JP7152821B1 - MOBILE BODY, CONTROL METHOD FOR MOBILE BODY, AND PROGRAM - Google Patents

Abstract

A movable body that is controlled to prevent collapse of cargo according to the weight of an object to be conveyed. A moving body 1 for transporting an object to be transported includes a moving mechanism 11 for moving the moving body 1, an acquisition unit 12 for acquiring the weight of the object to be transported, and a load collapse of the object to be transported according to the acquired weight. and a control unit 13 that controls the moving mechanism 11 so as to hold it down. In this way, it is possible to perform movement control so as to suppress collapse of the cargo when transporting the transport object, so that the transport object can be transported safely to the destination. [Selection drawing] Fig. 3

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving body or the like that transports an object to be transported.

Conventionally, there is known a forklift that suppresses collapse of cargo by controlling the vehicle speed to be low when the road surface condition is bad when conveying an object to be conveyed (see, for example, Patent Document 1).

JP-A-11-217200

However, for example, even if the condition of the road surface is good, if the object to be transported is heavy, the load may easily collapse.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a moving body or the like that is controlled so as to suppress the collapse of cargo according to the weight of an object to be transported.

To achieve the above object, a moving body according to one aspect of the present invention is a moving body that transports an object to be transported, and includes: a moving mechanism that moves the moving body; an acquisition unit that acquires the weight of the object to be transported; and a control unit that controls the moving mechanism so as to suppress collapse of the cargo to be conveyed according to the weight.

With such a configuration, collapse of cargo can be suppressed when transporting objects to be transported.

Further, in the moving object according to the aspect of the present invention, the moving mechanism includes a driving wheel and a motor that drives the driving wheel, and the obtaining unit calculates the weight of the object to be conveyed using the current value of the motor. may be obtained.

With such a configuration, the weight of the object to be transferred can be obtained without using a weighing scale for measuring the weight of the object to be transferred.

In addition, in the mobile body according to the aspect of the present invention, the mobile body may pull a carriage on which objects to be transported are loaded.

With such a configuration, it is possible to tow the carriage so as to suppress the collapse of the cargo to be conveyed loaded on the carriage.

Further, in the moving body according to the aspect of the present invention, the control unit may perform control such that the greater the obtained weight, the smaller the maximum speed.

With such a configuration, the heavier the object to be transported, the slower it moves, and the collapse of cargo can be suppressed. On the other hand, when the weight of the object to be transported is small, the object can be moved at a higher speed, and more efficient transport can be realized.

Further, in the moving object according to the aspect of the present invention, the control unit may control the maximum absolute value of acceleration to decrease as the acquired weight increases.

With such a configuration, the heavier the object to be transported, the smaller the maximum absolute value of the acceleration, thereby suppressing collapse of cargo. On the other hand, when the weight of the object to be transported is small, a greater change in speed is allowed, and more efficient transport can be realized.

Further, in the moving object according to the aspect of the present invention, the control unit may perform control such that the larger the acquired weight, the larger the minimum radius of gyration.

With such a configuration, the heavier the object to be transported, the larger the minimum radius of rotation of the object to be transported, thereby suppressing collapse of cargo. On the other hand, when the weight of the object to be transported is small, a smaller minimum turning radius is allowed, and more efficient transport can be realized.

Further, a method for controlling a moving object according to an aspect of the present invention includes the steps of acquiring the weight of an object to be transported transported by the moving object; and controlling a moving mechanism for moving the body.

According to the moving body or the like according to one aspect of the present invention, it is possible to suppress collapse of cargo by performing control according to the weight of the object to be transported.

Schematic diagram showing a moving body and a carrier according to an embodiment of the present invention The bottom view of the moving body by the same embodiment FIG. 2 is a functional block diagram showing the configuration of a moving object according to the same embodiment; 4 is a flow chart showing the operation of a moving object according to the same embodiment; A diagram showing an example of a configuration of a computer system according to the same embodiment.

Hereinafter, a moving body according to the present invention will be described using embodiments. In the following embodiments, constituent elements and steps with the same reference numerals are the same or correspond to each other, and repetitive description may be omitted. The moving body according to the present embodiment controls movement according to the acquired weight of the object to be conveyed so as to prevent collapse of the object to be conveyed.

