KR20180042975A - Mobile unit which enables control of acceleration or deceleration through sensing location of center of mass of load - Google Patents

Abstract

According to the present invention, provided is an efficient method for easily determining an acceleration range in which a loaded article is not turned over by measuring a position of the center of gravity of the loaded article in accordance with characteristics of each of the loaded articles when a moving unit such as a logistics robot carries various loaded articles which may include arbitrary objects and have a predetermined height. According to one aspect of the present invention, a moving unit for moving a loaded article to a predetermined position comprises: a support unit for loading a loaded article of a predetermined height including one or more loaded objects; a driving unit coupled to the support unit to accelerate and move the moving unit to move the loaded article to a predetermined position; and a gravity center sensing unit for sensing a position of the center of gravity of the loaded article. The acceleration may be controlled by the driving unit to prevent the loaded articles from being turned over on the basis of the position of the center of gravity.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile unit capable of acceleration / deceleration control by detecting a center of gravity of a load. [0002] MOBILE UNIT WHICH ENABLES CONTROL OF ACCELERATION OR DECELERATION THROUGH SENSING LOCATION OF CENTER OF MASS OF LOAD [0003]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a mobile unit capable of acceleration / deceleration control by sensing the position of a center of gravity of a load, and more particularly to a mobile unit for remote control or autonomous- A mobile unit capable of controlling the acceleration of the mobile unit so as to enable efficient transportation while preventing transportation accidents such as load transients due to rapid acceleration in various mobile units such as vehicles, a control unit for the unit, a control method, and a corresponding control method To a computer program stored on a medium for < / RTI >

Devices such as automatic guided vehicles (AGV), which replace conveyor belt systems, have been widely used in the industrial field. Furthermore, recently, based on the development of electric vehicles, robot technology and IT technology, it is possible to carry out a large quantity of goods quickly at a hospital, a library, a warehouse, etc., or to be operated by remote control or autonomous navigation Various mobile units (including mobile robots, vehicles, etc. used for transporting various kinds of cargo or moving people, etc.) have been implemented.

Figure 1 illustrates a warehouse mobile unit 100 named " Kiva ", which was introduced into its warehouse in the Amazon in 2012. The illustrated mobile unit 100 performs the function of moving to the lower end of a warehouse rack where the cargoes are loaded and raising the rack and carrying it to a designated position through a proper combination of rotation and running functions. In the warehouse, a plurality of mobile units 100 are operable. The control system constructed in the center communicates with each mobile unit 100 via a wireless link to determine the position of each mobile unit 100, prevent collision between the mobile units 100, and determine a work order So that the operation efficiency is greatly increased and the operation cost is greatly reduced by the automation of the warehouse through the input of the mobile units 100. [ In this regard, U.S. Patent No. 7,873,469 proposes a system and method for controlling the path of the mobile unit for a warehouse 100 shown in FIG.

FIG. 3 shows a mobile robot 100 proposed in Japanese Patent Application No. 10-1280908. In the above prior art document, through cooperation between a main mobile robot and one or more sub-mobile robots as shown in FIG. And a suitable number of mobile robots 100 may be inserted according to the weight so that cooperation work can be performed.

4 is a schematic diagram for describing a prior art mobile unit for moving a load to a predetermined position. The prior art mobile unit 100 comprises a support 10 for loading a load 40 of a predetermined height including one or more loaded objects 41,42,43,44 and a support 10 for moving the support 10 up and down And a driving unit 20 for accelerating and moving the mobile unit 100 to move the load 40 to a predetermined position. Here, the load 40 may be a rack 45 of a warehouse and any objects 41, 42, 43, 44 suitably loaded on each shelf of the rack 45. The supporting part 10 supports the load at the lower end. The supporting part 10 may be provided by a separate means (for example, a robot arm or a known elevating and lowering conveying means such as a separate crane) The actuator unit 30 may be omitted.

The load 40 carried by the mobile units 100, such as Amazon's KIVA, is typically a warehouse rack 45 and stacked items. The mobile unit 100 performs the function of moving to the lower end of the warehouse rack 45 on which the cargoes are loaded and raising the rack 45 and carrying it to a designated position through an appropriate combination of rotation and running functions . In this case, the load 40 usually has a constant weight distribution and height. If the mobile unit is excessively accelerated or decelerated excessively, a transportation accident may occur such that the load 40 is transferred or separated from the support. In case of such a transportation accident, the operation of each mobile unit 100 is stopped through the central control system, and the personnel are put in order to repair the accident, which significantly delays the planned operation and reduces the efficiency of the logistics.

