WO2022215115A1 - 移動体 - Google Patents

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Publication number
WO2022215115A1
WO2022215115A1 PCT/JP2021/014493 JP2021014493W WO2022215115A1 WO 2022215115 A1 WO2022215115 A1 WO 2022215115A1 JP 2021014493 W JP2021014493 W JP 2021014493W WO 2022215115 A1 WO2022215115 A1 WO 2022215115A1
Authority
WO
WIPO (PCT)
Prior art keywords
loading platform
moving body
moving
load
positioning member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/014493
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
浩二 河口
ダニエル ブラウン
寿人 澤浪
翔平 白木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Corp filed Critical Fuji Corp
Priority to EP21935923.9A priority Critical patent/EP4321407B1/en
Priority to PCT/JP2021/014493 priority patent/WO2022215115A1/ja
Priority to US18/553,599 priority patent/US20240051751A1/en
Priority to JP2023512506A priority patent/JP7627333B2/ja
Priority to CN202180094649.2A priority patent/CN116888028A/zh
Publication of WO2022215115A1 publication Critical patent/WO2022215115A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/02—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with parallel up-and-down movement of load supporting or containing element
    • B60P1/025—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with parallel up-and-down movement of load supporting or containing element with a loading platform inside the wheels of a same axle and being lowerable below the axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/026—Racks equipped with a displaceable load carrying surface to facilitate loading or unloading

Definitions

  • This specification discloses a moving object.
  • Japanese Patent Laid-Open No. 2002-200000 proposes that an automatic moving vehicle enters the lower part of a truck with casters, puts the truck on a loading platform, and moves automatically. (See Patent Document 1, for example).
  • the present disclosure has been made to solve such problems, and its main purpose is to move a moving object at an appropriate speed and acceleration/deceleration.
  • a first moving body of the present disclosure is A mobile body that carries an object to be loaded on a loading platform, a driving device for moving the moving body; setting at least one of the speed and acceleration/deceleration of the moving body based on a parameter related to at least one of the mass, size, shape and center of gravity of the object to be loaded, and at least one of the set speed and acceleration/deceleration a control device for controlling the drive device based on is provided.
  • At least one of the speed and acceleration/deceleration of the moving object is set based on parameters related to at least one of the mass, size, shape, and center of gravity of the object to be loaded, and the set speed and acceleration/deceleration to control the drive based on at least one of
  • the moving body can be moved at a speed and acceleration/deceleration suitable for the load object. Therefore, it is possible to avoid the difficulty of avoiding danger and unnecessary increase in travel time.
  • a second moving body of the present disclosure is A mobile body that carries an object to be loaded on a loading platform, a driving device for moving the moving body; a loading platform lifting device for lifting and lowering the loading platform; with The control device acquires parameters related to at least one of mass, size, shape, and center of gravity of the load object when the load platform lifting device lifts the load platform on which the load object is placed. , It is.
  • the control device acquires parameters related to at least one of the mass, size, shape, and center of gravity of the load object. Such parameters are easy to obtain when the platform with the object to be loaded is lifted. Therefore, the controller can obtain these parameters relatively easily.
  • a third moving body of the present disclosure is A mobile body that carries an object to be loaded on a loading platform, a loading platform lifting device for lifting and lowering the loading platform; When the loading platform is not lifted by the loading platform lifting device, the object to be loaded does not protrude from the top surface of the loading platform, and when the loading platform is lifted by the loading platform lifting device, the loading object placed on the loading platform protrudes from the top surface of the loading platform.
  • a positioning member for positioning an object is provided.
  • the positioning member does not protrude from the upper surface of the loading platform when the loading platform is not lifted by the loading platform lifting device, so there is no risk of the positioning member getting caught on something.
  • the positioning member protrudes from the upper surface of the loading platform when the loading platform is lifted by the loading platform lifting device to position the object placed on the loading platform, thereby restricting the movement of the loading object on the loading platform during transportation. be able to.
  • "does not protrude from the upper surface of the loading platform” means that the positioning member does not protrude from the upper surface of the loading platform at all, and that the positioning member does not get caught on anything from the upper surface of the loading platform (e.g., 1 mm or 2 mm). ) including protruding cases.
