JP2023035240A - transport vehicle - Google Patents

Abstract

To provide a transport vehicle which can secure road handling ability with a simple structure even if heavy packages are placed therein.SOLUTION: A transport vehicle 10 includes: a body part 12 configured to enable self-traveling; a loading platform 16 supported by the body part 12 and having a support surface 16B for supporting packages G; a rotation mechanism which causes the loading platform 16 to rotate around an axis along a vertical direction relative to the body part 12 to tilt the support surface 16B; and a control unit which controls the rotation mechanism to control a position of the center of gravity of the packages G. The structure allows the position of the center of gravity of the packages G to be controlled by the control unit controlling the rotation mechanism when the transport vehicle 10 travels on a step or a slope etc. Thus, the transport vehicle 10 can secure road handling ability on a slope or a step etc. with a simple structure even if the heavy packages G are placed therein.SELECTED DRAWING: Figure 1

Description

The present invention relates to transport vehicles.

In patent document 1, in the delivery of packages by flying objects or robots, if the receiver of the package requests that the package be received directly or delivered to a location other than a delivery box, the receiver can pre-determine the arrival time of the package. A knowledgeable delivery system is disclosed. Specifically, in the delivery system disclosed in Patent Document 1, an autonomous traveling vehicle that autonomously travels toward the delivery destination is equipped with an aircraft or a movable robot that delivers the package to the delivery destination together with the package. ing.

JP 2020-070159 A

However, since the self-driving vehicle described in Patent Document 1 is loaded with luggage, the heavier the luggage, the more the vehicle's ability to travel over steps, slopes, etc. deteriorates, and there is room for improvement.

SUMMARY OF THE INVENTION In consideration of the above facts, it is an object of the present invention to provide a transport vehicle that can ensure running performance over steps, slopes, etc., with a simple structure even when carrying heavy loads.

According to claim 1, the transport vehicle according to the present invention comprises a main body configured to be able to travel independently, a loading platform supported by the main body and having a support surface for supporting a load, and the loading platform connected to the main body. a rotation mechanism for tilting the support surface by rotating the load around an axis along the vertical direction; and a control unit for controlling the position of the center of gravity of the load by controlling the rotation mechanism. .

According to claim 1, in the transport vehicle according to the present invention, there is provided a main body configured to be able to travel independently, a loading platform supported by the main body and having a support surface for supporting the load, and a loading platform attached to the main body. and a control section for controlling the center of gravity of the load by controlling the rotating mechanism for tilting the support surface by rotating the load around an axis along the vertical direction. Therefore, the support surface can be tilted by the control unit controlling the rotation mechanism, so that the load placed on the support surface can be moved along the support surface with a simple configuration. As a result, when the conveying vehicle travels over steps, slopes, etc., the control unit can control the rotating mechanism to control the position of the center of gravity of the load. It is possible to ensure running performance on slopes, steps, etc. with the configuration.

According to a second aspect of the present invention, there is provided a transport vehicle according to the first aspect, wherein the rotating mechanism has a rotating shaft rotatably erected on the main body, and the loading platform is , the supporting surface is attached to the rotating shaft with an inclination with respect to the horizontal direction.

In the carrier vehicle according to the second aspect of the present invention, the rotating mechanism has a rotating shaft rotatably erected on the main body, and the loading platform has a supporting surface inclined with respect to the horizontal direction. Since it is attached to the rotating shaft, by rotating the rotating shaft, the support surface of the loading platform can be tilted in different directions in the direction of travel.

Further, according to a third aspect of the present invention, there is provided a transport vehicle according to the first or second aspect, wherein the body portion has a pair of front wheels and a pair of rear wheels, and the control portion has a pair of front wheels and a pair of rear wheels. and controlling the rotation mechanism so that the center of gravity of the load is positioned rearward when the pair of front wheels climbs a step.

In the conveying vehicle according to the present invention described in claim 3, the main body portion has a pair of front wheels and a pair of rear wheels, and the control portion moves the center of gravity of the load backward when the pair of front wheels climbs a step. Control the rotation mechanism to position. In this way, when the pair of front wheels go up a step, the rotation mechanism is controlled so that the center of gravity of the load is positioned rearward. can be done. Therefore, since the front wheel side becomes lighter, the front wheel can be lifted easily, and the step can be easily climbed. In addition, since the rear wheels are heavier, the rear wheels are less likely to idle, and the output of the rear wheels can push the front wheels up the steps from the rear side. As a result, it is possible to improve the ability to climb over bumps.

