WO2024009673A1 - Dispositif de déplacement de véhicule et programme de déplacement de véhicule - Google Patents

Dispositif de déplacement de véhicule et programme de déplacement de véhicule Download PDF

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Publication number
WO2024009673A1
WO2024009673A1 PCT/JP2023/021243 JP2023021243W WO2024009673A1 WO 2024009673 A1 WO2024009673 A1 WO 2024009673A1 JP 2023021243 W JP2023021243 W JP 2023021243W WO 2024009673 A1 WO2024009673 A1 WO 2024009673A1
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WIPO (PCT)
Prior art keywords
vehicle
traveling
road
loaded object
acceleration
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Application number
PCT/JP2023/021243
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English (en)
Japanese (ja)
Inventor
孝一 柳澤
啓吾 藤本
Original Assignee
株式会社デンソー
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
Priority claimed from JP2023006162A external-priority patent/JP2024008802A/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2024009673A1 publication Critical patent/WO2024009673A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles

Definitions

  • the present disclosure relates to a vehicle running device and a vehicle running program for controlling the running of a vehicle equipped with a payload holder on which a payload can be mounted, taking into consideration the attitude on the payload holder when the vehicle is running. .
  • Vehicles that carry payloads such as people and baggage such as those operating in mail order and e-commerce warehouses, airport baggage systems, and inventory systems in custom manufacturing facilities, can quickly and accurately locate the required payload. It is important to build an automated driving system that responds and provides services.
  • Japanese Patent Application Laid-Open No. 2021-160458 describes a mobile body that can improve both the comfort of the occupants of each mobile body and the efficiency of transporting luggage when multiple mobile bodies travel in a platoon.
  • the control system is described.
  • JP-A No. 2021-160458 is a mobile body control system in which a plurality of mobile bodies travel in a platoon along a preset travel route, and the longitudinal acceleration of the preceding mobile body and the following mobile body on the travel route is
  • the longitudinal acceleration calculation section adjusts the gain of the calculation formula for calculating the longitudinal acceleration based on information on the conveyed objects carried by each moving body.
  • US Pat. No. 1,011,2772 describes adjusting acceleration using information on load distribution of an inventory holder.
  • US Pat. No. 1,011,2772 provides an inventory system that includes an inventory holder on which inventory items can be loaded and a movable drive unit having the inventory holder. An instruction is received or generated to move the relative position of an inventory item to.
  • the present disclosure provides a vehicle that can continue to run stably by avoiding changes in the posture of the loaded object, including overturning and tilting, regardless of changes in road shape when the vehicle is running with the loaded object on board.
  • the purpose is to obtain running equipment and vehicle running programs.
  • a vehicle traveling device includes a vehicle control unit that controls the driving force and braking force of a power unit for driving a vehicle equipped with a loaded object holder on which a loaded object can be mounted, and a traveling path on which the vehicle travels.
  • a traveling road condition information acquisition section that acquires state information of the traveling path
  • a traveling road condition information acquisition section that acquires the condition information of the traveling path and the traveling path state information acquired by the traveling path condition information acquisition section
  • the traveling path condition information acquisition section that acquires the condition information of the traveling path and the loaded object holder and the loaded object mounted on the loading object holder.
  • a travel control section that generates acceleration/deceleration information of the vehicle to make the relative positional relationship of the vehicle into a predetermined positional relationship, and outputs an acceleration/deceleration command during traveling to the vehicle control section.
  • a vehicle traveling device includes a vehicle control unit that controls the driving force and braking force of a power unit for driving a vehicle equipped with a loaded object holder on which a loaded object can be mounted, and a traveling path on which the vehicle travels.
  • a traveling road condition information acquisition unit that acquires status information of a loaded object mounted on the loaded object holder; The relative positional relationship between the load holder and the load loaded on the load holder is determined at a predetermined position based on the road condition information and the load condition information acquired by the load condition information acquisition unit.
  • a travel control section that generates acceleration/deceleration information of the vehicle to establish a relationship and outputs an acceleration/deceleration command during traveling to the vehicle control section.
  • a vehicle running program according to the present disclosure is characterized by causing a computer to operate as a running control section of the vehicle running device described above.