Control of the acceleration is necessary to prevent the load 40 from being conducted while the mobile unit 100 performs the transportation operation. In order to prevent the load 40 from being conducted, the acceleration (or deceleration) of the mobile unit 100 can be considerably reduced to a safe range uniformly regardless of the characteristics of the various loads 40. However, Regardless of the type of the vehicle 40, the mobile unit 100 always requires unnecessarily long time to reach a desired traveling speed, which is very inefficient.

It is possible to experimentally determine an acceleration range or the like which is not conducted during acceleration with respect to each load 40 or to measure the dimensions of the rack 45, the articles 41, 42, 43 and 44 constituting each load 40 It is theoretically possible to measure or calculate the density distribution, etc., and to obtain an acceleration range that avoids conduction by an analytical method such as calculation or simulation based on such data. However, due to the nature of the logistics industry, a very wide variety of goods must be handled and transported quickly. This means that it requires a lot of time and money due to the necessity of skilled manpower and equipment, which is not realistic. to be.

Patent Document 1: US Patent No. 7,873,469 Patent Document 2: Registration No. 10-1280908

SUMMARY OF THE INVENTION The present invention has been made to overcome the above-described problems of the conventional art, and it is an object of the present invention to measure the position of the center of gravity of a load when a mobile unit such as a logistics robot carries various loads having a predetermined height, And to provide an efficient method for easily determining the acceleration range that prevents the load from being transferred according to the characteristics of each load.

The present invention also provides a mobile unit that can improve the safety of the transportation operation by controlling the mobile unit according to the acceleration range corresponding to the characteristics of each load and secure the speed of the logistics through efficient control of the mobile unit, A control method, and a computer program stored in a medium for performing the control method.

In addition, the present invention can find the position of the center of gravity of the load placed on the mobile unit, thereby measuring or calculating the center of gravity of each object included in the load, or preventing the load from being efficiently transferred without requiring any special equipment And a computer program stored in a medium for performing the control method.

According to an aspect of the present invention, a moving unit for moving a load to a predetermined position includes: a support for loading a load having a predetermined height including one or more loaded objects; A driving unit coupled to the supporting unit to accelerate and move the moving unit to move the load to a predetermined position; And a gravity center sensing unit for sensing a gravity center position of the load, and the acceleration by the driving unit is controlled to prevent the load from traveling due to the acceleration based on the gravity center position.

Here, the center-of-gravity sensing unit may include a tilt driving unit for tilting the support unit at a predetermined angle, and may detect the position of the center of gravity based on the change of the pressure center position on the support unit by the load due to the operation of the tilt- .

The center-of-gravity sensing unit may further include a force sensor for sensing a force in the vertical direction by the load, and a torque sensor for sensing a torque generated in the tilt driving unit by the load, The change of the pressure center position on the support portion by the load based on the change of the output of the force sensor and the torque sensor.

The center-of-gravity sensing unit may sense the position of the center of gravity based on the natural frequency of the load.

The center-of-gravity sensing unit may include at least one force sensor for sensing a force in the vertical direction by the load, and the center-of- ≪ / RTI >

The center of gravity of the load may be the height of the center of gravity of the load of the object to be supported and the distance from the center of the load to the center of the load.

The load may also include one or more cargoes and a rack.

The moving unit may be configured to control the acceleration based on the center-of-gravity position so that the point of action of the force exerted on the load upon acceleration of the driving unit does not deviate from the supporting unit.

Here, the acceleration may be positive (+) acceleration or negative (-) acceleration, and the mobile unit may be an autonomous mobile robot for a warehouse.

According to another aspect of the present invention, there is provided a driving apparatus including a support for loading a load having a predetermined height including at least one object to be loaded, a drive unit coupled to the support unit for accelerating and moving the movement unit to move the load to a predetermined position, Wherein the control unit of the mobile unit for moving the load to a predetermined position further includes a center of gravity sensing unit for sensing a center of gravity position of the load, And the acceleration by the driving unit is controlled so as to prevent conduction.

According to another aspect of the present invention, there is provided an apparatus for driving a vehicle, comprising: a support for loading a load of a predetermined height including at least one object to be loaded; A control method of a mobile unit for moving a load to a predetermined position, including a driving unit, includes: sensing a center of gravity position of the load through a center of gravity sensing unit; And controlling the acceleration by the driving unit to prevent the load from traveling due to the acceleration due to the center-of-gravity position.