According to a fourth aspect of the present invention, there is provided a transport vehicle according to the third aspect, in which the controller controls the movement of the pair of rear wheels after the pair of front wheels climbs the step. The rotation mechanism is controlled so that the center of gravity of the load is positioned forward when climbing the road.

In the carrier vehicle according to the fourth aspect of the present invention, the control unit is arranged such that the center of gravity of the cargo is positioned forward when the pair of rear wheels climbs the step after the pair of front wheels climbs the step. to control the rotation mechanism. In this way, after the pair of front wheels go up the step, when the pair of rear wheels go up the step, the rotation mechanism is controlled so that the center of gravity of the load is positioned forward. When approaching, the center of gravity of the load can be positioned forward. As a result, the rear wheel side becomes lighter, so that the rear wheel can easily run over a step.

Further, according to a fifth aspect of the present invention, there is provided a transport vehicle according to any one of the first to fourth aspects, wherein the main body has a pair of front wheels and a pair of rear wheels. and the control unit controls the rotation mechanism so that the center of gravity of the load is positioned rearward when the pair of front wheels descends a step.

In the transport vehicle according to the fifth aspect of the present invention, the body portion has a pair of front wheels and a pair of rear wheels, and the control portion moves the center of gravity of the load backward when the pair of front wheels descends the step. Control the rotation mechanism to position. In this way, when the pair of front wheels go down a step, the rotation mechanism is controlled so that the center of gravity of the load is positioned rearward. can be done. Therefore, since the front wheels are lighter, it is possible to suppress impacts and vibrations on the vehicle and cargo when the front wheels go down a step.

According to a sixth aspect of the present invention, there is provided a transport vehicle according to the fifth aspect, in which the control unit causes the pair of rear wheels to move down the step after the pair of front wheels descends the step. When descending, the rotating mechanism is controlled so that the center of gravity of the luggage is positioned forward.

In the transport vehicle according to the sixth aspect of the present invention, the control unit is configured to position the center of gravity of the load forward when the pair of rear wheels descend the step after the pair of front wheels descend the step. Controls the rotation mechanism. In this way, when the pair of rear wheels go down the step after the pair of front wheels go down the step, the rotation mechanism is controlled so that the center of gravity of the load is positioned forward, so that the rear wheels do not approach the step. The center of gravity of the load can be positioned forward when As a result, the rear wheels are lighter, so that impacts and vibrations on the vehicle and luggage when the rear wheels go down a step can be suppressed.

Further, according to a seventh aspect of the present invention, there is provided a transport vehicle according to any one of the first to sixth aspects, wherein the controller controls the center of gravity of the load when going uphill. is positioned forward.

Normally, on an uphill, the load concentrates on the rear wheels and the load on the front wheels decreases. In the transport vehicle according to the seventh aspect of the present invention, the control unit controls the rotation mechanism so that the center of gravity of the load is positioned forward when going uphill, so that the center of gravity of the load is concentrated on the rear wheel side. The load is distributed to the front wheels. Therefore, since the front wheel side becomes heavy, it becomes difficult for the front wheel to idle, and the uphill can be climbed smoothly. As a result, even if a heavy load is placed on the vehicle, it is possible to secure running performance on an uphill with a simple configuration.

Further, according to an eighth aspect of the present invention, there is provided a transport vehicle according to any one of the first to seventh aspects, wherein the controller controls the center of gravity of the load when going down a downhill. is positioned rearward.

Normally, on a downhill, the load concentrates on the front wheels and the load on the rear wheels decreases. In the carrier vehicle according to the eighth aspect of the present invention, the control unit controls the rotation mechanism so that the center of gravity of the load is positioned rearward when descending a downhill. is distributed to the rear wheels. As a result, the rear wheel side becomes heavy, so that the rear wheel is less likely to idle, and the rider can smoothly go down the downhill. As a result, even if a heavy load is placed on the vehicle, it is possible to secure running performance on a downhill with a simple configuration.

Further, according to a ninth aspect of the present invention, there is provided a transport vehicle according to any one of the first to eighth aspects, wherein the loading platform includes a stopper provided upright at an end of the support surface. It has

In the transport vehicle according to the ninth aspect of the present invention, since the loading platform has a stopper provided upright at the end of the support surface, for example, even if the support surface is inclined while traveling on a flat surface, Since the load continues to abut against the stopper, the support surface can stably support the load.

ADVANTAGE OF THE INVENTION According to the conveyance vehicle which concerns on this invention, it has the outstanding effect that the traveling ability can be ensured with a simple structure, even if it mounts a heavy load.