  • the drawing is 1 is a plan view of a vehicle according to a first embodiment
  • 1 is a side view of a vehicle according to the first embodiment
  • It is a control system diagram for executing driving control in the vehicle according to the first embodiment
  • It is a functional block diagram specialized for acceleration/deceleration control in the automatic driving control device of the first embodiment
  • It is a flowchart showing the flow of acceleration/deceleration control
  • It is a side view of a state in which a vehicle is about to run on a running road according to Example 1 of the first embodiment
  • It is a side view of a state in which a vehicle is about to run on a running road according to Example 2 of the first embodiment
  • It is a side view of a state in which a vehicle is about to run on a running road according to Example 3 of the first embodiment
  • FIG. 4 is a plan view of a state in which a vehicle is about to run on a running road according to Example 4 of the first embodiment
  • FIG. 2 is a plan view of a vehicle according to a second embodiment
  • FIG. 2 is a side view of a vehicle according to a second embodiment
  • It is a control system diagram for executing driving control in a vehicle according to a second embodiment
  • It is a functional block diagram specialized for acceleration/deceleration control in the automatic driving control device of the second embodiment
  • It is a flowchart showing the flow of acceleration/deceleration control
  • It is a side view of a state in which a vehicle is about to run on a running road according to Example 5 of the second embodiment
  • It is a side view of a state in which a vehicle is about to run on a running road according to Example 6 of the second embodiment
  • It is a side view of a state in which a vehicle is about to run on a running road according to Example 6 of the second embodiment
  • It is
  • FIG. 7 is a side view showing a state in which the loaded object is mounted on the rear side of the floor surface of the loaded object holder according to Example 7 of the second embodiment
  • FIG. 3 is a side view showing a state in which the loaded object is loaded on the front side of the floor surface of the loaded object holder
  • It is a side view of a state in which the vehicle has passed through an uphill road as a running road and reached a flat road, according to Example 8 of the second embodiment
  • FIG. 7 is a side view showing a state in which a plurality of objects are mounted on a vehicle according to Example 8 of the second embodiment
  • FIG. 7 is a plan view showing a state in which a care robot (vehicle) according to a third embodiment runs on a curve;
  • FIG. 7 is a front view showing a situation in which a vehicle according to Example 13 acquires loaded object status information from a center; 13 is a control flowchart showing the process flow of vehicle side control and center side control (including sensing by infrastructure sensors) according to Example 13, FIG. 14 is a diagram for explaining a case where a load is stably loaded at a predetermined position according to Embodiment 14, FIG. 14 is a diagram for explaining a case where a worker or the like visually mounts the device according to Embodiment 14, FIG. 7 is a diagram for explaining a case where a loaded object according to Example 14 is positioned at a predetermined position of a loaded object holder; 15 is a plan view of an intersection on a general road according to Example 15, FIG. 7 is a plan view of a curve of a general road according to Example 15.
  • FIG. 1 shows a vehicle 10A according to a first embodiment.
  • FIG. 1A is a plan view of the vehicle 10A
  • FIG. 1B is a side view of the vehicle 10A.
  • the main body 12 of the vehicle 10A is supported by a road surface 16 via four wheels (tires) 14, and the vehicle 10A travels as the tires 14 roll (arrow A in FIG. 1 is indicated in the forward direction). ).
  • a load holder 18 is attached to the main body 12.
  • the loaded object holder 18 is box-shaped, and walls 18B are provided on all sides of the floor surface 18A.
  • a load 20 to be moved by the vehicle 10A is appropriately mounted on the floor surface 18A of the load holder 18.
  • the load 20 mounted on the load holder 18 has various shapes, and may be one piece or a plurality of pieces. Further, the wall 18B may function to prevent the load 20 mounted on the floor surface 18A of the load holder 18 from falling.
  • the transport destination (destination) of the loaded object 20 is determined in advance, and for example, instructions received in advance or an identification label such as a bar code (not shown) affixed to the loaded object 20 is read.
  • the destination is recognized by the automatic driving control device 22 (described later) on the vehicle 10A side, and a travel program is constructed.
  • FIG. 1C shows a control system for executing travel control in the vehicle 10A. Note that the configuration of the control system shown below is an example, and does not limit the control system for driving control of the vehicle 10A.
  • the vehicle 10A is equipped with an automatic driving control device 22 and a vehicle control device 24 as a control system.
