JP2019127116A - Mobile device and control method of the mobile device - Google Patents

Abstract

To provide a mobile device and a control method of the mobile device which can shorten a braking distance of the mobile device.SOLUTION: A mobile device 10 includes a plurality of wheels 2, a main body part 1, and a friction braking mechanism 3. The main body part 1 has a bottom surface 11. The main body part 1 is supported by the plurality of wheels 2 in a state that the bottom surface 11 is faced to a traveling surface 100, and travels on the traveling surface 100 by rotation of each of the plurality of wheels 2. The friction braking mechanism 3 has a movable member 14 which protrudes from the bottom surface 11 to the traveling surface 100. The friction braking mechanism 3 switches a state of the movable member 14 from a first state to a second state with a height from the traveling surface 100 to the bottom surface 11 as a reference value L1 when the main body part 1 travels, and brakes the main body part 1 by contacting the movable member 14 with the traveling surface 100. The first state is a state in which a protrusion amount of the movable member 14 is less than the reference values L1. The second state is a state in which the protrusion amount L2 of the movable member 14 is the reference value L1 or higher.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates generally to a mobile device and a control method of the mobile device, and more particularly, to a mobile device traveling on a traveling surface by a plurality of wheels and a control method of the mobile device.

  Patent Document 1 describes an emergency stop system for a transport carriage. In this emergency stop system, the moving device (conveying carriage) includes an emergency stop mechanism. The emergency stop mechanism performs an emergency stop operation when detecting an emergency stop instruction plate embedded at a predetermined position forward of the moving direction of the moving device or detecting an abutment with the emergency stop instruction plate. The emergency stop mechanism operates a hydraulic brake or the like during an emergency stop operation to brake the wheels (front and rear wheels) to stop the moving device.

JP 2003-131738 A

  However, in the configuration described in Patent Document 1, there is a possibility that the braking distance of the moving device may be long, for example, in a situation where the wheels are slippery with respect to the road surface or in a situation where an abnormality occurs in the hydraulic brake.

  The present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to provide a moving device and a control method of the moving device capable of shortening a braking distance of the moving device.

  A moving device according to an aspect of the present disclosure includes a plurality of wheels, a main body portion, and a friction braking mechanism. The body portion has a bottom surface. The main body portion is supported by the plurality of wheels in a state in which the bottom surface is opposed to the traveling surface, and travels on the traveling surface by rotation of each of the plurality of wheels. The friction braking mechanism has a movable member projecting from the bottom surface toward the traveling surface. The friction braking mechanism switches the state of the movable member from the first state to the second state while using the height from the traveling surface to the bottom surface as a reference value during traveling of the main body. Thus, the friction braking mechanism brings the movable member into contact with the traveling surface to brake the main body. The first state is a state where the protruding amount of the movable member is less than the reference value. The second state is a state where the protruding amount of the movable member is equal to or greater than the reference value.

  In the method for controlling the moving device according to one aspect of the present disclosure, the state of the movable member is switched from the first state to the second state while the main body is traveling, with the height from the traveling surface to the bottom surface being a reference value. Thus, the movable member is brought into contact with the traveling surface to brake the main body. The movable member protrudes from the bottom surface toward the traveling surface. The first state is a state where the protruding amount of the movable member is less than the reference value. The second state is a state where the protruding amount of the movable member is equal to or greater than the reference value. The moving device includes a plurality of wheels and the main body. The main body portion has the bottom surface. The main body portion is supported by the plurality of wheels in a state in which the bottom surface is opposed to the traveling surface, and travels on the traveling surface by rotation of each of the plurality of wheels.

  According to the present disclosure, there is an advantage that the braking distance of the mobile device can be shortened.

FIG. 1A is a side view showing the moving apparatus according to the first embodiment when the movable member is in a first state. FIG. 1B is a side view showing the above-described moving device when the movable member is in the second state. FIG. 2 is a block diagram showing a schematic configuration of the mobile device of the above. FIG. 3A is a perspective view showing the above-described moving device. FIG. 3B is a plan view showing the above moving device. FIG. 4 is a bottom view showing the above moving device. FIG. 5: A is a side view when the raising / lowering board is in the lower end position of a movable range which shows the moving apparatus same as the above. FIG. 5B is a side view of the above-described moving device when the lifting plate is at the upper end position of the movable range. FIG. 6 is a flowchart showing the operation related to the emergency stop operation of the mobile device. FIG. 7A is a side view showing the moving device according to the second embodiment when the movable member is in the first state. FIG. 7B is a side view showing the above-described moving device when the movable member is in the second state. FIG. 8A is a side view of the moving device according to the first modification example of the second embodiment when the movable member is in the first state. FIG. 8B is a side view showing the moving device same as the above, when the movable member is in the second state.

(Embodiment 1)
(1) Outline As shown in FIGS. 1A and 1B, the moving device 10 according to the present embodiment is a device that travels on the traveling surface 100 by a plurality of wheels 21, 22, 23, and 24 (see FIG. 3B). . The mobile device 10 is introduced into a facility such as a distribution center (including a distribution center), a factory, an office, a store, a school, and a hospital, for example, and travels on the traveling surface 100 using the floor surface of the facility as the traveling surface 100. Do. In the present embodiment, as an example, a case will be described in which the moving device 10 is a “conveying device” for conveying the conveyed product X1 (see FIG. 5A). Hereinafter, when the plurality of wheels 21, 22, 23, 24 are not particularly distinguished, each is referred to as “wheel 2”.

  The moving apparatus 10 according to the present embodiment includes a plurality of (here, four) wheels 2 and a main body 1. The main body 1 has a bottom surface 11. The main body portion 1 is supported on the traveling surface 100 by the plurality of wheels 2 in a state in which the bottom surface 11 is opposed to the traveling surface 100. In this state, the main body 1 travels on the traveling surface 100 by rotating each of the plurality of wheels 2. In the present disclosure, “the main body portion 1 travels on the traveling surface 100” means that the main body portion 1 moves on the traveling surface 100 in a state supported by the plurality of wheels 2 on the traveling surface 100. Do.

  Here, in the present embodiment, as shown in FIG. 2, the moving device 10 further includes the friction braking mechanism 3. The friction braking mechanism 3 is a mechanism that brakes the traveling main body 1. The friction braking mechanism 3 has a movable member 14 which protrudes from the bottom surface 11 of the main body 1 toward the traveling surface 100. The friction braking mechanism 3 brakes the main body 1 by changing the position of the movable member 14 relative to the main body 1. In the present disclosure, "braking" includes not only stopping motion, that is, stopping the main body 1 completely during traveling but also reducing the speed of the main body 1 during traveling (that is, deceleration). .

  More specifically, the friction braking mechanism 3 can switch the state of the movable member 14 between the first state and the second state. The first state is a state in which the amount of projection of the movable member 14 is less than the reference value L1 (see FIG. 1A). The second state is a state in which the protrusion amount L2 (see FIG. 1B) of the movable member 14 is equal to or greater than the reference value L1. The reference value L1 is the height from the traveling surface 100 to the bottom surface 11 while the main body 1 is traveling. That is, the friction braking mechanism 3 moves the movable member 14 relative to the main body 1 to switch between the first state and the second state. The friction braking mechanism 3 switches the state of the movable member 14 from the first state to the second state while the main body 1 is traveling, thereby bringing the movable member 14 into contact with the traveling surface 100 and braking the main body 1. .

  As described above, when the friction braking mechanism 3 operates and the state of the movable member 14 switches from the first state to the second state, it is possible to brake the main body 1 regardless of the braking status of the wheel 2 is there. Therefore, for example, the braking distance of the moving device 10 is shortened even in a situation where the wheel 2 is slippery with respect to the traveling surface 100 or in a situation where an abnormality occurs in the wheel braking mechanism 5 (see FIG. 2) for braking the wheel 2. It can be suppressed. As a result, in the mobile device 10 according to the present embodiment, the braking distance of the mobile device 10 can be shortened.