A computer program according to another aspect of the present invention may be a computer program stored in a medium for executing the above steps.

According to the present invention, when a mobile unit such as a logistics robot carries various loads having a certain height and including a certain object, the center of gravity of the load is measured to determine an acceleration range, And the like.

Further, according to the present invention, it is possible to provide a mobile unit that can improve the safety of a transportation operation by controlling the mobile unit in accordance with the acceleration range corresponding to the characteristics of each load and secure the speed of the logistics through efficient control of the mobile unit, A control device, a control method, and a computer program stored in a medium for performing the control method are provided.

Further, according to the present invention, the position of the center of gravity of the load placed on the mobile unit can be determined to measure or calculate the center of gravity of each object included in the load, or prevent the load from being efficiently transferred without requiring any special equipment A control unit for the control unit, a control method, and a computer program stored in a medium for performing the control method are provided.

FIG. 1 illustrates a mobile unit 100 for a warehouse, which is referred to as a 'Kiva' in the prior art.
2 illustrates a prior art mobile unit 100 for a warehouse, as disclosed in U.S. Patent No. 7,873,469.
Fig. 3 illustrates a mobile robot 100 of the prior art proposed in Japanese Patent Application No. 10-1280908.
4 is a schematic view for explaining the operation of the prior art mobile unit 100 for moving the load to a predetermined position.
5 is a schematic view for explaining a mobile unit 100 according to an embodiment of the present invention.
Figure 6 is a schematic diagram for the support part 10 in the embodiment of Figure 5, illustrating a first state, e.g., location of the center of pressure (COP ₀₎ of the case is in the horizontal state and the like.
Fig. 7 shows a state in which the tilting drive 52 is operated in the embodiment of Fig. 5 to slightly rotate the support 10 by a small angle &thetas; to such an extent that the load 40 is not conducted Exaggerated).
8 is a schematic view showing the relationship between the center-of-gravity height h, the distance L from the center O of the support to the center of gravity, the distance d ₀ , the distance d ₁ , and the rotation angle? In the states of FIGS. 6 and 7.
9 is a schematic view for explaining a method of sensing the position of the center of gravity based on the natural frequency of the load 40, according to another embodiment of the present invention.
10 is a schematic view for explaining a state in which the mobile unit 100 is stopped in the embodiment of FIG.
11 is a schematic diagram for explaining a case where the embodiment of FIG. 9 is approximated by an inverted pendulum model in the situation of impulsive acceleration.
Fig. 12 illustrates waveforms output through any force sensor 56, 58 in the embodiment of Fig.
13 is a schematic diagram for explaining the relationship between the center of gravity position of the load 40 and the maximum acceleration.

It is noted that the technical terms used in the present invention are used only to describe specific embodiments and are not intended to limit the scope of the present invention. In addition, the technical terms used in the present invention should be construed in a sense generally understood by a person having ordinary skill in the art to which the present invention belongs, unless otherwise defined in the present invention, Should not be construed to mean, or be interpreted in an excessively reduced sense. In addition, when a technical term used in the present invention is an erroneous technical term that does not accurately express the concept of the present invention, it should be understood that it is replaced with a technical term that can be understood by a person skilled in the art. In addition, the general terms used in the present invention should be interpreted according to a predefined or prior context, and should not be construed as being excessively reduced.

Furthermore, the singular expressions used in the present invention include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as "comprising" or "comprising" and the like should not be construed as encompassing various elements or various steps of the invention, Or may further include additional components or steps.

Furthermore, terms including ordinals such as first, second, etc. used in the present invention can be used to describe elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals denote like or similar elements, and redundant description thereof will be omitted.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It is to be noted that the accompanying drawings are only for the understanding of the technical idea of the present invention, and the technical idea of the present invention should not be interpreted as being limited by the attached drawings.

5 is a schematic view for explaining a mobile unit 100 according to an embodiment of the present invention. The mobile unit 100 of the embodiment includes a support 10 for loading a load 40 of a predetermined height including one or more loaded objects 41, 42, 43 and 44, a load 40 for moving the load 40 to a predetermined position (50) for sensing the center of gravity of the load (40), wherein the weight (50) of the load (40) And the acceleration by the driving unit 20 is controlled so as to prevent the conductive member 40 from conducting. If necessary, the actuator unit 30 may be further provided to vertically move the support unit 10 up and down.

The schematics shown are intended only to aid in understanding the technical idea of the present invention and are not intended to be limiting in any way to the actual structure of the mobile unit 100. In order to support the rack 45, at least a certain region of the upper end of the support portion 10 is generally in the form of a flat plate, but may include various structures such as a portion for joining various components such as irregularities, patterns, and sensors , It is not particularly adhering to its form.

