit 11 acquires detection results from the state detection unit 21 and the holding detection unit 25 as needed.

The control unit 12 controls operations of, for example, the driving unit 22, the lifting mechanism 23, the opening/closing mechanism 24, etc., based on the information acquired by the acquisition unit 11, the control command received by the communication unit 26 from the host system 200, and the like. to control the operation of the mobile body 2 .

When the control unit 12 receives an instruction to transport the carriage 300 from the host system 200 via the communication unit 26, the control unit 12 moves the mobile body 2 to a position where the carriage 300 to be transported exists. Based on the detection result of the state detection unit 21 , the control unit 12 obtains the distance between the wheels 330 of the truck 300 and identifies the short side portion 321 of the bottom 320 of the truck 300 from the distance between the wheels 330 . Also, the state detection unit 21 as a pin detection unit detects whether or not the pin 360 or 361 is provided on the truck 300 .

When the state detection unit 21 detects the presence of the pins 360 and 361 , the control unit 12 causes the moving body main body 2 to enter from the short side portion 321 of the bottom portion 320 of the truck 300 to the lower side of the bottom portion 320 . The drive unit 22 is controlled so as to move the moving body main body 2 to a position where the pin 360 is inserted into the holding groove 35 of the pin chuck portion 33 . The control unit 12 controls the opening/closing mechanism 24 to hold the pin 360 in the pin chuck unit 33, and raises the front elevating plate 31 to lift the front side of the carriage 300, so that the fixed wheel 331 moves from the moving surface G1. The carriage 300 is held by the moving body 1 in a floating state. That is, the holding unit 3 holds the carriage 300 in a state where the free wheel 332 is in contact with the moving surface G1 and the fixed wheel 331 is floating from the moving surface G1. Furthermore, the holding part 3 holds the carriage 300 in a state in which at least one free wheel 332 is in contact with the moving surface G1 and all of the plurality of (for example, two) fixed wheels 331 are lifted from the moving surface G1. Then, the control unit 12 moves the carriage 300 by controlling the driving unit 22 to move the moving body main body 2 while the holding unit 3 is holding the carriage 300 .

When the state detection unit 21 detects the non-existence of the pins 360 and 361, the control unit 12 moves the moving body main body 2 to a position where almost the entire mobile body main body 2 enters from the short side portion 321 of the bottom portion 320 of the carriage 300 to the lower side of the bottom portion 320. The drive unit 22 is controlled so as to move the moving body main body 2 . Then, the control unit 12 moves the carriage 300 in a state in which the plurality of fixed wheels 331 and the plurality of free wheels 332 are lifted from the movement plane G1 by lifting the lift plates 31 and 32 to lift the entire carriage 300A. Let body 1 hold. That is, when the pin detection unit (state detection unit 21) detects the non-existence of the pins 360 and 361, the holding unit 3 holds the carriage 300A in a state where the free wheel 332 and the fixed wheel 331 are all lifted from the movement plane G1. of.

The communication unit 26 communicates with the host system 200 directly or indirectly via a network, repeater, or the like. As a communication method between the communication unit 26 and the host system 200, an appropriate communication method such as wireless communication or wired communication is adopted. In this embodiment, as an example, the communication unit 26 complies with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a license. Adopt wireless communication that uses radio waves as a communication medium.

The storage unit 27 includes, for example, rewritable nonvolatile memory such as EEPROM (Electrically Erasable and Programmable Read-Only Memory). The storage unit 27 preliminarily stores information on an electronic map of the facility where the mobile body 1 moves, information on the distance between the wheels 330 provided on the carts 300 and 300A, and the like.

In addition, the moving body 1 is appropriately equipped with a configuration other than the above, such as a charging circuit for a storage battery.

(2.2) Mobile Body Control System The mobile body control system 100 includes at least one mobile body 1 and a host system 200 . A host system 200 is a system that controls the mobile unit 1 .

Host system 200 and mobile unit 1 are configured to be able to communicate with each other. In the present disclosure, “communicable” means that information can be exchanged directly or indirectly via a network, a repeater, or the like, by an appropriate communication method such as wired communication or wireless communication. That is, host system 200 and mobile object 1 can exchange information with each other. In this embodiment, host system 200 and mobile object 1 can communicate bi-directionally with each other. is possible.

The host system 200 remotely controls at least one mobile object 1 (a plurality of mobile objects in this embodiment). Specifically, host system 200 controls mobile unit 1 by communicating with mobile unit 1 . In other words, the host system 200 controls the mobile body 1 by, for example, transmitting a transport command input by the user to the mobile body 1 . The host system 200 transmits, for example, a transport command and data such as an electronic map to the mobile object 1 .