  • FIG. 1 is a perspective view showing a schematic configuration of a moving body 10;
  • FIG. 4 is a plan view of a positioning member 30 provided on the left side of the loading platform 16;
  • FIG. AA sectional view of FIG. FIG. 4 is a vertical cross-sectional view of the positioning member 30 when the loading platform 16 is in the upper position;
  • FIG. 4 is an explanatory diagram showing a state when the moving body 10 slips under the carriage 160;
  • FIG. 4 is an explanatory diagram showing a state when the carriage 160 is placed on the loading platform 16 and lifted.
  • BB sectional view of FIG. Flowchart of a movement control routine. Flowchart of another movement control routine.
  • FIG. 1 is a perspective view showing the schematic configuration of the moving body 10
  • FIG. 2 is a plan view of a positioning member 30 provided on the left side of the loading platform 16
  • FIG. 4 is a longitudinal sectional view of the positioning member 30 when the loading platform 16 is in the lower position.
  • FIG. 1 also shows a block diagram showing the electrical connection of the moving body 10. As shown in FIG. Moreover, in this embodiment, the left-right direction, the front-rear direction, and the up-down direction will be described as shown in FIG.
  • the mobile body 10 is a self-propelled vehicle with four mecanum wheels 14 attached to the front, rear, left, and right of the vehicle body 12 .
  • the moving body 10 is configured as an AMR (Autonomous Mobile Robot) that moves by detecting its surroundings.
  • AMR Autonomous Mobile Robot
  • the moving body 10 includes a loading platform 16, a loading platform lifting device 20, a positioning member 30, a wheel driving device 40, a vibration detection sensor 44, a distance measuring sensor 45, a gyro sensor 46, a vehicle speed sensor 47, and an acceleration sensor. 48 and a controller 50 .
  • the loading platform 16 is provided on the upper surface of the vehicle body 12. A loading object 60 is loaded on the loading platform 16 .
  • the bed 16 is flush with an annular surface 18 around the bed 16 when it is not lifted by the bed lifter 20 (in the lower position).
  • the loading platform 16, as shown in FIG. 3, has a structure in which an upper horizontal plate 16a and a lower horizontal plate 16b are laminated.
  • the loading platform lifting device 20 is arranged below the loading platform 16 in the vehicle body 12, and raises and lowers the loading platform 16 by extending and contracting a rod (not shown) by an elevation motor (not shown).
  • the positioning member 30 is, as shown in FIG.
  • the positioning member 30 shown in FIG. 3 is provided on the left side of the loading platform 16 in FIG.
  • the storage groove 32 is composed of an upper groove 32a vertically penetrating the upper horizontal plate 16a and a lower groove 32b vertically penetrating the lower horizontal plate 16b.
  • the length of the lower groove 32b in the transverse direction is the same as the length of the upper groove 32a in the transverse direction, but the length in the longitudinal direction of the lower groove 32b is shorter than the length in the longitudinal direction of the upper groove 32a. Therefore, when the upper groove 32a is viewed from above, a portion of the lower horizontal plate 16b where the lower groove 32b is not provided is visible, and this portion is referred to as a groove bottom surface 32c.
  • the positioning member 30 is rotatably supported by a horizontal fulcrum pin 34 provided in the storage groove 32 .
  • the fulcrum pin 34 is attached near the center of the positioning member 30 .
  • a spring 36 as an urging member is attached between the tip 30a of the positioning member 30 and the bottom surface 32c of the groove.
  • a spring 36 urges the tip 30a of the positioning member 30 upward. In other words, the spring 36 urges the positioning member 30 counterclockwise around the fulcrum pin 34 .
  • the vehicle body 12 is provided with a base portion 17 that cannot move up and down below the loading platform 16 .
  • the base portion 17 is provided so as not to be moved up and down by the loading platform lifting device 20 .
  • a columnar protrusion 38 that is an adjustment member is provided on the upper surface of the base portion 17 .
  • the loading platform 16 When the loading platform 16 is not lifted by the loading platform lifting device 20 (the loading platform 16 is in the lower position), as shown in FIG. 30b is pushed upward. As a result, the tip 30 a of the positioning member 30 is accommodated inside the storage groove 32 against the biasing force of the spring 36 and does not protrude from the upper surface of the loading platform 16 . Thus, the protrusion 38 restricts the upper surface of the positioning member 30 from protruding from the upper surface of the loading platform 16 when the loading platform 16 is in the lower position. In this embodiment, the top surface of the positioning member 30 at this time is flush with the top surface of the loading platform 16 .