  The friction braking mechanism 3 may operate, for example, when decelerating or stopping the main body 1 during traveling in the normal operation (during steady state) of the moving device 10, or in an emergency etc. It may operate at the time of emergency stop.

(2) Configuration Hereinafter, the configuration of the mobile device 10 according to the present embodiment will be described in detail with reference to FIGS. 1A to 5B. Hereinafter, unless otherwise specified, a direction (vertical direction) perpendicular to the traveling surface 100 is defined as an up-down direction, and the moving device 10 side as viewed from the traveling surface 100 is described as “upward”. In addition, the direction in which the moving device 10 advances when the moving device 10 moves forward will be referred to as “front”, and the direction perpendicular to both the vertical direction and the front-rear direction (the direction perpendicular to the plane of FIG. 1A) will be described as the left-right direction. That is, in FIG. 1A and the like, as indicated by the arrows “up”, “down”, “left”, “right”, “front”, “back”, the respective directions of up, down, left, right, front, and rear To define. However, these directions are not intended to define the usage direction of the mobile device 10. In addition, the arrows indicating the directions in the drawings are merely shown for explanation, and do not accompany the substance. Similarly, the arrows indicating the direction of movement of each part such as the main body 1 in the drawings are merely shown for the sake of explanation, and are not accompanied by an entity.

  As described above, the moving device 10 includes the main body 1, the plurality of (here, four) wheels 2, and the friction braking mechanism 3. In the present embodiment, the moving device 10 includes a drive unit 4, a wheel braking mechanism 5, a control unit 6, a detection unit 7, a lift-up mechanism 8, and a human machine interface 9 (HMI). And further comprising In this embodiment, the friction braking mechanism 3, the drive unit 4, the wheel braking mechanism 5, the control unit 6, the detection unit 7, the lift-up mechanism 8, and the human machine interface 9 are all mounted on the main body unit 1.

  The mobile device 10 autonomously travels on a flat traveling surface 100 made of, for example, a floor surface of a facility. Here, as an example, the mobile device 10 includes a storage battery and operates using electric energy stored in the storage battery.

  In the present embodiment, the moving device 10 is a “transport device” for transporting the transport object X1 as described above. Therefore, the moving device 10 travels on the travel surface 100 with the transported object X1 loaded on the main body 1. As a result, the mobile device 10 can, for example, transport the transported object X1 placed at a certain place in the facility to another place in the facility.

  The main body 1 has a rectangular parallelepiped shape that is longer in the front-rear direction than in the left-right direction and has a smaller vertical dimension than in the left-right direction and the front-rear direction. As will be described in detail later, in the present embodiment, the main body 1 sinks under the transport object X1 and lifts the transport object X1, and the transport object X1 is loaded on the main body 1. Therefore, the dimension in the vertical direction of the main body 1 is set to be sufficiently smaller than the dimension in the horizontal direction of the main body 1 so that the main body 1 is contained in the gap generated below the transported object X1.

  The main body unit 1 includes a vehicle body unit 12 and a lift plate 13. In the present embodiment, the main body 1 is made of metal. However, the main body 1 is not limited to metal but may be made of resin, for example.

  The vehicle body portion 12 is supported on the traveling surface 100 by the plurality of wheels 2. In the present embodiment, as shown in FIGS. 3A and 3B, the plurality of wheels 2 are disposed at the four corners of the vehicle body portion 12 in a plan view. The lower surface of the vehicle body portion 12 is a bottom surface 11 of the main body portion 1. Therefore, in a state where all of the plurality of wheels 2 protrude from the bottom surface 11, the vehicle body 12 is supported at its four corners with its lower surface (bottom surface 11) facing the traveling surface 100. . Here, among the plurality of wheels 21, 22, 23, 24, the wheels 21, 22 are “front wheels” disposed at the front portion of the vehicle body portion 12, and the wheels 23, 24 are disposed at the rear portion of the vehicle body portion 12. It is a "rear wheel" to be

  Here, as shown in FIG. 4, the main body 1 has an opening 120 in a part of the bottom surface 11 (the lower surface of the vehicle body 12). The opening 120 is formed in a rectangular shape longer in the front-rear direction than in the left-right direction, and is disposed at a position between the four wheels 2 in the left-right direction. The opening 120 is a hole for advancing and retracting the movable member 14 of the friction braking mechanism 3 with respect to the bottom surface 11. Therefore, the movable member 14 is exposed from the opening 120.

  The lift plate 13 is disposed above the vehicle body 12 so as to cover at least a part of the upper surface of the vehicle body 12. In the present embodiment, the elevating plate 13 covers substantially the entire upper surface of the vehicle body portion 12 except for the front end portion and the rear end portion of the vehicle body portion 12. The upper surface of the elevating plate 13 is a loading surface 131 for loading the conveyed product X1. That is, when transporting the transported product X1 by the moving device 10, the transported product X1 is loaded on the upper surface (loading surface 131) of the elevating plate 13. In other words, the main body 1 has a loading surface 131 on which the conveyed product X1 is loaded. In the present embodiment, the stacking surface 131 has the four corners slightly higher than the portions other than the four corners (the central portion or the like). Furthermore, the four corners of the loading surface 131 have, for example, a large coefficient of friction as compared with the portions other than the four corners on the loading surface 131 due to anti-slip processing. Therefore, the conveyed product X1 loaded on the loading surface 131 is less likely to slip with respect to the loading surface 131.

  Here, the lifting plate 13 can be lifted and lowered with respect to the vehicle body portion 12 by the lift-up mechanism 8. Therefore, in a state in which the main body 1 is in the lower part of the conveyed product X1, the conveyed product X1 is lifted by the vertically moving plate 13 by raising the elevation plate 13. On the contrary, in a state where the conveyed product X1 is lifted by the elevating plate 13, the conveyed product X1 is lowered from the elevating plate 13 by lowering the elevating plate 13.

  Each of the plurality of wheels 2 is individually rotatable by receiving a driving force from the driving unit 4. Each wheel 2 is held by the main body 1 (vehicle body 12) so as to be rotatable about a rotation shaft extending in the left-right direction. The contact surface of each wheel 2 with the traveling surface 100 is, for example, anti-slip processing so as to have a relatively large coefficient of friction with the traveling surface 100. Thereby, it becomes easy to ensure the traction between the wheel 2 and the running surface 100.

  In the present embodiment, the wheels 21 and 22 as the “front wheel” and the wheels 23 and 24 as the “rear wheel” are all “drive wheels” driven by the drive unit 4. Furthermore, the wheels 21 and 22 as the “front wheel” and the wheels 23 and 24 as the “rear wheel” are all “braking wheels” that are braked by the wheel braking mechanism 5. By driving these wheels 2 individually, the main body 1 can move in all directions. That is, the main body portion 1 supported by the plurality of wheels 2 can move on the traveling surface 100 in all directions of front, rear, left, and right by rotation of each of the plurality of wheels 2. Each of the plurality of wheels 2 may be, for example, an omnidirectional wheel such as an omni wheel.

  The drive unit 4 applies a drive force directly or indirectly to a drive wheel that is at least a part of the plurality of wheels 2. In the present embodiment, since all of the plurality (four) of the wheels 2 are drive wheels as described above, the drive unit 4 applies a driving force to all of the plurality of wheels 2. The drive unit 4 is built in the vehicle body unit 12. The driving unit 4 includes, for example, a motor, and indirectly applies a driving force generated by the motor to the wheel 2 via a gear box, a belt, and the like. Moreover, the structure which gives a driving force directly with respect to each wheel 2 like the in-wheel motor may be sufficient as the drive part 4. FIG. The drive unit 4 drives each of the plurality of wheels 2 in the rotation direction and the rotation speed according to the control signal based on the control signal input from the control unit 6.