In this embodiment, the host system 200 is, for example, a server, and is mainly composed of a computer system having one or more processors and memories. The functions of the host system 200 are realized by the processor of the computer system executing the program recorded in the memory of the computer system. The program may be recorded in a memory, provided through an electric communication line such as the Internet, or recorded in a non-temporary recording medium such as a memory card and provided.

The host system 200 estimates at least the current position of the mobile body 1 from the detection result of the state detection unit 21 of the mobile body 1, and determines the movement route of the mobile body 1 to the carriage 300 to be transported (route planning). . The host system 200 gives a command to the mobile body 1 so that the mobile body 1 moves along this movement path. Thereby, remote control of the moving body 1 is realized.

(2.3) Description of Operation The operation of transporting the carriage 300 by the moving body 1 of the present embodiment will be described with reference to FIGS. 10 and 12 to 17C.

Here, an operation in which the moving body 1 conveys the carriage 300 in response to a control command from the host system 200 will be described.

The host system 200 gives the moving body 1 a control command to move the cart 300 from one place in the facility to another place, for example, according to a user's instruction or a preset transportation schedule. Here, the control command includes information such as the position of the truck 300 to be transported, the direction of the truck 300, and the like. The host system 200 acquires information such as the type and orientation of the trolley 300 from, for example, images captured by a camera within the facility. When the control unit 12 of the moving body 1 receives a control command from the host system 200, it controls the driving unit 22 to move the moving body 1 to the position of the carriage 300 to be transported.

First, the operation of transporting the carriage 300 provided with the pins 360 and 361 will be described with reference to FIGS. 10 and 14A to 15C. As shown in FIG. 14A , when the moving object 1 approaches the carriage 300 , the state detection unit 21 detects the distance between the plurality of wheels 330 , and the control unit 12 controls the carriage 300 based on the detection result of the state detection unit 21 . A short side portion is detected (ST1 in FIG. 10). The control unit 12 controls the driving unit 22 so that at least a portion of the moving body main body 2 enters below the bottom portion 320 from the short side portion 321 on one end side in the longitudinal direction of the bottom portion 320 (ST2 in FIG. 10). In this embodiment, the plurality of wheels 330 includes two fixed wheels 331, and the control unit 12 controls the drive unit 22 so that at least a portion of the mobile body main body 2 enters between the two fixed wheels 331. Control. Here, the control unit 12 controls the driving unit 22 so that the rear side where the elevating plate 32 is provided is at the top, and the drive unit 22 enters the lower side of the bottom portion 320 . When the state detection unit 21, which is a pin detection unit, detects the presence of the pins 360 and 361 (ST3 in FIG. 10: Yes), the control unit 12 causes the pin chuck unit 33 to move the pin 360 through the opening/closing mechanism 24. A first lift process (ST4 in FIG. 10) is performed to raise the lifting plate 31 and the holding plate 34 to a height at which they can be held (see FIG. 14B).

When the first lift process is completed, the control unit 12 causes the moving body main body 2 to enter from the short side portion 321 of the bottom portion 320 to the lower side of the bottom portion 320 (see FIG. 14C). When the movable body 1 moves to a position where the pin 360 is held by the pin chuck portion 33, the holding detection portion 25 detects that the pin 360 is held (ST5 in FIG. 10: Yes).

When the holding detection unit 25 detects that the pin 360 is held, the control unit 12 performs the second lift process (ST6 in FIG. 10) to raise the lifting plate 31 to the upper limit position by the opening/closing mechanism 24, and the free wheel 332 touches the ground. Then, the carriage 300 is held with the fixed wheel 331 floating (FIG. 14E). When the holding of the carriage 300 is completed, the control unit 12 controls the driving unit 22 to move the moving body main body 2 when the holding detection unit 25 detects that the pin chuck unit 33 is holding the pin 360 . The carriage 300 is transported by .

When the pin chuck portion 33 has moved to a position where the pin 360 can be held, but the holding of the pin 360 is not detected by the holding detection portion 25, the control portion 12 determines that an abnormality has occurred and moves the pin 360. The body 1 is stopped (ST7 in FIG. 10). At this time, the control unit 12 may notify the abnormality using a notification unit (lamp, buzzer, etc.) provided in the mobile body 2, or notify the host system 200 of the occurrence of the abnormality from the communication unit 26. A signal may be sent.

When the moving body 1 conveys the carriage 300 to the target value (see FIG. 15A), the control unit 12 controls the lifting mechanism 23 to lower the lifting plate 31 and the holding plate 34 to the lower limit positions (see FIG. 15B), holding the The holding of the carriage 300 by the portion 3 is released. When the moving body 1 leaves the carriage 300, the control unit 12 controls the driving part 22 to advance (or move backward) the moving body main body 2 (see FIG. 15C) and place the carriage 300 on the spot. As a result, the moving body 1 can transport the carriage 300A to the target value.