  • the base end 30b of the positioning member 30 is separated from the protrusion 38, as shown in FIG. Therefore, the projection 38 is in a state where it does not press the proximal end 30b of the positioning member 30 upward.
  • the tip 30 a of the positioning member 30 protrudes from the upper surface of the loading platform 16 due to the biasing force of the spring 36 .
  • the positioning member 30 is positioned in a state where the step 30d provided on the back surface of the positioning member 30 abuts against the opening edge 32d (stopper) of the lower groove 32b.
  • the protrusion 38 allows the tip 30a of the positioning member 30 to protrude from the upper surface of the bed 16 when the bed 16 is in the upper position.
  • the tip surface 30 e of the positioning member 30 is substantially perpendicular to the upper surface of the loading platform 16 . Even if the load object 60 placed on the loading platform 16 shifts and hits the positioning member 30, the positioning member 30 can receive the load object 60 and keep it stationary.
  • the wheel driving device 40 is a motor that rotates the four mecanum wheels 14 independently to drive the moving body 10 .
  • the mecanum wheel 14 has a structure in which a plurality of rollers are provided on the ground surface side and are rotatably supported at an angle of 45° with respect to the axle.
  • each mecanum wheel 14 is independently rotated forward or backward to move the moving body 10 in all directions, and to perform super pivot turn, pivot turn, gentle turn, and the like. configured as possible.
  • the vibration detection sensor 44 detects the vibration frequency generated when the moving body 10 moves.
  • the ranging sensor 45 detects objects and obstacles existing around the moving body 10 and their distances.
  • the gyro sensor 46 detects the vehicle body direction and arrangement angle of the moving body 10 .
  • the vehicle speed sensor 47 detects the speed when the mobile body 10 moves.
  • the acceleration sensor 48 detects acceleration when the mobile body 10 moves.
  • the control device 50 is a general-purpose computer including a CPU 51, a ROM 52, a RAM 53, a storage 54, and the like.
  • the CPU 51 executes various processes.
  • the ROM 52 stores processing programs and the like.
  • the RAM 53 is a work area that temporarily stores data and the like.
  • the storage 54 is a storage area that stores data, files, and the like in a readable manner. Signals from the vibration detection sensor 44 , the ranging sensor 45 , the gyro sensor 46 , the vehicle speed sensor 47 and the acceleration sensor 48 are input to the control device 50 .
  • the control device 50 outputs a drive signal to the wheel drive device 40, a lifting signal to the loading platform lifting device 20, and the like.
  • the control device 50 is communicably connected to a management device 70 that manages the mobile unit 10 .
  • FIG. 5 is an explanatory view showing a state when the moving body 10 has slipped under the carriage 160
  • FIG. 6 is an explanatory view showing a state when the carriage 160 is placed on the loading platform 16 and lifted
  • FIG. 7 is B of FIG. -B sectional view.
  • the moving body 10 crawls under a truck 160 that is a load object 60, places the truck 160 on the loading platform 16, and then transports the object to a predetermined target position.
  • the carriage 160 has wheels 164 attached to the four corners of a plate-shaped mounting table 162 .
  • a plurality of baskets 166 filled with luggage are placed on the mounting table 162 .
  • the upper surface of the mounting table 162 is a flat surface, but the lower surface of the mounting table 162 is provided with ribs 168 for reinforcement vertically and horizontally.
  • a space is formed between the mounting table 162 and the floor surface FL. This space is sized so that the moving body 10 with the loading platform 16 placed at the lower position can fit therein.
  • the lower surface of the mounting table 162 is divided into a plurality of squares by such ribs 168 (see FIG. 7).
  • the moving body 10 moves based on the position information and crawls under the carriage 160 with the loading platform 16 arranged at the lower position. At this time, if the positioning member 30 protrudes from the upper surface of the loading platform 16, there is a risk that it may get caught on the lower surface of the carriage 160. , there is no such possibility.
  • FIG. 8 is a flow chart of the movement control routine.