  The wheel braking mechanism 5 brakes a braking wheel that is at least a part of the plurality of wheels 2. In the present embodiment, since all of the plurality (four) of wheels 2 are braking wheels as described above, the wheel braking mechanism 5 applies braking force to all of the plurality of wheels 2 to perform braking. The wheel braking mechanism 5 is built in the vehicle body 12. The wheel braking mechanism 5 is realized by, for example, a suitable mechanism capable of braking the wheel 2 such as a disk brake or a drum brake. Further, the wheel braking mechanism 5 may be configured to reduce the rotational speed of the wheel 2 such as a regenerative brake that absorbs the kinetic energy of the wheel 2 with the electric motor of the driving unit 4 as a load (generator). The wheel braking mechanism 5 brakes each of the plurality of wheels 2 in accordance with a wheel braking signal input from the control unit 6.

  The control unit 6 controls the friction braking mechanism 3, the drive unit 4, the wheel braking mechanism 5, the detection unit 7, the lift up mechanism 8, and the human machine interface 9. In the present embodiment, the control unit 6 is mainly composed of a computer system having a processor and a memory. The function of the control unit 6 is realized when the processor of the computer system executes the program recorded in the memory of the computer system. The program may be recorded in a memory, may be provided through a telecommunication line such as the Internet, or may be recorded and provided in a non-transitory recording medium such as a memory card.

  The detection unit 7 detects the behavior of the main body 1, the braking state of the braking wheel, the peripheral state of the main body 1, and the like. The "behavior" in the present disclosure means an operation, an appearance, and the like. That is, the behavior of the main body unit 1 includes the operating state of the main body unit 1 indicating that the main body unit 1 is running / stopped, the speed (and speed change) of the main body unit 1, the acceleration acting on the main body unit 1, and the main body unit 1 Including the attitude of

  Specifically, the detection unit 7 includes, for example, sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and the behavior of the main body 1 is detected by these sensors. The detection unit 7 includes, for example, a camera, a sonar sensor, a radar, and a sensor such as LiDAR (Light Detection and Ranging), and detects the peripheral situation of the main unit 1 with these sensors. Moreover, the detection part 7 detects the braking condition of a braking wheel by measuring the torque added to the wheel 2, for example. That is, as an example, when the torque applied to the wheel 2 is suddenly reduced during braking of the wheel braking mechanism 5, the detection unit 7 detects that the wheel 2 is locked. Furthermore, the detection unit 7 may specify the position of the main body 1 using a GPS (Global Positioning System) or the like. The detection result of the detection unit 7 is output to the control unit 6. In the figure showing the appearance of the moving device 10 such as FIG. 1A, the illustration of the detection unit 7 is omitted.

  The lift-up mechanism 8 is a mechanism that lifts the conveyed product X1 by raising the stacking surface 131. Here, since the loading surface 131 is the upper surface of the lifting plate 13, the lift-up mechanism 8 raises or lowers the loading surface 131 by moving the lifting plate 13 in the vertical direction relative to the vehicle body 12. Let The lift-up mechanism 8 moves the lift plate 13 between the lower end position and the upper limit position of the movable range of the lift plate 13. FIG. 5A shows the elevating plate 13 in the lower end position of the movable range, and FIG. 5B shows the elevating plate 13 in the upper end position of the movable range. The lift-up mechanism 8 is built in the main body 1 so as to fit between the vehicle body 12 and the lifting plate 13.

  Thereby, as shown to FIG. 5A, the moving apparatus 10 can make the main-body part 1 sneak under the conveyed product X1 in the state in which the raising / lowering board 13 exists in the lower end position of a movable range. Then, in the state in which the main body 1 is submerged below the conveyed object X1, as shown in FIG. 5B, the lift-up mechanism 8 raises the lift plate 13 to the upper end position of the movable range, so that the lift plate 13 The conveyed product X1 can be lifted. The movable range of the lift plate 13 may be a fixed value (fixed value) or a variable value. The lift-up mechanism 8 includes, for example, an electric motor (motor) and is an appropriate mechanism capable of moving the elevating plate 13 straight in the vertical direction by a driving force generated by the electric motor, such as a pantograph type or a rack and pinion type. To be realized.

  The human machine interface 9 outputs information (timed) to a person and acquires information input by the person. The human machine interface 9 includes, for example, an indicator 91 (see FIG. 3A), a voice output unit, operation switches, a voice input unit, and the like. The human machine interface 9 may include a device in which input and output of information are integrated, such as a touch panel display. The indicator 91 is disposed at the front end of the main body 1 (the vehicle body 12), and changes the display mode depending on whether the main body 1 is performing forward, backward, right turn, or left turn, for example.

  As described above, the friction braking mechanism 3 includes the movable member 14 that protrudes from the bottom surface 11 of the main body 1 toward the traveling surface 100. The friction braking mechanism 3 switches the state of the movable member 14 from the first state to the second state while the main body 1 is traveling, thereby bringing the movable member 14 into contact with the traveling surface 100 and braking the main body 1. . Here, the height from the traveling surface 100 to the bottom surface 11 during traveling of the main body 1 when the movable member 14 is in the first state is defined as a reference value L1. As shown in FIG. 1A, the first state is a state in which the protruding amount of the movable member 14 from the bottom surface 11 of the main body 1 to the lower side (traveling surface 100 side) is less than a reference value L1. As shown in FIG. 1B, the second state is a state in which the protruding amount of the movable member 14 from the bottom surface 11 of the main body 1 to the lower side (the running surface 100 side) is equal to or greater than a reference value L1. In this embodiment, when the state of the movable member 14 is switched from the first state to the second state, the entire surface of the movable member 14 that faces the traveling surface 100 (the lower surface) contacts the traveling surface 100 and the main body 1 Brake. The friction braking mechanism 3 switches the state of the movable member 14 from the first state to the second state in response to the emergency stop signal input from the control unit 6. Further, the friction braking mechanism 3 switches the state of the movable member 14 from the second state to the first state according to the return signal input from the control unit 6.

  The friction braking mechanism 3 switches the first state and the second state by moving the movable member 14 relative to the main body 1 so that the movable member 14 advances and retreats with respect to the bottom surface 11 of the main body 1. It is a mechanism. The friction braking mechanism 3 is built in the vehicle body portion 12. In the present embodiment, the movable member 14 is stored in the main body 1 in the first state. Specifically, in the first state, the opposite surface (lower surface) of the bottom surface 11 of the main body 1 and the traveling surface 100 of the movable member 14 is flush. Therefore, in the first state, the movable member 14 does not protrude from the bottom surface 11 of the main body 1, and the protruding amount of the movable member 14 is “0” (zero). On the other hand, in the second state, the friction braking mechanism 3 causes the movable member 14 to project from the bottom surface 11 of the main body 1. In the present embodiment, the protrusion amount L2 of the movable member 14 in the second state is larger than the reference value L1. Therefore, when the state of the movable member 14 is switched from the first state to the second state, the plurality of wheels 2 are lifted together with the main body 1 as shown in FIG. Will only float. The protrusion amount L2 of the movable member 14 in the second state is the sum of the reference value L1 and the rise amount L3 of the wheel 2. The friction braking mechanism 3 includes, for example, an electric motor (motor), and is an appropriate mechanism that can move the movable member 14 straight up and down by a driving force generated by the electric motor, such as a pantograph type or a rack and pinion type. To be realized.

  That is, as shown in FIG. 1A, in the first state in which the protruding amount of the movable member 14 is less than the reference value L1, the main body 1 is supported by the plurality of wheels 2, and the bottom surface 11 of the main body 1 A gap is formed between the running surface 100 and the bottom surface 11 is away from the running surface 100. On the other hand, as shown in FIG. 1B, in the second state in which the protrusion amount L2 of the movable member 14 is equal to or larger than the reference value L1, the movable member 14 is lowered relative to the main body 1 and the movable member 14 And the running surface 100 come into contact with each other. Therefore, when the main unit 1 is switched from the first state to the second state during traveling, a frictional force is generated between at least a part of the movable member 14 (the entire lower surface of the movable member 14 in this embodiment) and the traveling surface 100. The main body 1 is braked by this frictional force.