The driving unit 20 is for moving the mobile unit. The driving unit 20 may have any structure such as a three-wheel, four-wheel, or five-wheel structure. The driving unit 20 may have a leg structure other than a wheel structure, Lt; / RTI >

The actuator unit 30 for moving the support unit 10 up and down has been illustrated in the illustrated example, but it is also possible to use a separate transportation unit (for example, a robot arm or a separate When the work space is provided with a known elevating and lowering conveying means such as a crane of the elevator, the actuator unit 30 may be omitted.

The center of gravity sensing unit 50 for sensing the center of gravity of the load 40 in the mobile unit 100 of the present embodiment may include an inclination drive unit 52 for tilting the support unit 10 at a predetermined angle And detects the position of the center of gravity based on the change in the position of the pressure center on the support portion 10 by the load 40 due to the operation of the tilt driving portion 52.

In order to sense a change in the position of the pressure center, the center-of-gravity sensing unit 50 may be provided with a force sensor and a torque sensor 54. Here, the force sensor is for detecting a vertical force acting on the support portion 10 depending on the weight of the load 40, and the torque sensor detects the torque induced in the tilt driving portion 52 by the load 40 . Since the force sensor and the torque sensor per se are known components, detailed description of the specific structure thereof is omitted.

The center-of-gravity sensing unit 50 of the embodiment senses the change in the position of the center of pressure on the support unit 10 by the load 40 based on the output change of the force sensor and the torque sensor 54 according to the operation of the tilting- do.

FIGS. 6 to 8 are views for explaining the operation of the tilting driver 52 of the present embodiment. 6 is a schematic view for explaining the position of the pressure center (COP ₀ ) when the support portion 10 is in a first state, for example, a horizontal state. As shown, if the center of gravity of the load 40 is at a height h and a distance L from the center O of the support 10, the pressure center COP ₀ at the top of the support 10, Is a distance d ₀ from the center O of the support portion 10, and a force acting on the force sensor in the vertical direction is f ₀ and a torque acting on the torque sensor is τ ₀ . In this situation, the relationship between the distance d ₀ , the vertical force f ₀ , and the torque τ ₀ can be approximated as shown in the following equation.

7 shows a state in which the support portion 10 is rotated slightly by operating the tilt driving portion 52 to a second state, that is, a sufficiently small angle that the load 40 is not conducted (Fig. 7 Rotation angle slightly exaggerated for convenience). At this time, the position of the pressure center COP ₁ moves slightly to the left as shown in the figure. The torque on the force in the vertical direction on the horizontal component of the distance from the center of pressure (COP ₁₎ from the supporting center (O) to d _1, wherein the force sensor f _1, the torque sensor is referred to as τ _1. In such a situation, the relationship of d ₁ , the vertical force f ₁ , and the torque τ ₁ can be approximated as follows.

8 is a schematic view showing the relationship between the center-of-gravity height h, the distance L from the center O of the support to the center of gravity, the distance d ₀ , the distance d ₁ , and the rotation angle? In the states of FIGS. 6 and 7. Here, L is an unknown value, but the height h of the center of gravity can be obtained from the trigonometric function relationship as follows.

The center of gravity sensing unit 50 of the embodiment senses the center of gravity position of the load 40 based on the change in the output of the force sensor and the torque sensor 54 according to the operation of the tilt driving unit 52 .

9 is a schematic diagram for explaining an example of a manner in which the center-of-gravity sensing unit 50 senses the position of the center of gravity based on the natural frequency of the load 40, according to another embodiment of the present invention. The center-of-gravity sensing unit 50 may include one or more sensors for sensing the natural frequency of the load. For example, in the case where the first force sensor 56 and the second force sensor 58 are included in FIG. 9 .

In the illustrated example, the actuator unit 30 for moving the support unit 10 up and down is exemplified. However, it is also possible to use a separate transportation means (for example, a robot arm or a separate When the work space is provided with a known elevating and lowering conveying means such as a crane of the elevator, the actuator unit 30 may be omitted.

10 is a schematic view for explaining a state in which the mobile unit 100 is stopped in the embodiment of FIG. As shown in the figure, if the center of gravity of the load 40 is at a height h and a distance L from the center O of the support, the pressure center COP ₀ at the top of the support 10, It is able from (O) to the distance d _0, wherein the first force is the vertical direction of the force that appears to force in the vertical direction that appears in the sensor 56 to the f _F0, the second force sensor (58) f _R0 la. In this situation, the relationship between the distance d ₀ , the vertical force f _F0 appearing in the first force sensor 56, and the vertical force f _R0 appearing in the second force sensor 58 can be obtained as follows.