  • a movement control routine program is stored in the ROM 52 of the control device 50 .
  • the CPU 51 of the control device 50 first controls the loading platform lifting device 20 to lift the loading platform 16 to the upper position (S110). (S120).
  • the loading platform 16 comes into contact with the load object 60 while being lifted to the upper position, and thereafter rises together with the load object 60 to the upper position.
  • the load torque of the lifting motor (not shown) of the loading platform lifting device 20 increases, and the feedback value of the current supplied to the lifting motor increases. Therefore, the mass of the object to be loaded 60 can be inferred based on the feedback value of the current flowing to the lifting motor.
  • the object 60 to be loaded is a truck 160
  • the platform 16 carrying the truck 160 is lifted to the upper position as shown in FIG.
  • the tip 30a of the positioning member 30 rises as shown in FIGS.
  • the four positioning members 30 surround the rib 168 forming the central rectangle of the mounting table 162 (see one-dot chain line in FIG. 7). Therefore, the carriage 160 is positioned by the four positioning members 30 .
  • the storage 54 stores in advance a table indicating the correspondence relationship between the mass and the movement condition, and the CPU 51 refers to the table to set the movement condition.
  • the acceleration and the maximum speed are determined in association with the weight of the mass.
  • mass is divided into three categories: “light,” “medium,” and “heavy.” “Light” means less than X [kg], and “medium” means more than X [kg]. It is set to be less than Y [kg] (where X ⁇ Y), and "heavy” is set to have a mass of Y [kg] or more. Acceleration is divided into three categories: “low”, “medium” and "high”.
  • the CPU 51 derives a movement route from the initial position to the target position based on the initial position where the object 60 was placed and the predetermined target position (S140). Specifically, the mobile object 10 creates an environment map and estimates its own position by SLAM, and derives a movement route connecting the initial position and the target position based on the environment map and the own position.
  • the CPU 51 inputs speed and acceleration/deceleration from the vehicle speed sensor 47 and the acceleration sensor 48, controls the wheel driving device 40 so as to meet the travel conditions set this time, and follows the derived travel route along the target. Move the moving body 10 to the position (S150), and then terminate this routine. As a result, the cart 160 arranged at the initial position is transported to the target position.
  • the speed and acceleration/deceleration of the moving body 10 are set based on the mass of the load object 60, and the wheel driving device 40 is controlled based on the set speed and acceleration/deceleration. That is, the moving body 10 is moved at a speed and acceleration/deceleration suitable for the mass of the object 60 to be loaded. Therefore, it is possible to avoid the difficulty of avoiding danger and unnecessary increase in travel time. Specifically, if the weight of the object to be loaded 60 is light, the acceleration and maximum speed are set high, so the target position is reached in a short time. In this case, since the mass is light, danger can be avoided relatively easily even if the acceleration and maximum speed are high. On the other hand, if the mass of the load object 60 is heavy, both the acceleration and the maximum speed are set low, so the target position cannot be reached in a short period of time, but it is not difficult to avoid danger.
  • control device 50 acquires the mass of the loading object 60 when the loading platform lifting device 20 lifts the loading object 60 on which the loading object 60 is placed.
  • the mass of the loading object 60 can be easily obtained when the loading platform 16 on which the loading object 60 is placed is lifted. Therefore, the control device 50 can obtain the mass relatively easily.
  • the positioning member 30 does not protrude from the upper surface of the loading platform 16 when the loading platform 16 is not lifted by the loading platform lifting device 20, there is no risk of the positioning member 30 getting caught on something.
  • the positioning member 30 protrudes from the top surface of the loading platform 16 when the loading platform 16 is lifted by the loading platform lifting device 20 to position the load object 60 placed on the loading platform 16 . 16 can be restricted.
  • the positioning member 30 is rotatably supported by the fulcrum pin 34 and operated by the spring 36 and the projection 38 .
  • a spring 36 urges the tip 30a of the positioning member 30 upward.
  • the protrusion 38 is provided on the base portion 17 which is a non-lifting portion that is not lifted by the loading platform lifting device 20 .