It is the schematic side view which looked at the conveyance vehicle which concerns on 1st Embodiment from the side. 3 is a block diagram showing the hardware configuration of the transport vehicle according to the first embodiment; FIG. 3 is a block diagram showing the functional configuration of a carrier vehicle in the first embodiment; FIG. 2 is a schematic plan view of the transport vehicle of FIG. 1 and a simplified side view of a support surface; FIG. FIG. 4B is a schematic plan view of the transport vehicle with the loading platform rotated from the state of FIG. 4A and a simple side view of the supporting surface; 4C is a schematic side view of the transport vehicle of FIG. 4B as seen from the side; FIG. 4 is a flow chart showing a series of processes in a transport vehicle; FIG. 4 is a schematic side view of the transport vehicle when climbing a step; FIG. 8 is a schematic side view of the transport vehicle after rotating the loading platform from the state of FIG. 7 ; FIG. 10 is a schematic side view of the transport vehicle at the timing when the rear wheels approach a step; FIG. 4 is a schematic side view of the transport vehicle when going down a step; FIG. 11 is a schematic side view of the transport vehicle after rotating the loading platform from the state of FIG. 10 ;

A transport vehicle 10 according to the first embodiment will be described below with reference to the drawings. An arrow FR, an arrow UP, and an arrow RH appropriately shown in each figure respectively indicate the advancing direction (forward side) of the transport vehicle 10, the upper side of the transport vehicle 10, and the right side in the width direction of the transport vehicle.

As shown in FIG. 1, the carrier vehicle 10 of this embodiment mainly includes a main body 12, a rotating shaft 14, and a loading platform 16. As shown in FIG.

The main body portion 12 is formed in a substantially rectangular shape and includes front wheels 18 and rear wheels 20 . A pair of front wheels 18 are provided on the left and right sides, and are rotatably attached to front brackets 19 extending downward from the lower surface of the body portion 12 . Note that FIG. 1 shows only the right front wheel 18 .

A pair of rear wheels 20 are provided on the left and right sides, and are rotatably attached to rear brackets 21 extending downward from the lower surface of the body portion 12 . Note that FIG. 1 shows only the right rear wheel 20 .

Here, the front wheels 18 and the rear wheels 20 are provided with motors (not shown), and the front wheels 18 and the rear wheels 20 are configured to rotate by the driving force of the motors. That is, the transport vehicle 10 of this embodiment has an in-wheel motor structure.

A battery (not shown) is provided inside the main body 12, and electric power stored in the battery is supplied to the motor to drive the front wheels 18 and the rear wheels 20 independently. That is, the transport vehicle 10 of this embodiment is a kind of BEV (Battery Electric Vehicle).

Further, the main body 12 is provided with a peripheral information detection sensor 22 for detecting peripheral obstacles, which are obstacles around the transportation vehicle 10 . As an example, the peripheral information detection sensor 22 of the present embodiment includes sensors such as a lidar (LIDAR; Light Detection and Ranging or Laser Imaging Detection and Ranging). Further, as the peripheral information detection sensor 22, an optical camera, a radar, or the like may be provided.

An upper surface 12A of the body portion 12 is formed flat in the horizontal direction, and a rotary shaft 14 is provided upright on the upper surface 12A of the body portion 12. As shown in FIG. The rotating shaft 14 is provided in the front-rear direction central portion of the body portion 12 and extends in a direction perpendicular to the upper surface 12A of the body portion 12 . That is, the axis of the rotating shaft 14 and the upper surface 12A are substantially perpendicular to each other when viewed from the side of the vehicle.

The rotary shaft 14 is rotatably attached to the main body 12 and is rotated by driving a motor (not shown) provided on the main body 12 . Driving of the motor is controlled by a control device 30 including an ECU (Electrical Control Unit), which will be described later.

A loading platform 16 is attached to the rotating shaft 14 . The loading platform 16 is supported on the upper surface 12A of the main body 12 via bearings 24. As shown in FIG. Therefore, the loading platform 16 is rotatable together with the rotary shaft 14 while being supported by the body portion 12 .

Further, the loading platform 16 is formed in a substantially circular shape in plan view (see FIGS. 4A and 4B), and is attached to the rotating shaft 14 at the central portion. 12A and substantially parallel. FIG. 1 shows a state in which the loading platform 16 is in an inclined position. In this state, the support surface 16B as the upper surface of the loading platform 16 is inclined so as to be gradually positioned upward from the rear end to the front end. there is

The upper surface of the loading platform 16 is a support surface 16B that supports the load G, and in this embodiment, three loads G are placed on the support surface 16B as an example. A stopper 16S is erected at the end of the support surface 16B. In this embodiment, as an example, the stopper 16S is continuously formed along the edge of the support surface 16B. As shown in FIG. 1, since the support surface 16B is an inclined surface with the rear side facing downward, the load G actually moves rearward and is in contact with the stopper 16S. It's becoming Here, the support surface 16B of the loading platform 16 is configured such that the tilt direction changes as the loading platform 16 rotates. A change in the tilt direction of the support surface 16B will be described later in detail.