In this situation, when impulsive acceleration is applied in such a manner that the mobile unit 100 is momentarily accelerated and stopped for a short time by the operation of the driving unit 20 that accelerates and moves the mobile unit 100, Vibration appears at the output of the force sensor depending on the frequency.

FIG. 11 is a schematic diagram for explaining a case where the embodiment of FIG. 9 is approximated by an inverted pendulum model in the situation of this impulsive acceleration. The situation in which the load 40 is vibrated by the impulsive acceleration as described above is as shown in FIG. 11 when the concentrated mass at the center of gravity "com" of the load 40 is the spring D of the spring coefficient k and the damping coefficient b Can be approximated by a model connected to the pressure center on the support 10 in the form of an inverted pendulum through a damper C. When referred to a θ d, the concentrated mass angular displacement party backward as shown _com m, the equation of motion-party reverse can be expressed as:

Here, the concentrated mass m _com satisfies the following relationship with the outputs of the first force sensor 56 and the second force sensor 58 in the stopped state shown in Fig.

At this time, when the angular displacement &thetas; is very small, theta can be approximated to sin &thetas;, so that the equation of motion in the above equation (5) can be approximated as follows.

The natural frequency ω _n of the inverse pendulum motion, which is interpreted by this equation of motion, is expressed as

Here, the structure and material of the rack 45 are standardized or can be grasped in advance for each warehouse. The center of gravity position h in the case where the objects 41, 42, 43 and 44 are not stacked and only the rack 45 is loaded is also known to the material and structure of the rack 45 and the mobile unit 100 It can be grasped by calculation.

The spring coefficient k is a value determined by the structure of the rack 45 and the moving unit 100. The spring coefficient k is a value determined by the structure of the rack 45 and the moving unit 100, Since the concentrated mass _mcom and the center-of-gravity position h are already known, the natural frequency? _N at that time is measured from the output waveform of one of the force sensors 56 and 58, k can be obtained.

Since the spring coefficient k can be grasped as described above, when the natural frequency? _N in a state in which the objects 41, 42, 43, and 44 are loaded is measured from the output waveform of one of the force sensors 56 and 58, Can be obtained from the following relational expression.

Fig. 12 illustrates a waveform output through one of the force sensors 56 and 58 in the present embodiment. The natural frequency? _N can be measured from the output waveform E of the illustrated force sensor. In order to accelerate the instantaneous impulsive acceleration in this embodiment, a driving unit 20 for accelerating and moving the mobile unit 100 may be used, so that a separate driving unit (for example, 52 in FIG. 5) is not necessary.

13 is a schematic view for explaining the relationship between the height h of the center of gravity and the maximum acceleration. It is possible to prevent the load 40 from traveling only when the point of action of the force for accelerating the load 40 during acceleration is the supporting area, that is,

13, since the point of action of the force at the lower end of the load 40 should not be out of the support portion 40 even during the acceleration at the allowable maximum acceleration a _max for preventing the conduction, the width of the support portion 40 L, the maximum acceleration from the geometric relationship shown in Fig. 13 is obtained as follows.

In the case of d ₀ + l / 2, the maximum acceleration is shown in the case of acceleration in the left direction in FIG. 13, and in the case of d ₀ - l / 2, the maximum acceleration in the case of acceleration in the right direction in FIG. Since the center of gravity is biased to the left in Fig. 13, the maximum acceleration in the case of acceleration to the right side becomes lower.

The mobile unit 100 described in the present invention may be an autonomous mobile robot for a warehouse, or may be various mobile robots, mobile robots, electric carts, and the like for carrying articles or people, no.

The technical idea of the present invention can also be realized in the form of a control device mounted on a predetermined mobile unit, which comprises a support for loading a load of a predetermined height including at least one object to be loaded, And a drive unit for accelerating and moving the mobile unit to move the load to a predetermined position. The control device of the embodiment may further include a gravity center sensing unit for sensing a gravity center position of the load and may be configured to control the acceleration by the driving unit to prevent the load from being conveyed due to acceleration due to the gravity center position. The specific operation thereof will be omitted because it can be understood by those of ordinary skill in the art from the above-described embodiments.