  Here, as shown in FIG. 4, the movable member 14 has a frictional resistance portion 121 on at least a part of the surface facing the traveling surface 100. In the present embodiment, a plurality (four in this case) of friction resistance portions 121 are provided. Each frictional resistance portion 121 is disposed between the wheel 2 and the surface of the movable member 14 facing the traveling surface 100, that is, the center line of the movable member 14 in the left-right direction. The frictional resistance portion 121 has a larger coefficient of friction than the bottom surface 11 of the main body portion 1 with respect to the traveling surface 100. In other words, the friction coefficient of the friction resistance portion 121 with respect to the running surface 100 is larger than the friction coefficient with respect to the running surface 100 of the bottom surface 11 of the main body 1. In the present embodiment, the frictional resistance portion 121 is a synthetic rubber sheet attached to the movable member 14. Such a friction resistance part 121 has a larger coefficient of friction than the bottom surface 11 of the main body part 1 with respect to the traveling surface 100. Further, in the present embodiment, a groove having a predetermined pattern is formed on the surface of the frictional resistance portion 121. This groove drains moisture between the surface of the frictional resistance portion 121 and the running surface 100 and adheres between the frictional resistance portion 121 and the running surface 100 in the same manner as the groove (tread pattern) of an automobile tire. It is preferable to have a function to enhance the sex.

  In the present embodiment, the friction braking mechanism 3 switches the state of the movable member 14 from the first state to the second state when the drive unit 4 stops. In the present disclosure, “the drive unit is stopped” means that the drive unit 4 can not output the driving force to the wheel 2, in other words, the driving force is cut off. That is, the friction braking mechanism 3 also functions as an emergency brake that brakes the moving device 10 in an emergency such as when the power supply from the storage battery to the drive unit 4 is interrupted or when the control unit 6 is out of order. Specifically, the friction braking mechanism 3 maintains the state of the movable member 14 in the first state when power is supplied from the storage battery, for example, by an actuator such as a solenoid or a solenoid valve. On the other hand, when the power supply from the storage battery is cut off, the state of the movable member 14 cannot be maintained in the first state by the actuator of the friction braking mechanism 3, and the movable member 14 is moved relative to the main body 1 by the spring force of the spring member. Is relatively lowered, and the movable member 14 switches to the second state. Thus, the friction braking mechanism 3 constitutes a fail-safe brake system and functions to brake the moving device 10 at least in emergency.

  In addition, the mobile device 10 appropriately includes a configuration other than the above, for example, a storage battery charging circuit.

(3) Operation Hereinafter, the operation of the mobile device 10 according to the present embodiment will be described.

(3.1) Basic operation The mobile device 10 autonomously travels on the traveling surface 100 as a basic operation in a steady state. At this time, the moving device 10 detects the surroundings of the main body 1 by the detection unit 7 and determines the moving path by the control unit 6 based on the surroundings of the main body 1 and the like. And the moving apparatus 10 drives the wheel 2 by controlling the drive part 4 in the control part 6 according to the determined movement path | route, and performs autonomous driving | running | working.

  During autonomous traveling, the main body 1 supported by the plurality of wheels 2 moves on the traveling surface 100 by the rotation of each of the plurality of wheels 2. Further, when the moving device 10 decelerates or stops while traveling, the wheel braking mechanism 5 is operated to brake the plurality of wheels 2 and to brake the main body 1.

  In the present embodiment, the moving device 10 is a “conveying device” that conveys the conveyed product X1 by traveling on the traveling surface 100 with the conveyed product X1 loaded on the main body 1. When loading the transported object X1 on the main body 1, the moving device 10 first places the main body 1 below the transported object X1 with the lifting plate 13 at the lower end position of the movable range, as shown in FIG. 5A. Let it go down. In this state, as shown in FIG. 5B, the lift-up mechanism 8 raises the lifting plate 13 to the upper end position of the movable range, thereby lifting the conveyed product X <b> 1 on the upper surface (loading surface 131) of the lifting plate 13. Thereby, it is possible to load the conveyed product X1 on the stacking surface 131 of the main body 1.

  Here, when the lift-up mechanism 8 lifts the conveyed product X1, the amount of elevation of the elevator plate 13 from the state where the loading surface 131 contacts the lower surface of the conveyed product X1 is the amount of elevation of the conveyed product X1 by the lift-up mechanism 8. It corresponds to. The “lift amount of the transported object X1” in the present disclosure is the lift amount of the transported object X1 when the lift-up mechanism 8 lifts the lift plate 13 and lifts the transported object X1 by the lift plate 13. That is, the height from the traveling surface 100 when the lift-up mechanism 8 lifts the conveyed object X1 with respect to the contact portion with the traveling surface 100 in the conveyed object X1 in a state where the moving device 10 lowers the conveyed object X1. This is the amount by which the conveyed product X1 rises. For example, as shown in FIG. 5B, in the case of a transported object X1 with casters X11, the height from the traveling surface 100 at the lower end of the casters X11 is the amount of lift of the transported objects X1 by the lift-up mechanism 8.

(3.2) Emergency Stop Operation Next, refer to the flowchart of FIG. 6 for an operation (emergency stop operation) for operating the friction braking mechanism 3 to stop the main body 1 in an emergency while the main body 1 is traveling. To explain.

  First, on the premise that the driving force from the drive unit 4 is not cut off (that is, the drive unit 4 is not stopped) (S1: No) while the main body unit 1 is traveling, the control unit 6 The operating condition of the braking mechanism 5 is confirmed (S2). The operation state of the wheel braking mechanism 5, that is, whether or not the wheel braking mechanism 5 is in operation, for example, is determined by the output state of a wheel braking signal for controlling the wheel braking mechanism 5. At this time, if the wheel braking mechanism 5 is not in operation (that is, during wheel braking) (S2: No), the process returns to step S1.

  On the other hand, when the wheel braking mechanism 5 is in operation (i.e., during wheel braking) (S2: Yes), the control unit 6 shifts to determination processing of a predetermined condition. The predetermined condition is a condition for determining whether or not the braking force at the wheel braking mechanism 5 is sufficient. When the braking force at the wheel braking mechanism 5 is not sufficient, the control unit 6 satisfies the predetermined condition. to decide. In the present embodiment, the predetermined conditions include a first condition (S3), a second condition (S4) and a third condition (S5).

  When the control unit 6 determines that any one of the first condition, the second condition, and the third condition, which are predetermined conditions, is satisfied (S3: Yes, S4: Yes, or S5: Yes), the friction braking mechanism 3 Is activated (S6). When the friction braking mechanism 3 is operated, the state of the movable member 14 is switched from the first state to the second state by the friction braking mechanism 3 (S7). In other words, when the wheel braking mechanism 5 is in operation, when the predetermined condition is satisfied, the control portion 6 operates the friction braking mechanism 3 to change the state of the movable member 14 from the first state to the second state Switch. That is, even when the wheel is being braked (S2: Yes), when the braking force of the wheel braking mechanism 5 is not sufficient, the control unit 6 determines that the predetermined condition is satisfied (S3: Yes, S4). : Yes, or S5: Yes), the friction braking mechanism 3 is operated (S6).

  Thus, when the state of the movable member 14 is switched from the first state to the second state, the movable member 14 is lowered relative to the main body 1. Here, the rising amount of the loading surface 131 when the state of the movable member 14 is switched from the first state to the second state is equal to the rising amount L3 of the wheel 2. That is, the difference between the protruding amount L2 of the movable member 14 and the reference value L1 in the second state corresponds to the rising amount of the loading surface 131. When the state of the movable member 14 is switched from the first state to the second state, the movable member 14 and the traveling surface 100 come into contact with each other, and a frictional force is generated between the movable member 14 and the traveling surface 100. Is braked, and the main body 1 is urgently stopped.