(Hardware configuration of transport vehicle 10)
FIG. 2 shows the hardware configuration of the transport vehicle 10. As shown in FIG. As shown in FIG. 2, the control device 30 constituting the transport vehicle 10 includes a CPU (Central Processing Unit: processor) 32, a ROM (Read Only Memory) 34, a RAM (Random Access Memory) 36, a storage 38, a communication I /F (communication interface) 40 and input/output I/F (input/output interface) 42 are included. Each component is communicably connected to each other via an internal bus 44 .

The CPU 32 is a central processing unit that executes various programs and controls each section. That is, the CPU 32 reads a program from the ROM 34 or the storage 38 and executes the program using the RAM 36 as a work area. The CPU 32 performs control of the above components and various arithmetic processing according to programs recorded in the ROM 34 or the storage 38 .

The ROM 34 stores various programs and various data. The RAM 36 temporarily stores programs or data as a work area. The storage 38 is configured by a HDD (Hard Disk Drive) or SSD (Solid State Drive) and stores various programs including an operating system and various data.

The communication I/F 40 is an interface for the transport vehicle 10 to communicate with other devices. ) and Wi-Fi (registered trademark).

Input/output I/F 42 is electrically connected to moving mechanism 50 , rotating mechanism 52 , and peripheral information detection sensor 22 .

The moving mechanism 50 is a mechanism for allowing the main body 12 to travel independently, and includes the front wheels 18 and the rear wheels 20, a motor (not shown) that transmits driving force to the front wheels 18 and the rear wheels 20, and the front wheels 18 and the rear wheels 20. It includes a steering angle control device (not shown) that changes the steering angle.

The rotating mechanism 52 is a mechanism for rotating the loading platform 16 and includes a rotating shaft 14 and a motor (not shown) that transmits driving force to the rotating shaft 14 . The rotating mechanism 52 rotates the loading platform 16 with respect to the main body 12 by rotating the rotating shaft 14 with the motor.

(Functional configuration of transport vehicle 10)
The carrier vehicle 10 implements various functions using the hardware resources described above. A functional configuration realized by the transport vehicle 10 will be described with reference to FIG.

As shown in FIG. 3 , the transport vehicle 10 is configured including an independent traveling control section 60 and a rotation control section 62 as functional configurations. The rotation control section 62 corresponds to the control section of the present invention. Note that each functional configuration is realized by the CPU 32 reading and executing a program stored in the ROM 34 or the storage 38 .

The autonomous travel control unit 60 generates a travel plan based on the surrounding information detected by the surrounding information detection sensor 22 and the map information acquired from the server, and moves the transport vehicle 10 according to the generated travel plan. to control the moving mechanism 50 . There are various known methods for controlling self-running, and the control method itself is not limited in the present invention, so detailed description of the control method will be omitted.

The rotation control unit 62 controls the position of the center of gravity of the load G by controlling the rotation mechanism 52 . Specifically, the rotation control unit 62 rotates the rotation shaft 14 by driving a motor (not shown) of the rotation mechanism 52 . As the rotating shaft 14 rotates in this manner, the loading platform 16 rotates together with the rotating shaft 14, so that the tilt direction of the support surface 16B of the loading platform 16 changes. Since the load G moves along the inclination of the support surface 16B, when the tilt direction of the support surface 16B of the loading platform 16 changes, the position of the center of gravity of the load G also moves. Here, change in the tilt direction of the support surface 16B will be described.

As shown in FIGS. 4A and 4B, the loading platform 16 can rotate 360 degrees horizontally with respect to the main body 12 . The aspect shown in FIG. 4A is the rotational position of the rotating shaft 14 similar to that of the loading platform 16 shown in FIG. In the state shown in FIG. 4A, the load G moves rearward, and the center of gravity of the load G moves rearward, so this rotational position is the rear center of gravity position.

Further, when the rotating shaft 14 is rotated clockwise or counterclockwise by 180 degrees from the rear position of the center of gravity shown in FIG. 4A, the state shown in FIG. 4B is obtained. The aspect shown in FIG. 4B is the rotational position of the rotating shaft 14 similar to that of the loading platform 16 shown in FIG. In the state shown in FIG. 4B, the load G moves forward, and the center of gravity of the load G moves forward, so this rotational position is the front center of gravity position. 4A, 4B, and 5, illustration of the stopper 16S is omitted.