Next, the operation of transporting the carriage 300A without the pins 360 and 361 will be described with reference to FIGS. 10 and 16A to 17C. As shown in FIG. 16A , when the moving body 1 approaches the carriage 300A, the state detection unit 21 detects the distance between the plurality of wheels 330, and the control unit 12 detects the distance between the carriage 300A based on the detection result of the state detection unit 21. A short side portion is detected (ST1 in FIG. 10). The control unit 12 controls the driving unit 22 so that at least a portion of the moving body main body 2 enters below the bottom portion 320 from the short side portion 321 on one end side in the longitudinal direction of the bottom portion 320 (ST2 in FIG. 10). Here, the control unit 12 controls the driving unit 22 so that the rear side where the elevating plate 32 is provided is at the forefront and enters the lower side of the bottom portion 320 (see FIG. 16B). When the state detection unit 21, which is a pin detection unit, detects the non-existence of the pins 360 and 361 (ST3 in FIG. 10: No), the control unit 12 detects that the lift plates 31 and 32 are below the bottom portion 320. , and stops the moving body 1 (see FIG. 16C). The control unit 12 performs a lift process (ST7 in FIG. 10) for lifting the lifting plates 31 and 32 by the opening/closing mechanism 24 (see FIG. 16D), and lifts the lifting plates to a position where the fixed wheel 331 and the free wheel 332 are lifted from the moving surface G1. 31, 32 are raised (see FIG. 16E). When the holding of the truck 300A is completed, the control unit 12 controls the driving unit 22 to move the moving body main body 2, thereby conveying the truck 300A.

When the moving body 1 conveys the carriage 300A to the target value (see FIG. 17A), the control unit 12 controls the lifting mechanism 23 to lower the lifting plates 31 and 32 to the lower limit positions (see FIG. 17B), and the holding unit 3 The holding of the truck 300A by is released. When the moving body 1 leaves the truck 300A, the control unit 12 controls the driving unit 22 to move the moving body main body 2 forward (or backward) (see FIG. 17C) and place the truck 300A on the spot. As a result, the moving body 1 can transport the carriage 300A to the target value.

By the way, there are transport modes in which the moving body 1 transports the carriage 300, including a transport mode in which the carriage 300 is towed (also referred to as a first transport mode) and a transport mode in which the carriage 300 is pushed from behind (also referred to as a second transport mode). , there is. In general, the transportation mode in which the trolley 300 is towed can be more stably transported. It is preferable to control the drive unit so as to move the moving body main body 2 forward in the transport mode in which the

On the other hand, as shown in FIGS. 12 and 13, when the moving body 1 transports the carriages 300 to a place where a plurality of carriages 300 are arranged in a plurality of rows, the first transportation mode and the second transportation mode are described above. It is preferable to transport the carriage 300 in both modes of transport.

First, as shown in FIG. 12, the control unit 12 moves the moving body main body in the first transport mode in which the moving body main body 2 leads the moving body 2 and tows the carriage 300 while the holding part 3 is holding the carriage 300 . 2 is controlled to move forward to the first position P1. The control unit 12 controls the driving unit 22 so that the moving body main body 2 rotates at the first position P<b>1 so that the moving body main body 2 pushes the carriage 300 from behind in the second transport mode. As shown in FIG. 13, the control unit 12 controls the driving unit 22 so that the moving body main body 2 travels backward to the second position P2 in the second transport mode. After separating the carriage 300 by the holding part 3 at the second position P2, the control part 12 controls the driving part so that the moving body main body 2 moves forward. As a result, the moving body 1 can arrange the trucks 300 in a plurality of rows, and the plurality of trucks 300 can be compactly arranged.

When the moving body main body 2 moves backward while transporting the carriage 300 in the second transport mode, the carriage 300 moves with the free wheel 332 side leading. At this time, since the pair of steering assisting parts 37 push the right and left sides of the truck main body 310 respectively, it is possible to prevent the truck 300 from wobbling in the direction of travel and to allow the truck 300 to travel stably. In addition, it is preferable that the moving body 1 has a sufficient weight with respect to the carriage 300, which is a conveyed object, and the wheels 41 have a sufficient gripping force to ensure traction.