  On the other hand, when the driving force from the driving unit 4 is cut off (that is, the driving unit 4 is stopped) (S1), the moving device 10 is controlled by the control unit 6 under the predetermined conditions (first to third conditions). The friction braking mechanism 3 is immediately activated without making a determination (S6).

  Next, the first condition (S3), the second condition (S4), and the third condition (S5) included in the predetermined condition will be described.

  The first condition is that there is no correlation between the operation state of the wheel braking mechanism 5 and the behavior of the main body 1, and it is estimated that the behavior of the main body 1 is abnormal. In other words, based on the correlation between the operation state of the wheel braking mechanism 5 and the behavior of the main body 1, the control unit 6 determines whether the first condition among the predetermined conditions is satisfied. The first condition is that the operating state of the wheel braking mechanism 5 and the behavior of the main body 1 are not in a certain correlation. For example, although the operating state of the wheel braking mechanism 5 indicates that the wheel braking mechanism 5 is operating, the behavior of the main body 1 does not indicate a deceleration greater than a predetermined value of the main body 1. In the case such as when both are generated, the first condition is satisfied because there is no correlation between the two.

  In short, if the braking force of the wheel braking mechanism 5 is sufficient, the deceleration of the main body 1 is greater than a predetermined value or the acceleration greater than the predetermined value acts on the main body 1 while the wheel braking mechanism 5 is operating. For example, the main body 1 should exhibit a specific behavior related to the operating state of the wheel braking mechanism 5. Therefore, when the control unit 6 determines that there is no such correlation between the operating state of the wheel braking mechanism 5 and the behavior of the main body 1, that is, the behavior of the main body 1 is abnormal (S3: Yes). ), It is determined that the first condition is satisfied. On the other hand, when it is determined that there is such a correlation between the operating state of the wheel braking mechanism 5 and the behavior of the main body 1, that is, the behavior of the main body 1 is normal (S3: No), the control unit 6 Determines that the first condition is not satisfied. The behavior of the main body 1 can be identified from the detection result of the detection unit 7.

  The second condition is that an abnormality has occurred in the braking state of the braking wheel, such as the braking wheel being locked. In other words, the control unit 6 determines whether or not the second condition among the predetermined conditions is satisfied, based on the braking condition of the braking wheel. For example, when there is a rapid decrease in torque applied to the plurality (four) wheels 2 as braking wheels, the second condition is satisfied because the wheels 2 are in an abnormal state where they are locked.

  In short, when the wheel 2 is locked, the wheel 2 slides on the traveling surface 100, and a sufficient braking force at the wheel braking mechanism 5 can not be obtained. Therefore, when it is determined that the braking condition of the braking wheel is abnormal (S4: Yes), the control unit 6 determines that the second condition is satisfied. On the other hand, when it is determined that the braking condition of the braking wheel is normal (S4: No), the control unit 6 determines that the second condition is not satisfied. The braking condition of the braking wheel can be identified from the detection result of the detection unit 7.

  The third condition is that the distance from the stop position required to the main body 1 is shorter than the braking distance of the main body 1 at the time of operation of the wheel braking mechanism 5. In other words, the control unit 6 compares the distance from the required stop position on the traveling surface 100 to the main body 1 and the braking distance of the main body 1 when the wheel braking mechanism 5 is operated, and determines the first of the predetermined conditions. 3 Determine whether the condition is met. The “stop required position” referred to in the present disclosure is a position where the main body 1 should be stopped around the main body 1, for example, an obstacle in front of the main body 1 in the traveling direction (other moving device, living body, If there is a wall and a step up), the stop position is the position before the obstacle. In the case where a downward step is present in front of the traveling direction of the main body 1, the front of the downward step is the required stop position. Such a distance from the required stop position to the main body 1, that is, a distance from the current position of the main body 1 to the required stop position is also referred to as “required stop distance”. The “travel direction” in the present disclosure is a linear direction along the direction in which the main body 1 travels, and includes both forward and backward when the main body 1 advances.

  In short, whether the braking force in the wheel braking mechanism 5 is sufficient or not is determined depending on whether or not the body portion 1 can be stopped by the wheel braking mechanism 5 until the required stop position. When the main body 1 cannot be stopped before the stop required position, that is, when the required stop distance is shorter than the braking distance (by the wheel braking mechanism 5), the braking force at the wheel braking mechanism 5 is not sufficient, so the third condition is satisfied. It will be. Therefore, when it is determined that the required stop distance is shorter than the braking distance (S5: Yes), the control unit 6 determines that the third condition is satisfied. On the other hand, when it is determined that the required stop distance is equal to or greater than the braking distance (S5: No), the control unit 6 determines that the third condition is not satisfied. The required stop distance and the braking distance of the main body 1 when the wheel braking mechanism 5 is operated can be specified from the detection result of the detection unit 7. As an example, when there is an obstacle at a position 5.5 [m] ahead of the main body 1 in the traveling direction, the required stop distance is 5 [m]. In this case, if the braking distance of the main body 1 when the wheel braking mechanism 5 is calculated calculated from the speed of the main body 1 is longer than 5 [m], it is determined that the required stop distance is shorter than the braking distance (S5). : Yes), it is determined that the third condition is satisfied.

  The flowchart shown in FIG. 6 corresponds to a control method of the mobile device 10. That is, the control method of the moving device 10 is such that at least a part of the bottom surface 11 is brought into contact with the traveling surface 100 by switching the state of the movable member 14 from the first state to the second state while the main body 1 is traveling. It includes a process (S7) of causing the main body 1 to be braked.

  Here, the order of processing in the flowchart shown in FIG. 6 is merely an example, and the order of processing can be changed as appropriate. For example, the order of determination processing of the first condition (S3), the second condition (S4), and the third condition (S5) may be switched as appropriate. Moreover, it is not an essential configuration for the moving apparatus 10 that the predetermined condition includes the first condition, the second condition, and the third condition, but only one or two of the first condition, the second condition, and the third condition. May be included in the predetermined condition. Furthermore, when any one of the first condition, the second condition and the third condition is satisfied, the control unit 6 does not operate the friction braking mechanism 3 but, for example, the first condition, the second condition and the The friction braking mechanism 3 may be operated when any two or all of the three conditions are satisfied.

(4) Modification Example 1 is only one of various embodiments of the present disclosure. The first embodiment can be variously modified according to the design or the like as long as the object of the present disclosure can be achieved. The functions similar to those of the mobile device 10 according to the first embodiment may be embodied by a control method of the mobile device 10, a (computer) program, a non-transitory recording medium that records the program, or the like. In the control method of the moving device 10 according to one aspect, the movable member 14 that protrudes from the bottom surface 11 toward the traveling surface 100 with the height from the traveling surface 100 to the bottom surface 11 as a reference value L1 during traveling of the main body 1. The state is switched from the first state to the second state. Thereby, the movable member 14 is brought into contact with the traveling surface 100 to brake the main body 1. Here, the moving device 10 to be controlled includes a plurality of wheels 2 and a main body 1. The main body 1 has a bottom surface 11 and is supported by a plurality of wheels 2 with the bottom surface 11 facing the traveling surface 100, and travels on the traveling surface 100 by the rotation of each of the plurality of wheels 2. The first state is a state in which the protruding amount of the movable member 14 is less than the reference value L1. The second state is a state in which the protrusion amount L2 of the movable member 14 is equal to or greater than the reference value L1. Hereinafter, modifications of the first embodiment will be listed. The modifications described below can be applied in combination as appropriate.

  For example, the mobile device 10 in the present disclosure includes a computer system in the control unit 6 or the like. The computer system mainly includes a processor and a memory as hardware. The processor executes the program stored in the memory of the computer system to implement the functions of the control unit 6 and the like in the present disclosure. The program may be recorded in advance in a memory of a computer system, may be provided through a telecommunication line, or recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. It may be provided. A processor of a computer system is configured of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The plurality of electronic circuits may be integrated into one chip or may be distributed to a plurality of chips. The plurality of chips may be integrated into one device or may be distributed to a plurality of devices.