Next, the action of the transport vehicle 10 will be described.

FIG. 6 is a flow chart showing a series of processes in the transport vehicle 10. FIG. A series of processes in the transport vehicle 10 are performed by the CPU 32 of the control device 30 reading a program from the ROM 34 or the storage 38, developing it in the RAM 36, and executing it.

As shown in FIG. 6, first, the CPU 32 determines whether or not the traveling of the carrier vehicle 10 is being controlled by the autonomous traveling control unit 60, that is, whether or not the carrier vehicle 10 is traveling (step S11). . If the transport vehicle 10 is not traveling (step S11; NO), the CPU 32 proceeds to step S14 and determines whether or not the transport vehicle 10 has finished transporting the package G (step S14).

In step S14, when the CPU 32 determines that the transporting process of the load G by the transport vehicle 10 has ended (step S14; YES), the CPU 32 ends all the processes. Further, in step S14, when the CPU 32 determines that the transporting process of the load G by the transporting vehicle 10 has not ended (step S14; NO), the CPU 32 shifts the process to step S11, and performs the processes after step S11. Repeat the process.

On the other hand, if the transport vehicle 10 is traveling in step S11 (step S11; YES), the CPU 32 determines whether the transport vehicle 10 has approached a step or a slope on the travel path (step S12). . In this embodiment, as an example, it is determined whether or not the vehicle has reached a step or slope based on the surrounding information detected by the surrounding information detection sensor 22 and the map information obtained from the server. Specifically, for example, when the transport vehicle 10 approaches an area designated as stairs or an area designated as a slope in the map information, or when a step or slope is detected by the peripheral information detection sensor 22, The CPU 32 determines that the vehicle has reached a step or slope.

In step S12, when the CPU 32 determines that the vehicle is not approaching a step or a slope (step S12; NO), the CPU 32 shifts the processing to step S11 and repeats the processing after step S11. When the CPU 32 determines in step S12 that the vehicle has reached a step or a slope (step S12; YES), the CPU 32 causes the rotation control section 62 to control the rotation mechanism 52 (step S13).

Here, a method of controlling the rotation mechanism 52 by the rotation control unit 62 will be described with reference to FIGS. 7 to 11. FIG. Here, in FIGS. 7 to 11, the traveling direction (front side) of the transport vehicle 10 is assumed to be the left side of the paper surface. 7 to 11, illustration of the stopper 16S is omitted.

In step S12, when the CPU 32 determines that an upward step has been reached, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned rearward when the front wheels 18 ascend the step. As an example, first, as shown in FIG. 7, it is assumed that the transport vehicle 10 is traveling with the center of gravity of the load G positioned forward. In other words, the transport vehicle 10 is traveling in a state where the rotational position is the front position of the center of gravity.

When the conveying vehicle 10 approaches an upward step, the front wheels 18 are heavy, so the front wheels 18 are caught on the step, making it difficult to climb over the step. Therefore, in the present embodiment, the rotation control unit 62 rotates the rotating shaft 14 clockwise or counterclockwise by 180 degrees to change the tilting direction of the support surface 16B of the loading platform 16 as shown in FIG. change. That is, as shown in FIG. 8, the rotational position is the rearward position of the center of gravity of the load G, which is located rearward. It should be noted that when the transport vehicle 10 is traveling in a state where the rotational position is the position behind the center of gravity, the rotation control unit 62 controls the rotation mechanism 52 so as not to rotate the rotation shaft 14 .

In this way, when the front wheels 18 go up a step, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned rearward. center of gravity can be positioned rearward. Therefore, the transport vehicle 10 becomes lighter on the front wheel 18 side, so that the front wheel 18 can be easily lifted and the transport vehicle 10 can easily climb over a step. Further, since the transport vehicle 10 is heavy on the rear wheel 20 side, the rear wheel 20 is less likely to idle, and the output of the rear wheel 20 can push the front wheel 18 up the step from the rear side. As a result, the ability of the transport vehicle 10 to climb over a step can be improved.

Further, as shown in FIG. 9, the rotation control unit 62 rotates the rotation mechanism so that the center of gravity of the load G is positioned forward when the rear wheels 20 climb the step after the front wheels 18 climb the step. 52. In other words, the rotation control unit 62 controls the rotation mechanism 52 so that the rotation position changes from the rear center of gravity position to the front center of gravity position.