  • the protrusion 38 presses the base end 30b of the positioning member 30 upward to restrict the tip 30a of the positioning member 30 from protruding from the upper surface of the bed 16 when the bed 16 is not lifted by the bed lifting device 20. ⁇ When the loading platform 16 is lifted by the loading platform lifting device 20 , the projection 38 releases the upward pressure on the base end 30 b of the positioning member 30 , and the tip 30 a of the positioning member 30 is lifted from the loading platform 16 by the bias of the spring 36 . Allow to protrude from the top surface. Therefore, the positioning member 30 can be operated with a relatively simple configuration.
  • the tip 30a of the positioning member 30 protrudes from the upper surface of the loading platform 16 due to the force of the spring 36, and the projected height reaches a predetermined height.
  • the positioning member 30 abuts against the opening edge 32d of the lower groove 32b, which serves as a stopper, and is prevented from rotating any further. Therefore, the posture of the positioning member 30 that positions the object to be loaded 60 can be maintained. Further, even if the object 60 placed on the loading platform 16 shifts and hits the positioning member 30, the positioning member 30 can receive the object 60 and keep it stationary.
  • the mass of the loaded object 60 was inferred based on the feedback value of the current applied to the lifting motor of the loading platform lifting device 20, but it is not particularly limited to this.
  • a mass detection sensor may be attached to the loading platform 16, and the control device 50 may input the mass of the loaded object 60 detected by the mass detection sensor.
  • the management device 70 stores the mass of the loading object 60 in advance, the control device 50 of the moving body 10 may acquire the mass of the loading object 60 from the management device 70 .
  • the mass can be detected using the mass detection sensor or the mass can be obtained from the management device 70 in this way.
  • the CPU 51 of the control device 50 executed the flow chart of the movement control routine in FIG. 8, but instead it may execute the flow chart of the movement control routine in FIG.
  • the movement control routine of FIG. 9 is the same as the movement control routine of FIG. 8 except that S122 and S132 are executed instead of S120 and S130. Therefore, only S122 and S132 will be described below.
  • the CPU 51 performs a dummy operation to determine the stability of the object to be loaded 60 .
  • the dummy operation is an operation of moving the mobile body 10 carrying the load object 60 at a predetermined low speed a predetermined short distance.
  • the CPU 51 inputs the vibration frequency generated when the dummy operation is performed from the vibration detection sensor 44, and determines the stability based on the vibration frequency.
  • the vibration frequency is divided into two, “low” and “high”.
  • “Low” is set to a frequency less than K [kHz]
  • "high” is set to a frequency of K [kHz] or less.
  • the CPU 51 sets movement conditions for the stability. Since the storage 54 stores in advance a table indicating the correspondence between the stability and the movement conditions, the CPU 51 refers to the table to set the movement conditions.
  • the acceleration and maximum speed are determined in correspondence with the degree of stability.
  • the moving body 10 can be moved at a speed and acceleration/deceleration suitable for the stability of the object 60 to be loaded.
  • the stability of the object to be loaded 60 is determined based on the vibration data during the dummy operation, the stability can be acquired relatively easily.
  • the CPU 51 may perform dummy operations in each of the X direction, Y direction, and Q direction (rotational direction) in S122, and set movement conditions for each direction in S132.
  • the CPU 51 drives and controls the wheel driving device 40 so as to satisfy the movement condition set in the X direction if the traveling direction of the moving body 10 is in the X direction while moving to the target position.
  • the direction is the Y direction
  • the wheel driving device 40 is driven and controlled so as to satisfy the movement condition set in the Y direction, and if the traveling direction of the moving body 10 is the Q direction, the movement condition is set in the Q direction. It drives and controls the wheel driving device 40 . By doing so, even if the stability of the object to be loaded 60 differs for each direction, the moving body 10 can be moved at a speed and acceleration/deceleration suitable for the actual traveling direction.
  • the loading platform 16 is positioned in two positions, the lower position and the upper position, but the upper position may be provided in multiple stages.
  • two upper positions may be provided such as a first upper position and a second upper position, and the first upper position may be set higher than the second upper position.