Further, the moving body 1 of this embodiment includes a moving body main body 2 , a holding portion 3 , and a steering assisting portion 37 . At least one holding portion 3 is provided on both sides of the moving body main body 2 in the front-rear direction, and the steering assisting portion 37 is arranged in the holding portion 3 on the front side of the moving body main body 2 . The holding unit 3 holds the carriage 300 in a state where the free wheel 332 of the carriage 300 is in contact with the movement plane G1 and the fixed wheel 331 of the carriage 300 is lifted from the movement plane G1. In this way, when the moving body 1 moves backward while holding the carriage 300 with the fixed wheels 331 of the carriage 300 floating, the steering assist section 37 abuts on the carriage body 310 so that the movement direction of the carriage 300 is changed. can follow the moving direction of the moving body 1 .

(3) Modifications The embodiment described above is merely one of various embodiments of the present disclosure. The above-described embodiment can be modified in various ways according to design and the like, as long as the object of the present disclosure can be achieved. Also, functions similar to those of the mobile body 1 may be embodied by a mobile body control method for controlling the mobile body 1, a computer program, or a non-temporary recording medium recording the program. A moving body control method according to one aspect is a method of controlling a moving body 1 . The moving body 1 includes a moving body main body 2 , a holding section 3 and a driving section 22 . The moving body main body 2 is movable on the movement plane G1. The holding unit 3 holds the truck 300 by lifting at least a portion of the truck 300 while at least a portion of the mobile body main body 2 is inserted under the truck 300 . The truck 300 can move on the movement plane G1 with wheels 330 provided at the bottom of the truck main body 310 having the bottom portion 320 . The shape of the bottom portion 320 in plan view is rectangular. The drive unit 22 moves the moving body main body 2 on the movement plane G1. The moving body control method includes a first step and a second step. In the first step, the driving section 22 is controlled so that at least a portion of the moving body main body 2 enters from the short side portion 321 of the bottom portion 320 of the carriage 300 to the lower side of the bottom portion 320 . In the second step, the carriage 300 is conveyed by controlling the driving section 22 to cause the moving body main body 2 to travel while the holding section 3 is holding the carriage 300 .

Further, the moving body control method of this embodiment includes a holding step and a transporting step. In the holding step, the moving body main body 2 holds the carriage 300 in either the first holding state or the second holding state. The carriage 300 is movable with two fixed wheels 331 each rotatable along a predetermined direction and a free wheel 332 rotatable in all circumferential directions. In the transport step, the carriage 300 is transported while the moving body main body 2 holds the carriage 300 . The first holding state is a state in which the free wheel 332 is in contact with the moving surface G1 and the two fixed wheels 331 are floating from the moving surface G1 to hold the carriage 300 . The second holding state is a state in which the carriage 300 is held while the two fixed wheels 331 and the free wheel 332 are all floating above the movement plane G1. In the holding step, the mobile body main body 2 holds the truck 300 in the first holding state when it enters the lower side of the truck 300 from between the two fixed wheels 331 . In addition, in the holding step, even if the moving body main body 2 enters the lower side of the carriage 300 from between the two fixed wheels 331, if the carriage 300 is not provided with the pin 361, the moving body main body 2 is held in the second position. The cart 300 may be held in the 2 holding state. That is, in the holding step, when the moving body main body 2 enters the lower side of the carriage 300 from between the two fixed wheels 331, if the carriage 300 is provided with the pins 361, the moving body main body 2 will move to the second position. The cart 300 may be held in the 1 holding state. In addition, when the pin 361 is always provided on the truck 300 to be transported, the moving body main body 2 enters the lower side of the truck 300 from between the two fixed wheels 331 without judging the presence or absence of the pin 361. In this case, the moving body main body 2 may hold the carriage 300 in the first holding state.

Moreover, the moving body control method of this embodiment further includes a steering assistance step. In the steering assist step, the steering assist portion 37 provided in the mobile body main body 2 is brought into contact with the carriage 300 while the mobile body 2 is holding the carriage 300 in the first holding state. The moving direction follows the moving direction of the moving body main body 2. - 特許庁

A (computer) program according to one aspect is a program for causing a computer system to execute the mobile control method described above.

Modifications of the above embodiment are listed below. Modifications described below can be applied in combination as appropriate.

The mobile body 1 and host system 200 in the present disclosure include a computer system. A computer system is mainly composed of a processor and a memory as hardware. The functions of the mobile body 1 and host system 200 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be recorded in advance in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-temporary recording medium such as a computer system-readable memory card, optical disk, or hard disk drive. may be provided. A processor in a computer system consists of one or more electronic circuits, including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). The integrated circuit such as IC or LSI referred to here is called differently depending on the degree of integration, and includes integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). In addition, a field-programmable gate array (FPGA) that is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the bonding relationship inside the LSI or reconfiguring the circuit partitions inside the LSI may also be adopted as the processor. can be done. A plurality of electronic circuits may be integrated into one chip, or may be distributed over a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. A computer system, as used herein, includes a microcontroller having one or more processors and one or more memories. Accordingly, the microcontroller also consists of one or more electronic circuits including semiconductor integrated circuits or large scale integrated circuits.