In this way, after the front wheels 18 have climbed the step, when the rear wheels 20 go up the step, the rotation mechanism 52 is controlled so that the center of gravity of the load G is positioned forward, so that the rear wheels 20 do not move up the step. The center of gravity of the baggage G can be positioned forward when approaching the . Therefore, since the rear wheel 20 side becomes lighter, the rear wheel 20 can easily run over a step.

Further, in step S12, when the CPU 32 determines that the descending step has been reached, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned rearward when the front wheels 18 descend the step. . As an example, first, assume that the transport vehicle 10 is traveling with the load G positioned on the front side (see FIG. 1). In other words, the transport vehicle 10 is traveling in a state where the rotational position is the front position of the center of gravity.

When the conveying vehicle 10 approaches a downward step, the front wheels 18 side is heavy in the state as it is, so the shock and vibration to the conveying vehicle 10 and the cargo G increase when the front wheels 18 descend the step. Therefore, in the present embodiment, the rotation control unit 62 rotates the rotating shaft 14 clockwise or counterclockwise by 180 degrees to change the tilting direction of the support surface 16B of the loading platform 16 as shown in FIG. change. That is, as shown in FIG. 10, the rotational position is the rearward position of the center of gravity of the load G, which is located rearward. It should be noted that when the transport vehicle 10 is traveling in a state where the rotational position is the position behind the center of gravity, the rotation control unit 62 controls the rotation mechanism 52 so as not to rotate the rotation shaft 14 .

In this way, when the front wheels 18 descend a step, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned rearward. center of gravity can be positioned rearward. Therefore, since the front wheels 18 are lighter, it is possible to suppress the shock and vibration to the transport vehicle 10 and the load G when the front wheels 18 go down a step.

Further, as shown in FIG. 11, the rotation control unit 62 rotates the rotation mechanism 52 so that the center of gravity of the load G is positioned forward when the rear wheels 20 descend the step after the front wheels 18 descend the step. to control. In other words, the rotation control unit 62 controls the rotation mechanism 52 so that the rotation position changes from the rear center of gravity position to the front center of gravity position.

In this way, after the front wheels 18 descend the step, when the rear wheels 20 descend the step, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned forward. When the wheel 20 reaches a step, the center of gravity of the load G can be positioned forward. Therefore, since the rear wheels 20 are lighter, it is possible to suppress shock and vibration to the transport vehicle 10 and the load G when the rear wheels 20 go down a step.

Further, in step S12, when the CPU 32 determines that the uphill is approaching, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned forward when going uphill.

Normally, on an uphill, the load is concentrated on the rear wheel 20 side and the load on the front wheel 18 side is reduced. In the conveying vehicle 10 of the present embodiment, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned forward when going uphill. The load is distributed to the front wheels. Therefore, since the front wheel 18 side becomes heavy, it becomes difficult for the front wheel 18 to idle, and the uphill can be smoothly climbed. As a result, even if a heavy load G is placed on the vehicle, it is possible to ensure good running performance on an uphill slope with a simple configuration.

Further, in step S12, when the CPU 32 determines that the downhill is approaching, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned rearward when going up the downhill.

Normally, on a downhill, the load is concentrated on the front wheel 18 side and the load on the rear wheel 20 side is reduced. In the carrier vehicle 10 of the present embodiment, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load is positioned rearward when descending the downhill. Distributed to the rear wheel 20 side. Therefore, since the rear wheel 20 side becomes heavy, it becomes difficult for the rear wheel 20 to idle, and it is possible to go down the downhill smoothly. As a result, even if a heavy load is placed on the vehicle, it is possible to secure running performance on a downhill with a simple configuration.

As described above, the rotation control unit 62 controls the rotation mechanism 52 .

Returning to FIG. 6, when the control of the rotation mechanism 52 by the rotation control unit 62 is completed, the CPU 32 next shifts the processing to step S14 and determines whether or not the transportation processing of the load G by the transportation vehicle 10 is completed. (step S14). In step S14, when the CPU 32 determines that the transporting process of the package G by the transport vehicle 10 has not ended (step S14; NO), the CPU 32 shifts the process to step S11, and executes the processes after step S11. Repeat. Further, in step S14, when the CPU 32 determines that the transporting process of the load G by the transport vehicle 10 has ended (step S14; YES), the CPU 32 ends all the processes. In this manner, a series of processes in the transport vehicle 10 are performed.

Next, the operation and effects of this embodiment will be described.

The transport vehicle 10 according to the present embodiment can tilt the support surface 16B by controlling the rotation mechanism 52 with the rotation control unit 62. It can be moved along the support surface 16B. As a result, when the conveying vehicle 10 travels over a step, a slope, or the like, the rotation control unit 62 controls the rotation mechanism 52 to control the position of the center of gravity of the load G. It is possible to ensure running performance on slopes, steps, etc. with a simple configuration even if the vehicle is in the state of the road.