  • the vehicle control device 24 executes control including the drive system (engine control, motor drive control, etc.) and electrical system when the vehicle 10A is running.
  • control including the drive system (engine control, motor drive control, etc.) and electrical system when the vehicle 10A is running.
  • the vehicle control device 24 includes a group of cameras (in FIG. 1C, for example, a front camera 26A, a left front camera 26B, a left rear camera 26C, a right front camera 26D, and a right rear camera 26E) for photographing the surroundings of the vehicle 10A. , and a rear camera 26F (shown in the figure) are connected (collectively referred to as the "camera group 26").
  • a front camera 26A for example, a front camera 26A, a left front camera 26B, a left rear camera 26C, a right front camera 26D, and a right rear camera 26E
  • a rear camera 26F shown in the figure
  • a radar group 28 including a plurality of millimeter wave radars and LiDAR is connected to the vehicle control device 24.
  • the automatic driving control device 22 determines the driving operation to the destination based on information necessary for automatic driving from the vehicle control device 24 (for example, detection information from the camera group 26 and the radar group 28), and 24.
  • the vehicle 10A itself is configured to operate automatically in the above description
  • the vehicle 10A according to the first embodiment has, for example, a travel range determined and a travel guidance source (magnetic rail) on the floor. This does not negate a configuration in which a vehicle is embedded in a vehicle and the vehicle travels along the travel guidance source based on a command from an external source (such as a centralized command device).
  • FIG. 2A a functional block diagram specialized for acceleration/deceleration control in the automatic operation control device 22 of the first embodiment is shown in FIG. 2A.
  • FIG. 2A shows blocks of functions for acceleration/deceleration control according to the first embodiment, and does not limit the hardware configuration of the automatic operation control device 22.
  • the automatic operation control device 22 is configured to include, for example, a CPU (Central Processing Unit), a rewritable nonvolatile memory, and the like.
  • a program for executing a flowchart described later is stored in the non-volatile memory, and the CPU executes the processing of the flowchart described later by reading and executing the program.
  • a map information storage unit 30 stores predictable travel route information (map information), and when a destination is determined, road information on the travel route from the current location to the destination is stored.
  • a road information acquisition unit 32 is provided.
  • Road information includes factors such as the slope of the road (uphill, downhill), curve radius, fallen objects on the road, weather (especially snow, rain, etc.) that may impede driving (degree of slip, degree of unevenness), Also refers to unexpected factors (construction, etc.).
  • the road information acquisition unit 32 acquires road information through wireless communication with the outside of the vehicle 10A, and also acquires detection signals from the camera group 26 and radar group 28 connected to the vehicle control device 24.
  • the map information storage section 30 and the road information acquisition section 32 are each connected to an acceleration/deceleration calculation section 34.
  • the acceleration/deceleration calculation unit 34 obtains current position information from the vehicle control device 24 and calculates acceleration/deceleration based on the condition of the road on which the vehicle is about to travel (for example, flat, uphill, downhill). The calculation is performed based on a predetermined calculation formula using the inclination angle of the uphill slope, the vehicle speed, the state of the loaded object 20 (weight, center of gravity), the friction coefficient of the installation surface with respect to the floor surface 18A, etc. as calculation variables.
  • the acceleration/deceleration calculating section 34 is connected to the driving state indicating section 36.
  • the driving state instruction section 36 sends the acceleration/deceleration and the timing for executing the acceleration/deceleration to the vehicle control device 24 based on the results calculated by the acceleration/deceleration calculation section 34 .
  • the vehicle control device 24 controls the drive system, so that the vehicle 10A runs at the acceleration/deceleration instructed by the running state instruction section 36.
  • step 100 the acceleration/deceleration calculation unit 34 of the automatic driving control device 22 acquires map information from the map information storage unit 30, and in step 102, the acceleration/deceleration calculation unit 34 acquires road information from the road information acquisition unit 32. Then, the process moves to step 104.
  • step 104 acceleration/deceleration is calculated based on the condition of the road on which the vehicle is about to travel (for example, flat, uphill, downhill).
  • the driving state instruction unit 36 sends the calculation result to the vehicle control device 24.
  • the vehicle control device 24 that has acquired the calculation result controls the drive system, so that the vehicle 10A runs at the acceleration/deceleration instructed by the running state instruction section 36.