In addition, it is not an essential configuration of the mobile body control system 100 that a plurality of functions in the mobile body control system 100 are integrated in one housing. The control unit 12) may be provided dispersedly in a plurality of housings. Furthermore, at least part of the functions of the mobile body control system 100 (for example, the control unit 12 of the mobile body 1) may be realized by the cloud (cloud computing) or the like.

Conversely, in Embodiment 1, at least some of the functions of the mobile body control system 100 distributed among multiple devices may be integrated into one housing. For example, some functions of the mobile body control system 100 distributed between the mobile body 1 and the host system 200 may be integrated in one housing.

In the above embodiment, when comparing binary data such as measurement data, "greater than" may be replaced with "greater than or equal to". That is, in the comparison of two values, whether or not the two values are equal can be arbitrarily changed depending on the setting of the reference value, etc., so there is no technical difference between "greater than" and "greater than or equal to". Similarly, "less than" may be used instead of "less than".

(summary)
As described above, the moving body (1) of the first aspect includes a moving body main body (2), a holding section (3), a driving section (22), and a control section (12). The holding part (3) holds the carriage (300) by lifting at least part of the carriage (300) in a state in which at least part of the mobile body (2) is inserted under the carriage (300). . The truck (300) is movable on a plurality of wheels (330) provided at the bottom of a truck body (310) having a bottom (320). A drive unit (22) moves the moving body body (2). A control section (12) controls a drive section (22). The control unit (12) controls the driving unit (22) so that at least part of the moving body body (2) enters from the short side portion (321) of the bottom (320) of the truck (300) to the lower side of the bottom (320). ). The control unit (12) controls the driving unit (22) to move the moving body (2) while the holding unit (3) is holding the carriage (300), thereby moving the carriage (300). to convey.

According to this aspect, the holding part (3) moves at least one of the carriages (300) in a state in which the mobile body (2) enters from the short side part (321) of the bottom part (320) to the lower side of the bottom part (320). By lifting the part, the moving body (1) holds the carriage (300), so the deflection of both sides of the short side part (321) is reduced, and the possibility that the wheels (330) of the carriage (300) touch the ground is reduced. can be reduced. Therefore, when the moving body (1) conveys the carriage (300), the possibility that the wheels (330) hit the moving surface (G1) and cause resistance can be reduced, and the carriage (300) can be conveyed in a stable state. can be done.

In the mobile object (1) of the second aspect, in the first aspect, the plurality of wheels (330) provided on the truck (300) include fixed wheels (331) and free wheels (332). A fixed ring (331) is arranged at one longitudinal end of the bottom (320) and is rotatable along a predetermined direction. A plurality of freewheels (332) are arranged on the other longitudinal end side of the bottom (320) and are rotatable in all circumferential directions on the movement plane (G1). The control unit (12) controls the driving unit (12) so that at least a part of the moving body body (2) enters below the bottom (320) from the short side (321) at one end in the longitudinal direction of the bottom (320). 22).

According to this aspect, the holding part (3) can lift at least the fixed wheel (331) by lifting the carriage (300). Therefore, when the moving body (1) conveys the carriage (300), the possibility that the fixed wheel (331) hits the moving surface (G1) and becomes a resistance can be reduced, and the carriage (300) is conveyed in a stable state. be able to.

In the mobile body (1) of the third aspect, in the second aspect, the plurality of wheels (330) includes two fixed wheels (331), and the control unit (12) controls the two fixed wheels (331). The driving part (22) is controlled so that at least a part of the moving body main body (2) enters between them.

According to this aspect, the holding part (3) lifts the portion between the two adjacent fixed wheels (331) in the carriage body (310), so that the two adjacent fixed wheels (331) move along the moving surface (G1 ) can be reduced.

In the mobile body (1) of the fourth aspect, in the second or third aspect, the holding part (3) has a free wheel (332) in contact with the moving surface (G1) and a fixed wheel (331) A carriage (300) is held while floating from the moving surface (G1).

According to this aspect, the cart (300) can be transported while only the free wheel (332) is in contact with the moving surface (G1).

In the moving body (1) of the fifth aspect, in any one of the second to fourth aspects, the holding part (3) includes a pin (360 , 361).

According to this aspect, the moving body (1) lifts the carriage (300) by the holding part (3), and holds the pins (360, 361) by the pin chuck part (33), thereby moving the carriage (300). can be held.