FIG. 1 is a schematic diagram showing a mobile body 1 and a carriage 2 according to the present embodiment, FIG. 2 is a bottom view of the mobile body 1, and FIG. 3 is a functional block diagram showing the configuration of the mobile body 1. is.

A moving body 1 according to the present embodiment transports an object 3 to be transported. and a control unit 13 that controls the moving mechanism 11 so as to suppress collapse of the load of the object 3 to be conveyed according to the weight. For example, the moving object 1 transporting the object 3 to be transported may be transporting the object 3 to be transported loaded on the moving object 1 itself. may be towed. In this embodiment, the latter case will be mainly described. Further, in this embodiment, the case where the moving body 1 is a traveling body will be mainly described, and other cases will be described later.

The main body 10 of the moving body 1 may be, for example, a carrier or a member to which the moving mechanism 11 and the like are attached. In the present embodiment, a case where main body 10 is a plate-like member to which moving mechanism 11 is attached will be mainly described.

As shown in FIG. 2, a moving mechanism 11 having wheels 14a to 14d and motors 15a and 15b is provided on the rear side of the main body 10. As shown in FIG. Incidentally, the wheels 14a to 14d may be called the wheels 14 when they are not distinguished from each other. Also, the motors 15a and 15b may be referred to as the motor 15 when not distinguished. Also, the number of wheels 14 is not limited as long as it is three or more. Alternatively, the wheels 14 may be omnidirectional wheels. As shown in FIG. 2, wheels 14a and 14b are drive wheels driven by motors 15a and 15b, respectively, and wheels 14c and 14d are driven wheels that can turn. In this embodiment, a case where the traveling direction of the moving body 1 is determined by the difference in the number of revolutions of the wheels 14a and 14b, which are driving wheels, will be described. You may have the steering mechanism which can change direction. Also, all the wheels 14 may be drive wheels. In this case, some of the wheels 14, for example, the wheels 14c and 14d on the front side may serve as steered wheels, or all of the wheels 14 may serve as steered wheels. You may have the steering mechanism which can change the direction of a wheel. The motors 15a and 15b may be motors whose torque increases as the supplied current value increases. Also, the motor 15 or the wheels 14a and 14b may be provided with encoders for obtaining the rotation speeds of the wheels 14a and 14b.

The acquisition unit 12 acquires the weight of the object 3 to be transported. For example, the acquisition unit 12 may acquire the weight of the transport object 3 using the value of the current of the motor 15 while the mobile body 1 is moving. Normally, the greater the weight of the object 3 to be conveyed, the greater the torque of the motor 15 when the moving body 1 is moving, and as a result, the value of the current of the motor 15 also increases. Therefore, for example, information indicating the relationship between the weight of the object to be transported 3 and the current value of the motor 15 while the moving body 1 is moving is acquired in advance. Then, the acquiring unit 12 may acquire the weight of the transport object 3 based on the current value of the motor 15 while the mobile body 1 is moving, using the information. The information indicating the relationship between the current value of the motor 15 and the weight of the object to be conveyed 3 may be, for example, information indicating the relationship between the two when the moving body 1 is accelerating, or when the moving body 1 is moving at a constant speed. , or information indicating the relationship between them when the moving body 1 decelerates.

It should be noted that it is preferable that the weight of the object to be conveyed 3 is acquired immediately after the start of movement of the moving body 1, and that the torque of the motor 15 during acceleration, that is, the current is increased according to the change in the weight of the object to be conveyed 3. Since the weight changes significantly, the acquisition unit 12 preferably acquires the weight of the object 3 to be transported at the time of acceleration at the start of movement. In this embodiment, this case will be mainly described.

The information indicating the relationship between the weight and the current value may be, for example, information such as a table that associates the two, or a relational expression indicating the relationship between the weight and the current value. Note that when the moving body 1 has a plurality of motors 15 , the weight of the object to be transported 3 may be acquired using an average value of the plurality of motors 15 , for example.