  • FIG. 3 relates to an example (Example 1) of the first embodiment, in which the vehicle 10A travels in the order of flat road 38 ⁇ uphill road 40 ⁇ flat road 42 ⁇ downhill road 44 ⁇ flat road 46.
  • FIG. 3 relates to an example (Example 1) of the first embodiment, in which the vehicle 10A travels in the order of flat road 38 ⁇ uphill road 40 ⁇ flat road 42 ⁇ downhill road 44 ⁇ flat road 46.
  • the vehicle 10A when the vehicle 10A recognizes an uphill road 40 while normally traveling on a flat road 38 (running at a predetermined constant speed), the vehicle 10A is decelerated before the uphill road 40. Further, when the vehicle 10A recognizes a downhill road 44 while normally traveling on a flat road 42 (running at a predetermined constant speed), the vehicle 10A is accelerated before the downhill road 44. On the flat road 46 after descending from the downhill road 44, normal driving occurs.
  • the loaded object 20 mounted on the loaded object holder 18 is stabilized in the mounted position, and movement and overturning are prevented.
  • FIG. 4 is a plan view of a state in which the vehicle 10A is about to travel on a curved road (curve) 48 according to an example (Example 2) of the first embodiment.
  • FIG. 5 is a side view of a state in which the vehicle 10A is traveling in the order of flat road 52 ⁇ uphill road 54 ⁇ flat road 56, according to the example (example 3) of the first embodiment. be.
  • the uphill road 54 is an area of effective deceleration.
  • the vehicle is designed to have an inertial force that is unlikely to have a serious effect on the loaded object 20 (inertial force that does not have sudden starts or sudden braking), and to be able to run smoothly.
  • inertia force during normal driving/2 ⁇ inertia force due to deceleration may be satisfied.
  • the inertia force due to deceleration ⁇ the gravity of the loaded object 20 x sin ⁇ - the inertia force during normal running. sin ⁇ is the slope rate.
  • the inertial force on the uphill road 54 is suppressed to less than the inertial force during normal driving, and excessive deceleration can be avoided.
  • the sequence is a flat road 52 ⁇ an uphill road 54 ⁇ a flat road 56, but in the case of a flat road ⁇ a downhill ⁇ a flat road, the vehicle will be accelerated.
  • acceleration and deceleration when there are no other vehicles in the vicinity can be used as the inertia force during normal driving.
  • safety for example, a factor determined according to the relative distance and relative speed to other vehicles in the vicinity
  • functionality for example, by not decelerating more than half before and after going up a slope, smooth movement is possible.
  • the acceleration/deceleration may be determined.
  • acceleration/deceleration may be determined depending on the situation, such as changing depending on the gravity of the loaded object 20.
  • FIG. 6 is a plan view of a state in which the vehicle 10A is about to travel on a curved road (curve) 58 according to an example (example 4) of the first embodiment.
  • constraints on the curved road 58 and countermeasures therefor were considered.
  • the acceleration is changed when it is difficult to continue accelerating outward in the turning direction, such as when there is a restriction on the width of the curved road 58.
  • the so-called ride comfort can be improved by changing the force in stages.
  • the position of the load 20 that is unstablely mounted on the load holder 18 is controlled by the wall 18B by acceleration and deceleration of the vehicle 10A. It is characterized by moving (sliding) so as to be in contact with the wall body 18B and using the wall body 18B as a support to improve the stability of the loaded object 20 during traveling, including prevention of overturning.
  • the feature of the second embodiment is that information regarding the state of the loaded object 20 loaded in the loaded object holder 18 of the vehicle 10A (loaded object information) is acquired in contrast to the configuration of the first embodiment. A function to do this will be added.
  • the loaded object information includes, but is not limited to, the shape, weight, physical properties, behavior of the loaded object, etc.
  • FIG. 7 shows a vehicle 10B according to the first embodiment.
  • the following sensors are selectively attached to the payload holder 18 of the vehicle 10B as sensors for acquiring payload information (when collectively referred to as a sensor group 60 including a single sensor (see FIG. 8A) ).
  • Selection is a configuration in which one or more sensors can be selected from among the following sensors belonging to the sensor group 60 as necessary (necessary for implementing the embodiments shown below). For example, all the embodiments can be implemented if all the sensors are installed.