  In the first embodiment, the case where the moving device 10 is used for transporting the transported object X1 is illustrated. However, the moving device 10 may be any device that travels on the travel surface 100 with a plurality of wheels 2. The purpose is not limited to the conveyance of conveyed items. The moving device 10 may be, for example, a device for transporting people (that is, riding), or may be a device that moves without performing any transport such as a monitoring robot and a guide robot.

  In addition, the mobile device 10 may have a communication function with a higher system. Furthermore, autonomous traveling is not an essential function of the mobile device 10. For example, the mobile device 10 may be remotely operated by receiving an operation signal from a host system or a transmitter.

  Further, in the first embodiment, the control unit 6, the detection unit 7, and the like provided in the main body 1 may be provided in addition to the main body 1. For example, some functions such as the control unit 6 and the detection unit 7 may be provided in a host system or the like that can communicate with the main body unit 1.

  The frictional resistance portion 121 is not limited to a part of the surface of the movable member 14 facing the traveling surface 100, and may be provided on the entire surface of the movable member 14 facing the traveling surface 100. The groove formed on the surface of the frictional resistance portion 121 is not an essential component of the moving device 10 and can be omitted as appropriate.

  Moreover, the energy for operating each part of the movement apparatus 10 is not limited to electric energy, and for example, each part of the movement apparatus 10 may operate by a driving force such as a motor, hydraulic pressure or air pressure. Furthermore, the energy used for each part of the moving device 10 may be different. For example, the drive unit 4 may operate using a prime mover as a power source, and the friction braking mechanism 3 may be driven by electric energy. .

  Moreover, in Embodiment 1, although the case where the friction braking mechanism 3 operate | moves in the emergency stop operation | movement for carrying out the emergency stop of the main-body part 1 was illustrated, it does not restrict to this structure. For example, the moving device 10 brakes the main body 1 by operating the friction braking mechanism 3 in place of the wheel braking mechanism 5 or together with the wheel braking mechanism 5 when decelerating or stopping during steady state travel. May be

  In addition, the fact that all of the plurality of wheels 2 are drive wheels is not an essential configuration for the moving device 10. For example, only the wheels 21 and 22 as “front wheels” may be drive wheels. Similarly, the fact that all of the plurality of wheels 2 are braking wheels is not an essential configuration for the moving device 10. For example, only the wheels 21 and 22 as “front wheels” may be braking wheels. Furthermore, it is not an essential configuration for the moving device 10 that the driving wheel and the braking wheel are the same wheel 2.

  Further, in the first state, it is not essential for the moving device 10 that the bottom surface 11 and the facing surface of the movable member 14 facing the traveling surface 100 are flush with each other. That is, in the first state, the movable member 14 may protrude from the bottom surface 11, and the surface of the movable member 14 facing the traveling surface 100 in this case is located below the bottom surface 11. Conversely, in the first state, the movable member 14 may be recessed with respect to the bottom surface 11, and the surface of the movable member 14 facing the traveling surface 100 in this case is located above the bottom surface 11.

  Further, it is not an essential configuration for the moving device 10 that the protruding amount L2 of the movable member 14 in the second state is larger than the reference value L1. That is, in the second state, the protrusion amount L2 of the movable member 14 may be equal to the reference value L1. In this case, if the movable member 14 is in the second state, both the movable member 14 and the plurality of wheels 2 are in contact with the traveling surface 100.

  Further, the friction braking mechanism 3 is not limited to the configuration in which the movable member 14 is lowered relative to the main body 1 by the spring force of the spring member or the like when the power supply from the storage battery is interrupted. For example, when the detection unit 7 detects that the drive unit 4 has stopped, the friction braking mechanism 3 may be controlled by the control unit 6 to switch the state of the movable member 14 from the first state to the second state. Even in this case, the friction braking mechanism 3 can realize a configuration in which the state of the movable member 14 is switched from the first state to the second state when the driving unit 4 stops.

Second Embodiment
7A and 7B, the moving device 10A according to the present embodiment is configured such that the loading surface 131 is inclined with respect to the traveling surface 100 when the friction braking mechanism 3 is operated. It is different from. Hereinafter, the same configurations as those of the first embodiment are denoted by common reference numerals, and description thereof is omitted as appropriate. 7A and 7B are schematic views schematically illustrating the configuration of the moving device 10A.

  In the present embodiment, the main body 1 has a first end and a second end at both ends of the stacking surface 131 in the traveling direction (front-rear direction). The first end portion is an end portion on the front side in the advancing direction of the main body portion 1, and the second end portion is an end portion on the rear side in the advancing direction of the main body portion 1. In the example of FIG. 7A, it is assumed that the main body 1 is moving forward. In this case, the first end is the front end 131F of the stacking surface 131, and the second end is the rear end of the stacking surface 131. It is 131R.

  When the state of the movable member 14 is switched from the first state to the second state while the main body 1 is moving forward, the friction braking mechanism 3 has a second end portion (compared to the first end portion (front end portion 131F)). The load amount of the rear end portion 131R) is reduced to incline the loading surface 131 with respect to the traveling surface 100. That is, in the moving device 10A according to the present embodiment, the loading surface 131 is inclined at an angle θ1 with respect to the traveling surface 100 when the friction braking mechanism 3 is activated as shown in FIG. 7B. Specifically, when the friction braking mechanism 3 is not in operation, as shown in FIG. 7A, the loading surface 131 is in a state parallel to the traveling surface 100, that is, in a horizontal state. When the friction braking mechanism 3 operates from this state, the moving device 10 </ b> A switches the movable member 14 to the second state so that the surface (lower surface) facing the traveling surface 100 of the movable member 14 contacts the traveling surface 100. Here, in the present embodiment, the lower surface of the movable member 14 is inclined with respect to the loading surface 131. Specifically, the lower surface of the movable member 14 is inclined at an angle θ1 with respect to the loading surface 131 so as to approach the loading surface 131 toward the rear side in the traveling direction of the main body 1. Therefore, the stacking surface 131 has a rising amount of the rear end portion 131 </ b> R that is the second end portion smaller than a rising amount of the front end portion 131 </ b> F that is the first end portion. It becomes a posture that only leans backward.

  In the moving device 10A according to the present embodiment described above, when the friction braking mechanism 3 is activated by the emergency stop operation and the state of the movable member 14 is switched from the first state to the second state, the traveling surface 100 is moved. The loading surface 131 can be inclined. At this time, the loading surface 131 is a second end which is a rear side in the advancing direction of the main body 1 as compared with a first end (a front end 131F in FIG. 7B) which is a front side in the advancing direction of the main body 1 (The rear end portion 131R in FIG. 7B) is lowered. Thereby, even if the friction braking mechanism 3 is activated while the moving device 10A is transporting the transported object X1, the moving device 10A suppresses the transported object X1 from moving forward in the advancing direction of the main body 1 due to inertial force. It is possible. That is, since the transported object X1 loaded on the stacking surface 131 is inclined backward due to the inclination of the stacking surface 131, the transported object X1 can be prevented from collapsing forward or falling down.

  8A and 8B show a mobile apparatus 10B according to a modification of the second embodiment. 8A and 8B are schematic views schematically illustrating the configuration of the moving device 10B. In the moving device 10B, the friction braking mechanism 3 includes a plurality of movable members 141 and 142. Hereinafter, when not distinguishing the some movable member 141,142 in particular, each is also called "the movable member 14". The friction braking mechanism 3 has a selective switching mode in which only a part of the movable members 14 selected from the plurality (here, two) of movable members 14 is switched from the first state to the second state. In the moving device 10 </ b> B, the friction braking mechanism 3 includes two movable members 141 and 142 arranged in the traveling direction (front-rear direction) of the main body 1. The friction braking mechanism 3 operates in the selective switching mode, so that only the front movable member 141 or the rear movable member 142 out of the two movable members 141 and 142 is changed from the first state to the second state. Switch. By operating in the normal mode, the friction braking mechanism 3 can also switch all of the plurality of movable members 141 and 142 to the second state and bring both of the plurality of movable members 141 and 142 into contact with the traveling surface 100. is there. As described above, since the contact area between the movable member 14 and the traveling surface 100 can be changed according to the operation mode of the friction braking mechanism 3, the braking force acting on the main body 1 can be adjusted.