In the fifth aspect, the moving body (1) of the sixth aspect further comprises a pin detection section (21) that detects whether or not the pins (360, 361) are present on the carriage (300A). When the pin detector (21) detects the non-existence of the pins (360, 361), the holder (3) moves the free wheel (332) and the fixed wheel (331) in a state where they are all lifted from the moving surface (G1). It holds the carriage (300).

According to this aspect, the carriage (300A) having no pins (360, 361) is configured such that the plurality of free wheels (332) and the plurality of fixed wheels (331) are all lifted from the moving surface (G1). can hold.

In the mobile body (1) of the seventh aspect, in the fifth or sixth aspect, it is determined whether or not the pin chuck part (33) holds the pins (360, 361) provided on the carriage (300). A holding detection unit (25) for detecting is further provided.

According to this aspect, the holding detection section (25) can detect whether the pins (360, 361) are held by the pin chuck section (33).

In the moving body (1) of the eighth aspect, in the seventh aspect, the control section (12) detects a state in which the pin chuck section (33) holds the pins (360, 361) by the holding detecting section (25). ) is detected, the carriage (300) is transported by controlling the drive unit (22) to move the mobile body (2).

According to this aspect, the carriage (300) can be transported while the pins (360, 361) are held by the pin chuck portion (33).

The moving object (1) of the ninth aspect, in any one of the second to eighth aspects, further comprises a steering assisting section (37). The steering assisting part (37) is provided on the mobile body (2), and by coming into contact with the truck body (310), makes the moving direction of the truck (300) follow the moving direction of the mobile body (2).

According to this aspect, when the moving body (1) holding the carriage (300) is about to turn, the steering assisting part (37) pushes the moving body main body (2) so that the carriage (300) can follow the moving direction of the moving body (1).

In the mobile body (1) of the tenth aspect, in the ninth aspect, at least one holding part (3) is provided on each of the front and rear sides of the mobile body body (2), and the steering assist part (37) is: It is placed in a holding part (3) on the front side of the mobile body (2).

According to this aspect, the moving direction of the carriage (300) can be made to follow the moving direction of the moving body (1) by the steering assist section (37) pushing the moving body (2).

In the moving object (1) of the eleventh aspect, in any one of the first to tenth aspects, the control unit (12) controls the moving object while the holding unit (3) holds the carriage (300). A driving part (22) is controlled so that the main body (2) moves forward in a transportation mode in which the main body (2) leads and pulls a carriage (300).

According to this aspect, the moving body (1) can tow and move the truck (300).

In the moving object (1) of the twelfth aspect, in any one of the first to eleventh aspects, the control unit (12) controls the moving object while the holding unit (3) holds the carriage (300). A driving part (22) is controlled so that the main body (2) moves forward to a first position in a first transport mode in which the main body (2) leads the carriage (300). The control unit (12) rotates the moving body (2) at the first position so that the moving body (2) pushes the carriage (300) from behind in the second transport mode. ). A control unit (12) controls a driving unit (22) so that the moving body main body (2) travels backward to a second position in the second transport mode. The control unit (12) causes the holding unit (3) to separate the carriage (300) at the second position, and then controls the driving unit (22) to move the mobile body (2) forward.

According to this aspect, the moving body (1) can move the truck (300) from the first position to the second position.

A mobile body (1) of the thirteenth aspect includes a mobile body body (2), a holding part (3), and a steering assist part (37). The holding part (3) holds the carriage (300) by lifting at least part of the carriage (300) in a state in which at least part of the mobile body (2) is inserted under the carriage (300). . The truck (300) is movable on a plurality of wheels (330) provided at the bottom of a truck body (310) having a bottom (320). A plurality of wheels (330) are arranged at one end in the longitudinal direction of the bottom (320) and a fixed wheel (331) rotatable along a predetermined direction, and arranged at the other end in the longitudinal direction of the bottom (320). and a free wheel (332) that is rotatable in all circumferential directions. The steering assisting part (37) is provided on the mobile body (2), and by coming into contact with the truck body (310), makes the moving direction of the truck (300) follow the moving direction of the mobile body (2). At least one holding portion (3) is provided on both sides of the mobile body (2) in the front-rear direction, and the steering assisting portion (37) is arranged in the holding portion (3) on the front side of the mobile body (2). be. The holding part (3) is in a state where the free wheel (332) of the carriage (300) is in contact with the moving surface (G1) and the fixed wheel (331) of the carriage (300) is floating from the moving surface (G1). It holds the carriage (300).

According to this aspect, the carriage (300) can be conveyed in a stable state by the steering assistance part (37) causing the moving direction of the carriage (300) to follow the moving direction of the moving body body (2). .