The weight acquired by the acquisition unit 12 may be, for example, a quantitative weight or a qualitative weight. In the former case, for example, weights such as 50 kg and 100 kg may be obtained, and in the latter case, for example, "heavy" and "light" may be obtained. The qualitative weight may be, for example, two levels of weight such as "heavy" and "light", three levels of weight such as "heavy", "normal" and "light", or four or more levels of weight may be

For example, the acquisition unit 12 may acquire the weight of the object 3 to be conveyed using information indicating the relationship between the weight of the object 3 to be conveyed and the value of the current of the motor 15 during acceleration at a predetermined acceleration. In this case, for example, the weight of the object to be transported 3 may be acquired when the control unit 13 controls the moving mechanism 11 to accelerate at that acceleration. Further, the obtaining unit 12 may obtain the weight of the object 3 to be transferred, for example, using information indicating the relationship between the weight of the object to be transferred 3 and the current value of the motor 15 at an arbitrary speed or acceleration. In this case, for example, the weight of the object 3 to be conveyed is obtained using a function for calculating the weight of the object 3 to be conveyed, which takes as arguments the value of the current of the motor 15 and at least one of speed and acceleration. may For example, the acquisition unit 12 uses information indicating the relationship between the weight of the object to be conveyed 3 and the acceleration of the object to be conveyed when the motor 15 accelerates the object 1 with a certain current value. 3 weights may be obtained. In this case as well, the weight of the object to be conveyed 3 is acquired when the motor 15 is driven at a certain current value. , the weight of the transport object 3 is acquired.

The control unit 13 controls the moving mechanism 11 . The control of the moving mechanism 11 may be, for example, speed control, acceleration control, traveling direction control, or the like. The control unit 13 may also control the turning radius when changing the traveling direction. Further, the control unit 13 may control the moving mechanism 11 to accelerate at a predetermined acceleration corresponding to the information indicating the relationship between the weight of the object 3 to be transported and the current value of the motor 15 when starting to move. good. Moreover, when the information indicating the relationship between the weight and the current value corresponds to a predetermined speed, the control unit 13 may control the moving mechanism 11 so as to move at the predetermined speed.

The control unit 13 controls the moving mechanism 11 according to the weight of the object to be conveyed 3 acquired by the acquiring unit 12 so as to prevent the object to be conveyed 3 from collapsing. Specifically, the control unit 13 may perform control such that (1) the greater the acquired weight, the smaller the maximum speed, and (2) the greater the acquired weight, the greater the absolute value of the acceleration. Control may be performed so that the maximum value becomes small, or (3) control may be made such that the larger the obtained weight, the larger the minimum radius of gyration. The control unit 13 may perform any one or more of the controls (1) to (3), for example. Each control of (1) to (3) will be described below.

(1) Speed control according to weight In this case, the control unit 13 controls the maximum speed to decrease as the weight acquired by the acquisition unit 12 increases. You may control so that a maximum speed may become large. For example, the control unit 13 may specify the maximum speed corresponding to the weight using information that associates the weight or the range of weight with the maximum speed. Then, the control unit 13 may control the moving mechanism 11 so that the speed is equal to or lower than the specified maximum speed. For example, when moving along a straight movement path, the control unit 13 may accelerate to a specified maximum speed, and then control the movement mechanism 11 to move at a constant speed at the maximum speed. . It should be noted that the information that associates the weight or range of weight with the maximum speed is such that the greater the weight, the smaller the maximum speed. With such control, when the weight is large, the maximum speed of the moving body 1 is lowered, so that the objects 3 to be transported are less likely to collapse.

Also, the relationship between the weight and the maximum speed may be, for example, a linear or non-linear continuous relationship, or may be a non-continuous relationship, such as a multi-step relationship. In the latter case, for example, a heavy weight range may be associated with a first maximum speed, and a light weight range may be associated with a second maximum speed. Here, it is assumed that the first maximum speed is lower than the second maximum speed. The same applies to the relationship between the weight and the maximum absolute value of acceleration and the relationship between the weight and the minimum turning radius in (2) and (3) below.