  Furthermore, the friction braking mechanism 3 can select an inclination direction of the main body 1 depending on which of the front movable member 141 or the rear movable member 142 is switched to the second state depending on the movement direction of the main body 1 . It is preferable that the control unit 6 determine which one of the front movable member 141 and the rear movable member 142 is to be switched to the second state according to the movement direction of the main body 1. The direction of movement of the main body unit 1 can be specified by the detection result of the detection unit 7. In short, as in the example of FIGS. 8A and 8B, when the main body 1 is moving forward, the friction braking mechanism 3 switches the front movable member 141 to the second state, so that the main body 1 is set to the backward tilted posture. It is preferable to do.

  On the other hand, when the main body 1 is moving backward, it is preferable that the friction braking mechanism 3 switches the main body 1 to the forward leaning posture by switching only the rear movable member 142 to the second state. That is, when the main body unit 1 is moving backward, the first end is the rear end 131 R of the loading surface 131 and the second end is the front end 131 F of the loading surface 131. In this case, when only the rear movable member 142 is switched to the second state, only the rear end portion 131 </ b> R that is the first end portion of the stacking surface 131 rises, and the main body portion 1 assumes the forward inclined posture. Become.

  Further, also in the moving device 10B, the lower surface of each movable member 14 is preferably inclined with respect to the loading surface 131. Specifically, the lower surface of the movable member 141 is inclined at an angle θ1 with respect to the stacking surface 131 so as to approach the stacking surface 131 toward the rear side, and the lower surface of the movable member 142 approaches the stacking surface 131 toward the front side. Thus, it is preferable to incline at an angle θ1 with respect to the loading surface 131. According to this configuration, when the friction braking mechanism 3 is operated, the lower surface of the movable member 14 can be brought into surface contact with the traveling surface 100 as shown in FIG. 8B. Therefore, a relatively large contact area between the movable member 14 and the running surface 100 can be secured, and a relatively large frictional force acting between the movable member 14 and the running surface 100 can be secured.

  Further, when the friction braking mechanism 3 operates in the selective switching mode, the second end (rear end 131R) is greatly lowered as compared to the first end (front end 131F), and the traveling surface 100 is lowered. The tilting of the loading surface 131 is not an essential component of the moving device 10B. For example, when the main body 1 is moving forward, the friction braking mechanism 3 operates in the selective switching mode, so that the first end (front end 131F) is greatly lowered as compared with the second end (rear end 131R). The loading surface 131 may not be inclined with respect to the traveling surface 100.

  The configuration (including the modification) described in the second embodiment can be appropriately combined with the configuration (including the modification) described in the first embodiment.

  The drawings shown in the above embodiments are merely conceptual diagrams for explaining an example of the moving devices 10, 10A, and 10B, and the shape, size, positional relationship, and the like of each part are appropriately different from the actual mode. There is also.

(Summary)
As described above, the moving device (10, 10A, 10B) according to the first aspect includes the plurality of wheels (2), the main body (1), and the friction braking mechanism (3). The main body (1) has a bottom surface (11). The main body (1) is supported by the plurality of wheels (2) in a state where the bottom surface (11) is opposed to the traveling surface (100), and on the traveling surface (100) by rotation of each of the plurality of wheels (2). To travel. The friction braking mechanism (3) has a movable member (14) protruding from the bottom surface (11) toward the traveling surface (100). The friction braking mechanism (3) is configured to change the state of the movable member (14) during the traveling of the main body (1) with the height from the traveling surface (100) to the bottom surface (11) as a reference value (L1). Switch from state 1 to state 2. Thereby, the friction braking mechanism (3) brings the movable member (14) into contact with the traveling surface (100) and brakes the main body (1). The first state is a state where the protruding amount of the movable member (14) is less than the reference value (L1). The second state is a state in which the protrusion amount (L2) of the movable member (14) is equal to or greater than the reference value (L1).

  According to this aspect, when the friction braking mechanism (3) operates and the state of the movable member (14) is switched from the first state to the second state, the movable member (14) regardless of the braking state of the wheel (2). ) And the running surface (100) can be used to brake the main body (1). Therefore, for example, even when the wheel (2) is slippery with respect to the travel surface (100), the braking distance of the moving device (10, 10A, 10B) can be kept short. As a result, in the moving device (10, 10A, 10B), the braking distance of the moving device (10, 10A, 10B) can be shortened.

  The moving device (10, 10A, 10B) according to the second aspect further includes a wheel braking mechanism (5) in the first aspect. The wheel braking mechanism (5) brakes a braking wheel that is at least a part of the plurality of wheels (2).

  According to this aspect, for example, the main body (1) is braked by the wheel braking mechanism (5) in a steady state, and the main body (1) is braked by the friction braking mechanism (3) in an emergency. Becomes possible.

  The mobile device (10, 10A, 10B) according to the third aspect further includes a control unit (6) in the second aspect. The control unit (6) operates the friction braking mechanism (3) to change the state of the movable member (14) to the first state when a predetermined condition is satisfied in a state where the wheel braking mechanism (5) is operating. To the second state.

  According to this aspect, for example, when the braking force of the wheel braking mechanism (5) is not sufficient even though the wheel braking mechanism (5) is operating, the friction braking mechanism (3) is operated. It is possible to brake the main body (1).

  In the moving device (10, 10A, 10B) according to the fourth aspect, in the third aspect, the control unit (6) is configured such that the operation state of the wheel braking mechanism (5) and the behavior of the main body (1) are It is determined whether or not a predetermined condition is satisfied based on the correlation.

  According to this aspect, for example, even when the wheel braking mechanism (5) is operating, the behavior of the main body (1) does not indicate a deceleration greater than a predetermined value of the main body (1). When the jaws are generated on both sides, the main body (1) can be braked by operating the friction braking mechanism (3).

  In the mobile device (10, 10A, 10B) according to the fifth aspect, in the third or fourth aspect, the control unit (6) determines whether or not a predetermined condition is satisfied based on the braking state of the braking wheel. Do.

  According to this aspect, for example, when the braking state of the braking wheel indicates an abnormal state in which the braking wheel is locked, the main body (1) can be braked by operating the friction braking mechanism (3). It is.

  In the mobile device (10, 10A, 10B) according to the sixth aspect, in any one of the third to fifth aspects, the control unit (6) is configured such that the required stop distance and the wheel braking mechanism (5) are activated. Whether or not a predetermined condition is satisfied is determined by comparison with the braking distance of the main body. The stop required distance is a distance from the stop required position on the travel surface (100) to the main body (1).

  According to this aspect, for example, in the case where the main body 1 can not be stopped by the stop required position, the friction braking mechanism (3) can be operated to brake the main body (1).

  The moving device (10, 10A, 10B) according to the seventh aspect further includes a drive unit (4) in any one of the first to sixth aspects. A drive part (4) provides a drive force directly or indirectly with respect to the drive wheel which is at least one part of a some wheel (2). The friction braking mechanism (3) switches the state of the movable member (14) from the first state to the second state when the drive unit (4) stops.

  According to this aspect, the friction braking mechanism (3) can function as a failsafe braking system that brakes the moving device 10 at least in an emergency.