A moving body control method of a fourteenth aspect is a moving body control method for controlling a moving body (1). A moving body (1) includes a moving body body (2), a holding part (3), and a driving part (22). The holding part (3) holds the carriage (300) by lifting at least part of the carriage (300) in a state in which at least part of the mobile body (2) is inserted under the carriage (300). . The truck (300) is movable on wheels (330) provided at the bottom of a truck body (310) having a bottom (320). A drive unit (22) moves the moving body body (2). The moving body control method includes a first step and a second step. In the first step, the driving part (22) is moved so that at least part of the moving body body (2) enters from the short side part (321) of the bottom part (320) of the carriage (300) to the lower side of the bottom part (320). Control. In the second step, the carriage (300) is conveyed by controlling the drive section (22) to run the mobile body (2) while the holding section (3) holds the carriage (300). do.

According to this aspect, the holding part (3) moves at least one of the carriages (300) in a state in which the mobile body (2) enters from the short side part (321) of the bottom part (320) to the lower side of the bottom part (320). By lifting the part, the moving body (1) holds the carriage (300), so the deflection of both sides of the short side part (321) is reduced, and the possibility that the wheels (330) of the carriage (300) touch the ground is reduced. can be reduced. Therefore, when the moving body (1) conveys the carriage (300), the possibility that the wheels (330) hit the moving surface (G1) and cause resistance can be reduced, and the carriage (300) can be conveyed in a stable state. can be done.

A moving body control method of a fifteenth aspect includes a holding step and a transporting step. In the holding step, the mobile body (2) holds the carriage (300) in either the first holding state or the second holding state. The carriage (300) is movable with two fixed wheels (331) each rotatable along a predetermined direction and a free wheel (332) rotatable in all circumferential directions. In the transport step, the carriage (3009) is transported while the main body (2) of the mobile body (2) holds the carriage (300). The two fixed wheels (331) hold the carriage (300) in a state floating above the moving surface (G1).In the second holding state, the two fixed wheels (331) and the free wheel (332) This is a state in which the carriage (300) is held in a state where it is entirely floating above the moving surface (G1).In the holding step, the moving body body (2) moves from between the two fixed wheels (331) to below the carriage (300). The carriage (300) is held in the first holding state when the truck (300) enters the side.

According to this aspect, when the moving body main body (2) enters the lower side of the truck (300) from between the two fixed wheels (331), the truck (300) is held in the first holding state. It is possible to reduce the possibility that the fixed ring (331) hits the moving surface (G1) and becomes a resistance. Therefore, according to this aspect, the cart (300) can be transported in a stable state.

The moving body control method of the sixteenth aspect, in the fifteenth aspect, further includes a steering assistance step. In the steering assist step, the steering assist section (37) provided in the mobile body (2) is moved to the carriage (300) while the mobile body (2) is holding the carriage (300) in the first holding state. , the moving direction of the carriage (300) follows the moving direction of the mobile body (2).

According to this aspect, the cart (300) can be transported in a stable state.

Various configurations (including modifications) of the moving body (1) according to the above embodiment are not limited to the above aspects, but can be implemented by a moving body control method, a (computer) program, or a non-temporary recording medium recording the program. Realization is possible.

The configurations according to the second to twelfth aspects are not essential to the moving body (1), and can be omitted as appropriate. The configuration according to the sixteenth aspect is not essential for the moving body control method, and can be omitted as appropriate.

1 moving body 2 moving body main body 3 holding part 12 control part 21 state detection part (pin detection part)
22 drive unit 25 holding detection unit 33 pin chuck unit 37 steering assist unit 300 truck 310 truck main body 320 bottom 321 short side portion 330 wheel 331 fixed wheel 332 free wheel 360, 361 pin G1 moving surface

Claims (16)