(2) Control of acceleration according to weight In this case, the control unit 13 controls the maximum absolute value of the acceleration to increase as the weight acquired by the acquisition unit 12 increases. Control may be performed such that the smaller the weight, the larger the maximum absolute value of acceleration. For example, the control unit 13 may specify the maximum absolute value of acceleration according to the weight using information that associates the weight or the range of weight with the maximum value of the absolute value of acceleration. Then, the control unit 13 may control the moving mechanism 11 so that the absolute value of the acceleration is equal to or less than the specified maximum absolute value of the acceleration. For example, when accelerating, the control unit 13 accelerates at a specified maximum value of acceleration, and when decelerating, accelerates with a value obtained by multiplying the specified maximum value by "-1" (that is, decelerates ), the moving mechanism 11 may be controlled as follows. In the information that associates the weight or range of weight with the maximum absolute value of acceleration, the weight is associated with the maximum absolute value of acceleration so that the greater the weight, the smaller the maximum absolute value of acceleration. With such control, when the weight is large, the maximum absolute value of the acceleration of the moving object 1 becomes low, and the force corresponding to the acceleration acting on the object 3 to be conveyed becomes small, so that the object 3 to be conveyed does not collapse. less likely to occur.

(3) Control of radius of gyration according to weight In this case, the control unit 13 performs control such that the larger the weight acquired by the acquisition unit 12, the larger the minimum radius of gyration, and the smaller the acquired weight. The minimum radius of gyration may be controlled to be smaller as the For example, the control unit 13 may specify the minimum radius of gyration according to the weight using information that associates the weight or range of weight with the minimum radius of gyration. Then, the control unit 13 may control the moving mechanism 11 so that the radius of rotation is greater than or equal to the specified minimum radius of rotation. For example, the control unit 13 may control the moving mechanism 11 to turn with a specified minimum turning radius when changing the traveling direction. It should be noted that the information that associates the weight or range of weight with the minimum radius of gyration is such that the greater the weight, the larger the minimum radius of gyration. With such control, when the weight is large, the minimum radius of rotation of the moving body 1 is increased, so the centrifugal force applied to the object 3 to be transported is reduced, and collapse of cargo on the object 3 to be transported is less likely to occur.

Note that the control unit 13 cannot perform movement control according to the weight of the object 3 to be transferred until the weight of the object 3 to be transferred is obtained by the obtaining unit 12 . On the other hand, even during that time, from the viewpoint of suppressing the collapse of the cargo of the object 3 to be conveyed, the control unit 13 determines that the weight of the object 3 to be conveyed is the maximum weight until the weight of the object 3 to be conveyed is acquired, and sets the weight to the maximum weight. It is preferable to perform movement control accordingly. Note that the maximum weight may be set in advance.

Here, a method for acquiring the velocity, acceleration, and radius of rotation of the moving body 1 will be described. First, let ΔdL and ΔdR be the amounts of movement of the wheels 14a and 14b, which are driving wheels, at time Δt, respectively. It is assumed that the time Δt is minute. This amount of movement can be acquired from, for example, encoder values of the motors 15a and 15b and the wheels 14a and 14b. Further, the amount of movement, speed, acceleration, and radius of rotation of the moving body 1 are expressed by the following equations. Therefore, the control unit 13 can obtain the velocity, acceleration, and radius of gyration using the following equations. Note that D is the distance between the wheels 14a and 14b.
Movement amount = (ΔdL + ΔdR)/2
Velocity = (ΔdL + ΔdR)/(2 x Δt)
Acceleration=(ΔdL+ΔdR)/(2×(Δt) ² )
Radius of gyration = D x (ΔdL + ΔdR) / (2 x |ΔdL - ΔdR|)

Here, the case where the speed and the like are obtained from the amount of rotation of the wheels 14a and 14b, that is, the amount of movement has been described, but this need not be the case. The control unit 13 may, for example, acquire velocity, acceleration, and radius of gyration measured by a sensor such as a velocity sensor or an acceleration sensor.

The control unit 13 may set the maximum speed, the maximum absolute value of acceleration, and the minimum turning radius according to the weight, and control the moving mechanism 11 so as to be within these ranges. Further, for example, when the speed calculated using the above formula exceeds the maximum speed, the control unit 13 may reduce the rotation speed of the motor 15 so that the speed becomes equal to or less than the maximum speed. Further, for example, when the absolute value of the acceleration calculated using the above formula exceeds the maximum value, the control unit 13 reduces the rotation speed of the motor 15 so that the absolute value of the acceleration is equal to or less than the maximum value. good too. For example, when the radius of rotation calculated using the above formula is less than the minimum radius of rotation, the control unit 13 adjusts the difference in the number of rotations of the motors 15a and 15b so that the radius of rotation is equal to or greater than the minimum radius of rotation. The motors 15a and 15b may be controlled so that . Those controls may be, for example, feedback controls. In this case, since feedback control is performed so that the speed, acceleration, and radius of gyration are within a predetermined range, the speed, etc. may temporarily deviate from that range, but as a whole, the It will be within the specified range. In addition, the control unit 13 uses the above formula to specify the movement amounts ΔdL and ΔdR of the wheels 14a and 14b for the speed, acceleration, and radius of rotation to fall within the range of values corresponding to the weight, and the specified The motors 15a and 15b may be controlled so as to achieve the amount of movement.