The technical idea of the present invention may also be embodied in the form of a control method for driving a given mobile unit comprising a support for loading a load of a predetermined height including one or more loaded objects, And a drive unit for accelerating and moving the mobile unit to move the load to a predetermined position. The control unit may be a control method of the mobile unit for moving the load to a predetermined position. The control method of the embodiment may include sensing the center of gravity position of the load through the center of gravity sensing unit and controlling the acceleration by the driving unit to prevent the load from being accelerated by the center of gravity . The specific operation thereof will be omitted because it can be understood by those of ordinary skill in the art from the above-described embodiments.

The technical idea of the present invention can also be implemented in the form of a computer program stored in a medium for executing the above steps.

The above embodiments and drawings described in this specification are merely illustrative and are not intended to limit the scope of the present invention in any way. Also, unless explicitly mentioned, such as "essential "," importantly ", etc., it may not be a necessary component for application of the present invention. In the specification of the present invention (particularly in the claims), the use of the term "above " and similar indication words may refer to both singular and plural. In addition, in the present invention, when a range is described, it includes the invention to which the individual values belonging to the above range are applied (unless there is contradiction thereto), and each individual value constituting the above range is described in the detailed description of the invention The same. The use of all examples or exemplary language (e.g., etc.) in this invention is for the purpose of describing the present invention only in detail and is not to be limited by the scope of the claims, It is not. It is also to be understood that a person skilled in the art will understand that various modifications, combinations, and alterations may be made depending on design criteria and elements within the scope of the appended claims or equivalents thereof.

10: Support
20:
30:
40: Load
41, 42, 43, 44:
45: Rack
50: center of gravity sensing unit
52:
54: Force sensor and torque sensor
56: first force sensor
58: second force sensor
100: mobile unit

Claims (13)

A mobile unit for moving a load to a predetermined position,
A support for loading a load of a predetermined height including one or more loaded objects;
A driving unit coupled to the supporting unit to accelerate and move the moving unit to move the load to a predetermined position; And
And a gravity center sensing unit for sensing a gravity center position of the load,
And controls the acceleration by the driving unit to prevent the load from being transferred due to the acceleration based on the center-of-gravity position. The method according to claim 1,
The center-of-gravity sensing unit may include an inclination driving unit for inclining the support unit at a predetermined angle, and sensing the position of the center of gravity based on a change in the pressure center position on the support unit by the load according to the operation of the inclination driving unit Characterized by a mobile unit. 3. The method of claim 2,
The center-of-gravity sensing unit may further include a force sensor for sensing a force in the vertical direction by the load and a torque sensor for sensing a torque induced in the tilt driving unit by the load, Wherein the change of the pressure center position on the support portion by the load is obtained based on the change of the output of the force sensor and the torque sensor. The method according to claim 1,
Wherein the center of gravity sensing unit senses a position of the center of gravity based on a natural frequency of the load. 5. The method of claim 4,
Wherein the center-of-gravity sensing unit includes at least one force sensor for sensing a force in a vertical direction by the load, and the center-of-gravity sensing unit obtains the natural frequency from a change in output of the force sensor due to an instantaneous acceleration of the mobile unit by the driving unit And the mobile unit. The method according to claim 1,
Wherein the center of gravity of the load is the height of the center of gravity of the load of the object to be supported and the distance from the center of the load to the center of the load. The method according to claim 1,
Characterized in that the load comprises at least one cargo and a rack. The method according to claim 1,
Wherein the moving unit controls the acceleration based on the center-of-gravity position so that a point of action of a force exerted on the load upon acceleration of the driving unit does not deviate from the supporting unit. The method according to claim 1,
Wherein the acceleration is a positive acceleration or a negative acceleration. The method according to claim 1,
Wherein the mobile unit is an autonomous mobile robot for a warehouse. And a driving unit coupled to the supporting unit for accelerating and moving the moving unit to move the load to a predetermined position, wherein the load is moved to a predetermined position A control device of a mobile unit for moving,
And a gravity center sensing unit for sensing a gravity center position of the load,
And controls the acceleration by the driving unit to prevent the load from being transmitted due to the acceleration based on the center-of-gravity position. And a driving unit coupled to the supporting unit for accelerating and moving the moving unit to move the load to a predetermined position, wherein the load is moved to a predetermined position A control method of a mobile unit for moving,
Sensing a center of gravity of the load through a center of gravity sensing unit; And
And controlling the acceleration by the driving unit to prevent the load from traveling due to the acceleration based on the center-of-gravity position. 13. A computer program stored on a medium for executing the steps of claim 12.

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