a mobile body;
With at least a part of the moving body body inserted under a carriage movable by a plurality of wheels provided at the bottom of a carriage body having a bottom, the carriage is lifted by lifting at least a part of the carriage. a holding portion for holding;
a drive unit for moving the moving body;
A control unit that controls the driving unit,
The control unit controls the driving unit so that at least a part of the moving body main body enters from the short side portion of the bottom of the carriage to the lower side of the bottom,
The control unit conveys the carriage by controlling the driving unit to move the moving body main body while the holding unit holds the carriage.
Mobile. The plurality of wheels included in the carriage include a fixed wheel arranged at one longitudinal end side of the bottom portion and rotatable along a predetermined direction, and a fixed wheel arranged at the other longitudinal end side of the bottom portion. a freewheel rotatable in a direction;
The control unit controls the driving unit such that at least a portion of the moving body main body enters below the bottom from a short side portion on one end side in the longitudinal direction of the bottom.
The moving object according to claim 1. the plurality of wheels includes two fixed wheels;
The control unit controls the driving unit such that at least part of the moving body main body enters between the two fixed wheels.
The moving object according to claim 2. The holding part holds the carriage in a state in which the free wheel is in contact with the moving surface and the fixed wheel is floating from the moving surface.
The moving body according to claim 2 or 3. The holding part includes a pin chuck part that holds a pin provided at least one end in the longitudinal direction of the carriage,
The mobile body according to any one of claims 2 to 4. further comprising a pin detection unit that detects whether the pin is present on the carriage,
When the pin detection unit detects the absence of the pin, the holding unit holds the carriage in a state in which the free wheel and the fixed wheel are all lifted from the moving surface.
The mobile body according to claim 5 . Further comprising a holding detection unit that detects whether the pin chuck unit holds the pin provided on the carriage,
The moving body according to claim 5 or 6. When the holding detection unit detects a state in which the pin chuck unit holds the pin, the control unit controls the driving unit to move the moving body main body, thereby conveying the cart.
The moving object according to claim 7. further comprising a steering assist unit provided in the moving body main body and brought into contact with the carriage body to cause the moving direction of the carriage to follow the moving direction of the moving body body,
The mobile body according to any one of claims 2 to 8. At least one holding portion is provided on both sides in the front-rear direction of the moving body main body,
The steering assist part is arranged in the holding part on the front side of the mobile body,
The mobile body according to claim 9 . The control unit controls the driving unit so that the moving unit moves forward in a transport mode in which the moving unit main body pulls the carriage while the holding unit holds the carriage. control and
A moving body according to any one of claims 1 to 10. The control unit causes the moving body main body to move forward to a first position in a first transport mode in which the moving body main body leads the carriage while the holding part holds the carriage. to control the drive unit such that
The control unit controls the driving unit so that the moving body main body pushes the carriage from behind by rotating the moving body main body at the first position so that the moving body main body enters a second transport mode, and
The control unit controls the driving unit so that the moving body main body travels backward to a second position in the second transport mode,
The control unit controls the driving unit so that the moving body main body moves forward after separating the carriage from the holding unit at the second position.
The mobile body according to any one of claims 1 to 11. a mobile body;
A fixed ring arranged at one end in the longitudinal direction of the bottom and rotatable along a predetermined direction provided in the lower part of a truck body having a bottom; In a state in which at least a portion of the moving body main body is placed under a carriage movable by a plurality of wheels including free wheels rotatable in a circumferential direction, the carriage is lifted by lifting at least a portion of the carriage. a holding portion for holding;
a steering assist unit provided in the moving body main body and making the moving direction of the carriage follow the moving direction of the moving body body by coming into contact with the carriage body,
At least one holding portion is provided on both sides in the front-rear direction of the moving body main body,
The steering assist part is arranged in the holding part on the front side of the mobile body,
The holding unit holds the carriage in a state in which the free wheels of the carriage are in contact with the moving surface and the fixed wheels of the carriage are floating from the moving surface.
Mobile. a mobile body;
In a state in which at least a part of the moving body body enters under a carriage that can be moved by wheels provided at the bottom of a carriage body having a bottom, the carriage is held by lifting at least a part of the carriage. a holding part;
A moving body control method for controlling a moving body comprising a driving unit for moving the moving body main body,
a first step of controlling the drive unit such that at least part of the moving body main body enters from the short side portion of the bottom of the carriage to the lower side of the bottom;
a second step of conveying the carriage by controlling the drive unit to cause the moving body main body to travel while the holding unit holds the carriage;
Mobile control method. A moving body main body is arranged in either a first holding state or a second holding state by means of two fixed wheels each rotatable along a predetermined direction and a free wheel rotatable in all circumferential directions. a holding step of holding at
a conveying step of conveying the cart while the movable body main body holds the cart;
The first holding state is a state in which the free wheel is in contact with the moving surface and the carriage is held with the two fixed wheels floating from the moving surface,
The second holding state is a state in which the carriage is held in a state in which the two fixed wheels and the free wheels are all floating from the moving surface,
In the holding step, the carriage is held in the first holding state when the moving body main body enters the lower side of the carriage from between the two fixed wheels.
Mobile control method. In a state in which the moving body main body holds the carriage in the first holding state, the movement direction of the carriage is changed to the moving direction by bringing the steering assisting portion provided on the moving body main body into contact with the carriage. further comprising a steering assist step for following the moving direction of the body;
The moving body control method according to claim 15.

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