Further, the control unit 13 may perform controls other than those described above regarding the moving mechanism 11 . For example, the control unit 13 may control the moving mechanism 11 so that the moving body 1 follows a target to be tracked (for example, a human being or another moving body), and controls the movement mechanism 11 so that the moving body 1 moves to the destination. The moving mechanism 11 may be controlled, and when an obstacle is detected by an obstacle detection unit (not shown), the moving mechanism 11 may be controlled to avoid colliding with the obstacle. may be performed. Note that the moving body 1 may be provided with an obstacle detection unit when performing control to avoid collision with an obstacle. Also, the avoidance of collision with an obstacle may be, for example, deceleration or stopping, or changing the moving route so as to avoid the obstacle. Moreover, when the moving body 1 is not an autonomous moving body but a moving body operated by a user, the control unit 13 may control the moving mechanism 11 according to the operation. It should be noted that the obstacle detection unit, tracking control, movement control to the destination, control for avoiding collision with obstacles, and other movement controls are already known, and detailed description thereof will be omitted.

The carriage 2 has a main body 20, a plurality of wheels 21 mounted on the rear side of the main body 20, and frame portions 22 provided on the front side and rear side of the main body 20 in the traveling direction. . It is assumed that the main body 20 is a loading platform on which the object to be transported 3 is placed. Also, the number of wheels 21 is not limited as long as it is two or more. Further, all of the wheels 21 may be driven wheels that can turn, or some of them may be driven wheels that can turn, and the rest of them may be fixed wheels that cannot turn. Alternatively, the carriage 2 may be pulled by the moving body 1 by connecting the connecting part 10a of the moving body 1 and the connecting part 20a of the carriage 2 . The connecting portion 10a of the moving body 1 and the connecting portion 20a of the carriage 2 may be connected by a connecting shaft extending in the vertical direction. In this case, at least one of the connecting portions 10a and 20a may be rotatable about the connecting shaft. The carriage 2 may have any structure as long as the object 3 to be conveyed is loaded thereon and the carriage 2 is towed by the moving body 1 . For example, the carriage 2 may not be provided with the frame portion 22 , or may be provided with the frame portion 22 all around the main body 20 .

The object to be conveyed 3 is not particularly limited, but may be, for example, a cardboard box, a box, a folding container, or the like, placed on a pallet, or other objects to be conveyed. In this embodiment, a case where the transport object 3 is a cardboard will be mainly described.

Next, the operation of the moving body 1 will be explained using the flowchart of FIG.
(Step S101) The control unit 13 determines whether to start moving. If the movement is to be started, the process proceeds to step S102. If not, the process of step S101 is repeated until it is determined that the movement is to be started. The control unit 13 may determine to start moving, for example, when the destination is decided or when the user inputs an instruction to start moving.

(Step S<b>102 ) The control unit 13 moves the moving body 1 by controlling the moving mechanism 11 . This movement control may be, for example, control for movement to a destination, control for movement according to an instruction from a user, or control for following an object to be tracked. may By repeating this movement control, for example, the moving body 1 moves to the destination. In this movement control, the control unit 13 performs control according to the acquired weight of the object to be transported 3 . For example, the control unit 13 may perform control such that the larger the acquired weight, the smaller the maximum speed, and the larger the acquired weight, the smaller the maximum absolute value of the acceleration. Alternatively, control may be performed such that the larger the acquired weight, the larger the minimum radius of gyration. Further, in order to acquire the weight of the transport object 3, the control unit 13 may control the moving mechanism 11 so as to move at a predetermined acceleration and speed for a certain period of time. This control may be performed, for example, only once after starting movement, or may be performed repeatedly.