Further, in the transportation vehicle 10 according to the present embodiment, the rotation mechanism 52 has the rotation shaft 14 rotatably erected on the main body 12, and the loading platform 16 has the support surface 16B inclined with respect to the horizontal direction. and attached to the rotating shaft 14 . Therefore, by rotating the rotary shaft 14, the support surface 16B of the loading platform 16 can be tilted in different directions in the traveling direction.

Further, in the carrier vehicle 10 according to the present embodiment, the loading platform 16 is provided with a stopper 16S erected at the end of the support surface 16B. Therefore, for example, even if the support surface 16B is inclined while traveling on a flat surface, the load G continues to contact the stopper 16S, so the support surface 16B can support the load G stably. In this embodiment, the stopper 16S is provided at the end of the support surface 16B positioned at the lower end regardless of whether the rotational position is the rearward center of gravity position or the forward center of gravity position. Therefore, when the transport vehicle 10 is traveling on a flat surface, the support surface 16B can stably support the load G regardless of whether the rotation position is at the rear of the center of gravity or at the front of the center of gravity.

However, when the transport vehicle 10 is decelerated and the rotational position is the rearward position of the center of gravity, the load G is positioned at the rear, so there is a possibility that the load G may move forward due to the deceleration acceleration. Therefore, it is preferable to set the rotational position to the front position of the center of gravity, that is, to keep the load G in contact with the stopper 16S on the front side and prevent it from moving forward any further. Conversely, when accelerating such as when starting or increasing the speed, the load G may move backward due to the acceleration. It is preferable to keep it in a state in which it cannot move further backward.

Further, in the transportation vehicle 10 according to the present embodiment, when the front wheels 18 go up a step, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned rearward. The center of gravity of the luggage G can be positioned backward when approaching a step. Therefore, the transport vehicle 10 becomes lighter on the front wheel 18 side, so that the front wheel 18 can be easily lifted and the transport vehicle 10 can easily climb over a step. Further, since the transport vehicle 10 is heavy on the rear wheel 20 side, the rear wheel 20 is less likely to idle, and the output of the rear wheel 20 can push the front wheel 18 up the step from the rear side. As a result, the ability of the transport vehicle 10 to climb over a step can be improved.

Further, in the conveying vehicle 10 according to the present embodiment, the rotation mechanism 52 is controlled so that the center of gravity of the load G is positioned forward when the rear wheels 20 go up the step after the front wheels 18 go up the step. Therefore, the center of gravity of the cargo G can be positioned forward when the rear wheels 20 approach a step. Therefore, since the rear wheel 20 side becomes lighter, the rear wheel 20 can easily run over a step.

Further, in the transportation vehicle 10 according to the present embodiment, when the front wheels 18 descend a step, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned rearward. The center of gravity of the luggage G can be positioned backward when approaching a step. Therefore, since the front wheels 18 are lighter, it is possible to suppress the shock and vibration to the transport vehicle 10 and the load G when the front wheels 18 go down a step.

Further, in the transportation vehicle 10 according to the present embodiment, after the front wheels 18 descend the step, the rotation control unit 62 rotates the rotation mechanism so that the center of gravity of the load G is positioned forward when the rear wheels 20 descend the step. 52 is controlled. Therefore, when the rear wheels 20 approach a step, the center of gravity of the load G can be positioned forward. Therefore, since the rear wheels 20 are lighter, it is possible to suppress shock and vibration to the transport vehicle 10 and the load G when the rear wheels 20 go down a step.

Also, normally, on an uphill, the load is concentrated on the rear wheel 20 side and the load on the front wheel 18 side is reduced. In the conveying vehicle 10 of the present embodiment, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load G is positioned forward when going uphill. The load is distributed to the front wheels. Therefore, since the front wheel 18 side becomes heavy, it becomes difficult for the front wheel 18 to idle, and the uphill can be smoothly climbed. As a result, even if a heavy load G is placed on the vehicle, it is possible to ensure good running performance on an uphill slope with a simple configuration.

Also, normally, on a downhill, the load is concentrated on the front wheel 18 side and the load on the rear wheel 20 side is reduced. In the carrier vehicle 10 of the present embodiment, the rotation control unit 62 controls the rotation mechanism 52 so that the center of gravity of the load is positioned rearward when descending the downhill. Distributed to the rear wheel 20 side. Therefore, since the rear wheel 20 side becomes heavy, it becomes difficult for the rear wheel 20 to idle, and it is possible to go down the downhill smoothly. As a result, even if a heavy load is placed on the vehicle, it is possible to secure running performance on a downhill with a simple configuration.