  • the control device 50 determines whether or not the position of the center of gravity of the object 60 to be loaded falls within the predetermined proper range of the loading platform 16, and if the position of the center of gravity does not fall within the proper range, the loading platform The loading object 60 may be lowered from the loading platform 16 by lowering the loading platform 16 to the lower position by the lifting device 20 . After that, the control device 50 moves the moving body 10 so that the position of the center of gravity of the load object 60 falls within a predetermined appropriate range on the loading platform 16, and raises the loading platform 16 again by the loading platform lifting device 20 to the upper position. Alternatively, the load object 60 may be placed on the loading platform 16 and lifted.
  • the control device 50 may determine whether or not the position of the center of gravity of the load object 60 is within a predetermined appropriate range while the mobile body 10 is moving. In this way, even if the position of the center of gravity of the object to be loaded 60 deviates from the appropriate range due to an external force (for example, wind) while the mobile body 10 is moving, the object to be loaded 60 is once lowered from the loading platform 16, which is preferable for safety. .
  • the control device 50 removes the object to be loaded 60 from the loading platform 16 and moves it for a predetermined time. After the body 10 is put on standby, the load object 60 may be put on the loading platform 16 again and the determination may be made. In this way, the loaded object 60 can be safely transported.
  • the position of the center of gravity of the loading object 60 is determined based on the mass detected by each load cell when load cells are provided at the four corners of the loading platform 16 and the loading object 60 placed on the loading platform 16 comes into contact with each load cell. It can be determined physically.
  • a pressure sensor may be provided instead of the load cell.
  • the center-of-gravity position measuring device disclosed in Japanese Patent Application Laid-Open No. 2016-194534 may be used for measurement.
  • the movement conditions (speed and acceleration/deceleration) of the moving object 10 are set based on the mass of the object 60 to be loaded. You may set the movement conditions of the mobile body 10 based on.
  • the control device 50 may recognize the mass and size of the loading object 60 based on an image of the loading object 60 captured by a camera.
  • the control device 50 may measure the position of the center of gravity of the loaded object 60 using a center-of-gravity position measuring device.
  • the control device 50 may acquire the data from the management device 70 .
  • the control device 50 acquires the mass of the loading object 60 when the loading platform 16 on which the loading object 60 is placed is lifted by the loading platform lifting device 20, but the acquisition is not particularly limited to the mass. .
  • the mass, size, shape, and center of gravity of the loading object 60 may be acquired.
  • the spring 36 is used as the biasing member, but instead of the spring 36, a weight or a pair of magnets having the same polarity may be used.
  • a weight may be attached to the proximal end 30b side of the positioning member 30 so that the weight biases the distal end 30a of the positioning member 30 upward.
  • a magnet of either NS polarity is attached to the back surface of the base end 30a of the positioning member 30, and a magnet of the same polarity is attached to a position facing the magnet on the bottom surface 32c of the groove.
  • the tip 30a of the member 30 may be biased upward.
  • the moving body 10 is configured as an AMR, but may be configured as an AGV (Automated Guided Vehicle).
  • the mobile object of the present disclosure can be used, for example, to transport objects.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2021/014493 2021-04-05 2021-04-05 移動体 Ceased WO2022215115A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP21935923.9A EP4321407B1 (en) 2021-04-05 2021-04-05 Moving body
PCT/JP2021/014493 WO2022215115A1 (ja) 2021-04-05 2021-04-05 移動体
US18/553,599 US20240051751A1 (en) 2021-04-05 2021-04-05 Moving body
JP2023512506A JP7627333B2 (ja) 2021-04-05 2021-04-05 移動体
CN202180094649.2A CN116888028A (zh) 2021-04-05 2021-04-05 移动体

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/014493 WO2022215115A1 (ja) 2021-04-05 2021-04-05 移動体

Publications (1)

Publication Number Publication Date
WO2022215115A1 true WO2022215115A1 (ja) 2022-10-13

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Application Number Title Priority Date Filing Date
PCT/JP2021/014493 Ceased WO2022215115A1 (ja) 2021-04-05 2021-04-05 移動体

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Country Link
US (1) US20240051751A1 (https=)
EP (1) EP4321407B1 (https=)
JP (1) JP7627333B2 (https=)
CN (1) CN116888028A (https=)
WO (1) WO2022215115A1 (https=)

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JP2024153312A (ja) * 2023-04-17 2024-10-29 トヨタ自動車株式会社 搬送ロボット、その制御方法、プログラム

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