(Step S103) The control unit 13 determines whether or not to end the movement. Then, when the movement is finished, the process returns to step S101, otherwise, the process proceeds to step S104. Note that the control unit 13 may determine to end the movement when the destination is reached, for example, and may determine to end the movement when the user inputs an instruction to end the movement. may

(Step S104) The acquisition unit 12 determines whether or not to acquire the weight of the object 3 to be transported. If the weight of the object to be transported 3 is to be obtained, the process proceeds to step S105; otherwise, the process returns to step S102. For example, when the moving object 1 is moving at an acceleration and a speed corresponding to the information indicating the relationship between the weight of the object 3 to be conveyed and the current value of the motor 15, the obtaining unit 12 calculates the weight of the object 3 to be conveyed. may be determined to obtain The acquisition unit 12 may acquire the acceleration and speed of the moving body 1 from the movement mechanism 11 or the control unit 13, for example. Normally, it is considered that the weight of the object to be transported 3 does not change during movement, so the weight of the object to be transported 3 needs to be obtained only once. On the other hand, by repeatedly acquiring the weight of the object to be conveyed 3, it is possible to detect, for example, that the object to be conveyed 3 has fallen during movement or that the wheels 14 have slipped.

(Step S105) The acquisition unit 12 acquires the weight of the object 3 to be conveyed corresponding to the current value of the motor 15 at that time, using the information indicating the relationship between the weight of the object 3 to be conveyed and the current value of the motor 15. . Then, the process returns to step S102. The acquiring unit 12 may acquire the current value of the motor 15 from the moving mechanism 11, for example.

In the flowchart of FIG. 4, the acquisition of the weight of the object to be conveyed 3 is repeated. The control unit 13 may stop the moving body 1, or decelerate the moving body 1, and when the weight does not return even after the deceleration (for example, when the conveying object 3 falls instead of slipping), The moving body 1 may be stopped. Also, the order of processing in the flowchart of FIG. 4 is an example, and the order of each step may be changed as long as the same result can be obtained. In addition, in the flowchart of FIG. 4, the processing ends when the power is turned off or an interrupt for processing end occurs.

Next, the operation of the moving body 1 according to this embodiment will be described using a specific example. In this specific example, information indicating the relationship between the range of the current value of the motor 15 and the weight of the object to be conveyed 3 when moving at the acceleration A1 is stored in a recording medium (not shown) of the moving object 1. and This information associates the current value range below C1 with the "light" weight of the object 3 to be conveyed, and also associates the range of current values exceeding C1 with the "heavy" weight of the object 3 to be conveyed. and It is also assumed that the maximum speed, the maximum absolute value of acceleration, and the minimum radius of gyration are set for each of the "light" and "heavy" weights of the object 3 to be transported.

In this specific example, the moving body 1 is a moving body that moves autonomously, and tows a carriage 2 loaded with an object 3 to be transported at a certain point to a set destination. First, when the movement of the moving body 1 is started, the control unit 13 controls the moving mechanism 11 so as to move with the acceleration A1 on the straight moving path (steps S101 and S102). The acquiring unit 12, which receives the acceleration of the moving body 1 from the moving mechanism 11, determines to acquire the weight of the object to be transported 3 when the acceleration of the moving body 1 reaches A1 (steps S103 and S104). , and determines whether or not the average exceeds C1. In this case, it is assumed that the average of the current values of the motors 15a and 15b exceeds C1. Then, the acquisition unit 12 acquires the weight "heavy" and passes it to the control unit 13 (step S105).

Upon receiving the weight "heavy", the control unit 13 specifies the maximum speed, the maximum absolute value of acceleration, and the minimum turning radius corresponding to the weight "heavy", Control the speed so that it is below the speed, control acceleration and deceleration so that the absolute value of acceleration is below the specified maximum value, and control the radius of rotation so that the radius of rotation is above the specified minimum radius of rotation. (step S102). In this manner, even if the object to be conveyed 3 is heavy, it is possible to avoid high-speed movement, sudden acceleration/deceleration, and sudden turning that may cause the object to be conveyed 3 to collapse. As a result, the possibility of collapse of cargo can be reduced.