In addition, in the above-described embodiment, a substantially circular loading platform is used in a plan view, but the present invention is not limited to this. That is, the cargo bed may be formed in other shapes, for example, a cargo bed that is substantially rectangular in plan view, or a cargo bed that is substantially hexagonal, substantially triangular, or the like in plan view may be adopted. .

Furthermore, the shape of the main body 12 and the number of wheels are not particularly limited, and various configurations can be adopted. For example, instead of wheels, a moving mechanism having spherical rollers may be used. In this case, the transport vehicle 10 can easily move in all directions.

Moreover, in the above embodiment, the stopper 16S is formed continuously along the edge of the support surface 16B of the loading platform 16, but the present invention is not limited to this. For example, a plurality of stoppers 16S may be provided at regular intervals so long as the load G does not fall off the support surface 16B.

Further, in addition to the above embodiment, a plurality of rollers may be arranged on the support surface 16B of the loading platform 16 . In this case, the rollers may be arranged in the front-rear direction of the loading platform 16, and both ends of each roller may be rotatably supported by stoppers 16S in the left-right direction. Further, a locking mechanism (not shown) may be provided so that the transportation vehicle 10 does not rotate while it is traveling. Since the rollers are arranged on the support surface 16B in this manner, the load G can be smoothly moved in the front-rear direction.

Moreover, various processors other than the CPU may execute each processing executed by the CPU 22 shown in FIG. 2 in the above embodiment by reading the software (program). The processor in this case is a PLD (Programmable Logic Device) whose circuit configuration can be changed after manufacturing such as an FPGA (Field-Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit) for executing specific processing. A dedicated electric circuit or the like, which is a processor having a specially designed circuit configuration, is exemplified. Also, each process may be executed by one of these various processors, or a combination of two or more processors of the same or different type (for example, a plurality of FPGAs, a combination of a CPU and an FPGA, etc.). ) can be run. More specifically, the hardware structure of these various processors is an electric circuit in which circuit elements such as semiconductor elements are combined.

Further, each program described in the above embodiments is recorded on a recording medium such as a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versatile Disc Read Only Memory), and a USB (Universal Serial Bus) memory. may be provided in any form. Also, the program may be downloaded from an external device via a network.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above, and can be implemented in various modifications other than the above without departing from the spirit of the present invention. is of course.

REFERENCE SIGNS LIST 10 transportation vehicle 12 main body 14 rotary shaft 16 loading platform 16B support surface 16S stopper 18 front wheel 20 rear wheel 52 rotation mechanism 62 rotation control section (control section)
G Luggage

Claims (9)

a main body configured to be able to run independently;
a loading platform supported by the main body and having a support surface for supporting cargo;
a rotation mechanism that tilts the support surface by rotating the loading platform about an axis along the vertical direction with respect to the main body;
a control unit that controls the position of the center of gravity of the load by controlling the rotation mechanism;
Conveyance vehicle including. The rotating mechanism has a rotating shaft rotatably erected on the main body,
2. The transport vehicle according to claim 1, wherein the loading platform is attached to the rotary shaft with the support surface inclined with respect to the horizontal direction. The main body has a pair of front wheels and a pair of rear wheels,
3. The carrier vehicle according to claim 1, wherein the control unit controls the rotation mechanism so that the center of gravity of the load is positioned rearward when the pair of front wheels climbs a step. 4. The control unit controls the rotation mechanism so that the center of gravity of the load is positioned forward when the pair of rear wheels climbs the step after the pair of front wheels climbs the step. The transport vehicle described in . The main body has a pair of front wheels and a pair of rear wheels,
The transport vehicle according to any one of claims 1 to 4, wherein the control unit controls the rotation mechanism so that the center of gravity of the load is positioned rearward when the pair of front wheels descends a step. . 6. The control unit controls the rotation mechanism so that the center of gravity of the load is positioned forward when the pair of rear wheels descends the step after the pair of front wheels descends the step. Transport vehicle as described. The transport vehicle according to any one of claims 1 to 6, wherein the control unit controls the rotation mechanism so that the center of gravity of the load is positioned forward when going uphill. The transport vehicle according to any one of claims 1 to 7, wherein the control unit controls the rotation mechanism so that the center of gravity of the load is positioned rearward when descending a downhill. The carrier vehicle according to any one of claims 1 to 8, wherein the loading platform comprises a stopper erected at an end of the support surface.

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