  In the moving device (10, 10A, 10B) according to the eighth aspect, in any one of the first to seventh aspects, the movable member (14) is rubbed against at least a part of the surface facing the traveling surface (100). It has a resistance part (121). The frictional resistance portion (121) has a friction coefficient larger than that of the bottom surface (11) with respect to the traveling surface (100).

  According to this aspect, when the friction braking mechanism (3) operates and the friction resistance portion (121) contacts the traveling surface (100), the braking force acting on the main body portion (1) is improved. Can be planned.

  In the moving device (10, 10A, 10B) according to the ninth aspect, in any one of the first to eighth aspects, there are a plurality of movable members (14). The friction braking mechanism (3) has a selective switching mode in which only a part of the movable members (14) selected from the plurality of movable members (14) is switched from the first state to the second state.

  According to this aspect, the contact area between the movable member (14) and the traveling surface (100) can be changed depending on which movable member (14) is switched from the first state to the second state. The braking force acting on the main body (1) can be adjusted.

  In the moving device (10, 10A, 10B) according to the tenth aspect, in any one of the first to ninth aspects, the main body (1) has a loading surface (131) on which the conveyed product (X1) is loaded. .

  According to this aspect, the transport device (10, 10A, 10B) can transport the conveyed product (X1).

  In the moving device (10, 10A, 10B) according to the eleventh aspect, in the tenth aspect, the main body (1) further includes a lift-up mechanism (8). The lift up mechanism (8) lifts the conveyed product (X1) by raising the loading surface (131).

  According to this aspect, the conveyed product (X1) can be lifted and conveyed.

  In the moving device (10, 10A, 10B) according to the twelfth aspect, in the tenth or eleventh aspect, the main body (1) has a first end (front end) at both ends of the loading surface (131) in the traveling direction. Portion 131F) and a second end portion (rear end portion 131R). The friction braking mechanism (3) switches the state of the movable member (14) from the first state to the second state while the main body (1) travels in a direction in which the first end side is the forward direction. Sometimes, the amount of ascent of the second end is reduced compared to the first end. Thus, the friction braking mechanism (3) inclines the loading surface (131) with respect to the traveling surface (100).

  According to this aspect, when the friction braking mechanism (3) is actuated, the conveyed object (X1) loaded on the loading surface (131) is tilted backward due to the inclination of the loading surface (131). It is possible to suppress that X1 collapses or falls.

  In the control method of the moving device (10, 10A, 10B) according to the thirteenth aspect, the height from the traveling surface (100) to the bottom surface (11) is the reference value (L1) while the main body (1) is traveling. The state of the movable member (14) is switched from the first state to the second state. Thereby, the control method of the moving device (10, 10A, 10B) brings the movable member (14) into contact with the traveling surface (100) and brakes the main body (1). The movable member (14) protrudes from the bottom surface (11) toward the traveling surface (100). The first state is a state in which the amount of projection of the movable member (14) is less than the reference value (L1). The second state is a state in which the amount of projection (L2) of the movable member (14) is equal to or greater than the reference value (L1). The moving device (10, 10A, 10B) includes a plurality of wheels (2) and a main body (1). The main body (1) has a bottom surface (11). The main body (1) is supported by the plurality of wheels (2) in a state where the bottom surface (11) is opposed to the traveling surface (100), and on the traveling surface (100) by rotation of each of the plurality of wheels (2). To travel.

  According to this aspect, the state of the movable member (14) is switched from the first state to the second state, so that the movable member (14) and the running surface (100) are not affected by the braking state of the wheel (2). By contact, it is possible to brake the main body (1). Therefore, for example, even when the wheel (2) is slippery with respect to the travel surface (100), the braking distance of the moving device (10, 10A, 10B) can be kept short. As a result, in the control method of the moving device (10, 10A, 10B), the braking distance of the moving device (10, 10A, 10B) can be shortened.

  The various configurations of the mobile devices (10, 10A, 10B) according to the first and second embodiments are not limited to the above aspects, and the control method, program, and program of the mobile device (10, 10A, 10B) are recorded. It can be embodied in a temporary recording medium.

  About the structure concerning the 2nd-12th aspect, it is not a structure essential to a moving apparatus (10, 10A, 10B), and can be abbreviate | omitted suitably.

1 body part 2, 21, 22, 23, 24 wheels (braking wheels, driving wheels)
Reference Signs List 3 friction braking mechanism 4 drive unit 5 wheel braking mechanism 6 control unit 8 lift-up mechanism 10, 10A, 10B moving device 11 bottom surface 14, 141, 142 movable member 100 traveling surface 121 frictional resistance portion 131 loading surface 131F front end portion (first edge)
131R Rear end (second end)
L1 reference value L2 protrusion amount X1 transported material

Claims (13)

Multiple wheels,
A main body that has a bottom surface and is supported by the plurality of wheels in a state in which the bottom surface faces the traveling surface, and travels on the traveling surface by rotation of each of the plurality of wheels;
The movable member has a movable member protruding from the bottom surface toward the traveling surface, and the state of the movable member is determined by using the height from the traveling surface to the bottom surface as a reference value during traveling of the main body. By switching from the first state in which the protrusion amount of the movable member is less than the reference value to the second state in which the protrusion amount of the movable member is greater than or equal to the reference value, the movable member is brought into contact with the running surface and the main body portion A friction braking mechanism for braking
Mobile device. A wheel braking mechanism for braking a braking wheel that is at least a part of the plurality of wheels;
The mobile device according to claim 1. In a state where the wheel braking mechanism is operating, the control device further includes a control unit that operates the friction braking mechanism to switch the state of the movable member from the first state to the second state when a predetermined condition is satisfied. ,
The moving device according to claim 2. The control unit determines whether or not the predetermined condition is satisfied based on a correlation between an operation state of the wheel braking mechanism and a behavior of the main body.
The moving device according to claim 3. The control unit determines whether or not the predetermined condition is satisfied, based on the braking condition of the braking wheel.
The moving device according to claim 3 or 4. The control unit determines whether or not the predetermined condition is satisfied by comparing a distance from the required stop position on the traveling surface to the main body and a braking distance of the main body when the wheel braking mechanism is operated. to decide,
The movement apparatus of any one of Claims 3-5. A drive unit that directly or indirectly gives a driving force to a drive wheel that is at least a part of the plurality of wheels;
The friction braking mechanism switches the state of the movable member from the first state to the second state when the driving unit stops.
The movement apparatus of any one of Claims 1-6. The movable member has a frictional resistance portion on at least a part of a surface facing the traveling surface,
The frictional resistance portion has a coefficient of friction larger than the bottom surface with respect to the traveling surface.
The movement apparatus of any one of Claims 1-7. There are a plurality of the movable members,
The friction braking mechanism has a selective switching mode of switching from the first state to the second state only for a part of movable members selected from the plurality of movable members.
The movement apparatus of any one of Claims 1-8. The main body has a loading surface on which a conveyed product is loaded.
The movement apparatus of any one of Claims 1-9. The main body further includes a lift-up mechanism that lifts the transported object by raising the stacking surface.
The moving device according to claim 10. The main body has a first end and a second end at both ends of the loading surface in the traveling direction,
When the state of the movable member is switched from the first state to the second state while the main body portion is traveling in a direction in which the main body portion is the front side in the traveling direction, The rising amount of the second end portion is smaller than that of the first end portion, and the loading surface is inclined with respect to the traveling surface.
The moving device according to claim 10 or 11. Multiple wheels,
A main body having a bottom surface, supported by the plurality of wheels with the bottom surface facing the traveling surface, and traveling on the traveling surface by rotation of each of the plurality of wheels. Method,
While the main body is traveling, the height from the traveling surface to the bottom surface is used as a reference value, and the state of the movable member that protrudes from the bottom surface toward the traveling surface is expressed by the amount of protrusion of the movable member as the reference value. By switching from the first state that is less than the second state in which the protruding amount of the movable member is greater than or equal to the reference value, the movable member is brought into contact with the running surface to brake the main body portion,
Mobile device control method.

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