As described above, according to the moving object 1 according to the present embodiment, the weight of the object to be conveyed 3 is obtained, and the maximum speed, acceleration, and radius of rotation are controlled according to the weight, thereby allowing the object to be conveyed 3 to carry a load. Possibility of collapsing can be reduced. As a result, the transport object 3 can be transported safely. In addition, since movement control is performed to prevent cargo from collapsing in this way, for example, when loading the object 3 to be transported, fixing work for preventing cargo from collapsing can be eliminated or reduced. In this case, the workload for loading and unloading the object 3 to be transported can be reduced, and the object 3 to be transported can be loaded and unloaded in a short time.

In the present embodiment, the case where the moving body 1 pulls the carriage 2 on which the objects 3 to be conveyed are loaded has been mainly described, but this does not have to be the case. The object to be transported 3 may be loaded on the moving body 1 . In this case, for example, a mounting surface for the transport object 3 may be provided on the upper surface of the moving body 1 or the like.

Further, in the present embodiment, the case where the acquisition unit 12 acquires the weight of the object to be transported 3 using the current value of the motor 15 has been mainly described, but this does not have to be the case. For example, the weight of the object 3 to be transferred may be obtained by measuring the weight of the object 3 to be transferred with a weight scale. In this case, the acquisition unit 12 may, for example, receive the weight of the transport object 3 measured by a weight scale, or the acquisition unit 12 itself may be a weight scale.

Further, in the present embodiment, the case where the moving object 1 is a traveling object that travels on land has been mainly described, but this does not have to be the case. The mobile object 1 may be, for example, an aircraft that flies in the air, or a water mobile object that moves on water (for example, a ship). The aircraft may be, for example, a rotorcraft, an airplane, an airship, or any other aircraft. From the viewpoint of being able to move to any position, the aircraft is preferably a rotorcraft. The rotorcraft may be, for example, a helicopter or a multicopter having three or more rotors. A multicopter may be, for example, a quadrotor having four rotor blades, or may have any other number of rotor blades. If the moving body 1 is an aircraft, the moving mechanism 11 may have, for example, a propeller and a driving means such as a motor or an engine for driving the propeller. Further, when the moving body 1 is a water moving body, the moving mechanism 11 includes, for example, a driving means such as a screw, a motor or an engine for driving the screw, a rudder, and a steering mechanism capable of changing the direction of the rudder. You may have

Further, in the above embodiments, each process or function may be implemented by centralized processing by a single device or single system, or may be implemented by distributed processing by multiple devices or multiple systems. It may be realized by

Further, in the above-described embodiment, when the information is passed between the components, for example, when the two components that exchange the information are physically different, one of the components output of information and reception of information by the other component, or one component if the two components that pass the information are physically the same from the phase of processing corresponding to the other component to the phase of processing corresponding to the other component.

In the above embodiments, information related to processing executed by each component, for example, information received, acquired, selected, generated, transmitted, or received by each component Also, information such as thresholds, formulas, addresses, etc. used by each component in processing may be stored temporarily or for a long period of time in a recording medium (not shown), even if not specified in the above description. Further, each component or an accumulation section (not shown) may accumulate information in the recording medium (not shown). Further, each component or a reading unit (not shown) may read information from the recording medium (not shown).

Further, in the above embodiment, if the information used in each component etc., for example, information such as thresholds, addresses and various set values used in processing by each component may be changed by the user, the above The user may or may not be able to change such information as appropriate, even if not explicitly stated in the description. If the information can be changed by the user, the change is realized by, for example, a reception unit (not shown) that receives a change instruction from the user and a change unit (not shown) that changes the information according to the change instruction. may The reception of the change instruction by the reception unit (not shown) may be, for example, reception from an input device, reception of information transmitted via a communication line, or reception of information read from a predetermined recording medium. .

Further, in the above embodiment, when two or more components included in the mobile object 1 have communication devices, input devices, etc., the two or more components may physically have a single device. , or may have separate devices.

Further, in the above embodiments, each component may be configured by dedicated hardware, or components that can be realized by software may be realized by executing a program. For example, each component can be realized by reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory by a program execution unit such as a CPU. During the execution, the program execution unit may execute the program while accessing the storage unit or recording medium. The software that realizes the mobile object 1 in the above embodiment is the following program. In other words, the program includes a computer, an acquisition unit that acquires the weight of an object to be transported that is transported by a moving object, and a moving mechanism that moves the moving object so as to prevent the object from collapsing according to the acquired weight. is for functioning as a control unit for controlling the

In the program, the functions realized by the program do not include functions that can be realized only by hardware. For example, functions that can be realized only by hardware such as a modem or an interface card, such as an acquisition unit that acquires information and an output unit that outputs information, are not at least included in the functions realized by the program.

Also, this program may be executed by being downloaded from a server or the like, and the program recorded on a predetermined recording medium (for example, an optical disk such as a CD-ROM, a magnetic disk, a semiconductor memory, etc.) may be read. may be performed by Also, this program may be used as a program constituting a program product.

Also, the number of computers executing this program may be singular or plural. That is, centralized processing may be performed, or distributed processing may be performed.

FIG. 5 is a diagram showing an example of a computer system 901 that executes the above program and implements the moving body 1 according to the above embodiment. The above embodiments can be implemented by computer hardware and computer programs executed thereon.

5, a computer system 901 includes an MPU (Micro Processing Unit) 911, a ROM 912 such as a flash memory, and a RAM 913 connected to the MPU 911 for temporarily storing application program instructions and providing a temporary storage space. , a hard disk 914, and a bus 915 that interconnects the MPU 911, ROM 912, and the like. Programs such as boot-up programs, application programs, system programs, and data may be stored in the ROM 912 and the hard disk 914 . Programs are loaded into RAM 913 during execution. Alternatively, the program may be loaded directly from the network. The computer system 901 may also include a wireless communication module and an input device such as a touch panel.

The program does not necessarily include an operating system (OS) or a third party program that causes the computer system 901 to perform the functions of the mobile object 1 according to the above embodiments. A program may contain only those portions of instructions that call the appropriate functions or modules in a controlled manner to produce the desired result. How the computer system 901 operates is well known and will not be described in detail.

Moreover, it goes without saying that the present invention is not limited to the above-described embodiments, and that various modifications are possible and are also included within the scope of the present invention.

REFERENCE SIGNS LIST 1 moving body 2 carrier 3 object to be transferred 11 moving mechanism 12 acquisition unit 13 control unit

Claims (7)

A moving body that transports a transport target,
a moving mechanism for moving the moving body , comprising a drive wheel and a motor for driving the drive wheel ;
an acquisition unit that acquires the weight of the object to be transported;
a control unit that controls the moving mechanism so as to suppress collapse of the cargo to be conveyed according to the acquired weight ;
The control unit controls the moving mechanism so as to accelerate the moving body at a predetermined acceleration after starting to move,
The moving body , wherein the obtaining unit obtains the weight of the object to be conveyed using the current value of the motor during acceleration at the predetermined acceleration . 2. The mobile body according to claim 1, wherein said mobile body pulls a carriage on which said objects to be transported are loaded. 3. The moving object according to claim 1 , wherein said control unit performs control such that the maximum speed decreases as the obtained weight increases. 3. The moving body according to claim 1 , wherein said control unit performs control such that the maximum absolute value of acceleration decreases as the acquired weight increases. 3. The moving object according to claim 1 , wherein said control unit performs control such that the larger the obtained weight, the larger the minimum radius of gyration. a step of controlling the moving mechanism so as to accelerate a moving body having a moving mechanism having a driving wheel and a motor for driving the driving wheel at a predetermined acceleration after the start of movement;
a step of obtaining the weight of the object to be transported transported by the moving object by using the current value of the motor during acceleration at the predetermined acceleration ;
and a step of controlling the moving mechanism for moving the moving body so as to suppress collapse of the cargo to be transported according to the acquired weight. the computer,
an acquisition unit that acquires the weight of a transport object transported by a moving body that includes a driving wheel and a moving mechanism that has a motor that drives the driving wheel ;
Functioning as a control unit that controls the moving mechanism that moves the moving body so as to suppress collapse of the cargo to be transported according to the acquired weight ,
The control unit controls the moving mechanism so as to accelerate the moving body at a predetermined acceleration after starting to move,
The program according to claim 1, wherein the acquisition unit acquires the weight of the object to be conveyed using the current value of the motor during acceleration at the predetermined acceleration .

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