  • Weight sensor 60A The weight sensor 60A is attached to the floor surface 18A and measures the weight of the loaded object 20. The presence or absence of the loaded object 20 and its displacement (movement on the floor surface 18A) can be detected by the detection information of the weight sensor 60A.
  • the weight distribution on the floor surface 18A can be recognized, and the shape of the loaded object 20 can be estimated from the weight distribution, and the detailed information of the loaded object 20 can be determined from changes in the weight distribution. Movement (moving direction, moving speed, etc.) can be estimated.
  • Weight sensor 60B Weight sensor 60B, unlike weight sensor 60A, is attached to wall 18B. If the weight sensor 60B attached to the wall 18B is intermittently detecting the weight, it means that the loaded object 20 is far away from the wall 18B and is hitting the wall 18B due to vibrations etc. during traveling. can be recognized.
  • the weight sensor 60B continuously detects the weight, it is possible to recognize the state in which the loaded object 20 is in contact with the wall 18B.
  • Hardness sensor 60C is an ultrasonic contact impedance measurement type, etc., it is necessary to press the tip of the probe rod perpendicularly to the object to be measured (here, the object 20) due to its structure. In some cases, it is necessary to have a means for receiving detection information based on operator operations. It is also possible to measure by mounting it as a target.
  • Vibration sensor 60D The vibration sensor 60D can be an acceleration sensor, and is attached to an appropriate location on the load holder 18.
  • the vibration sensor 60D detects the vibration (acceleration) of the loaded object 20 that is applied while the vehicle 10B is running (constant speed running, acceleration/deceleration running, etc.). Based on the detected vibration (acceleration information), the relationship between the forces applied to the loaded object 20 and the loaded object holder 18 can be analyzed.
  • the vibration sensor 60D determines the resistance of the loaded object 20 due to acceleration and deceleration, and determines the resonance frequency. Particularly, by understanding the resonance frequency, it is possible to change the running of the vehicle 10B (such as the speed when running at a constant speed).
  • Shape sensor 60E The shape sensor 60E is attached at a position whose detection range is the object 20 mounted on the floor surface 18A (for example, at a corner of the wall 18B). As the shape sensor 60E, a camera, LiDAR, radar, sonar, heat wave meter, etc. can be used, and the shape of the loaded object 20 can be grasped.
  • FIG. 8A shows blocks of functions for acceleration/deceleration control according to the second embodiment, and does not limit the hardware configuration of the automatic operation control device 22.
  • the map information storage unit 30 stores predictable travel route information (map information), and when the destination is determined, road information on the travel route from the current location to the destination is stored.
  • a road information acquisition unit 32 is provided.
  • Road information includes factors such as the slope of the road (uphill, downhill), curve radius, fallen objects on the road, weather (especially snow, rain, etc.) that may impede driving (degree of slip, degree of unevenness), Also refers to unexpected factors (construction, etc.).
  • the road information acquisition unit 32 acquires road information through wireless communication with the outside of the vehicle 10A, and also acquires detection signals from the camera group 26 and radar group 28 connected to the vehicle control device 24.
  • the automatic driving control device 22 includes a sensor information acquisition unit 62 that acquires information from a sensor group 60 (any one or more of sensors 1 to 5).
  • the sensor information acquisition unit 62 acquires information from one or more of the various sensors 1 to 5 belonging to the sensor group 60.
  • the map information storage section 30, the road information acquisition section 32, and the sensor information acquisition section 62 are each connected to the acceleration/deceleration calculation section 34.
  • the acceleration/deceleration calculation unit 34 acquires current position information from the vehicle control device 24, and calculates the shape of the loaded object 20, the state of the road on which it is about to travel (for example, flat, uphill, downhill), and the current position information while it is traveling.
  • the acceleration/deceleration is calculated based on the state (displacement, vibration, etc.) of the loaded object 20.
  • the calculation is performed based on a predetermined calculation formula using the inclination angle of the uphill slope, the vehicle speed, the state of the loaded object 20 (weight, center of gravity), the friction coefficient of the installation surface with respect to the floor surface 18A, etc. as calculation variables.
  • the acceleration/deceleration calculating section 34 is connected to the driving state indicating section 36.
  • the driving state instruction section 36 sends the acceleration/deceleration and the timing for executing the acceleration/deceleration to the vehicle control device 24 based on the results calculated by the acceleration/deceleration calculation section 34 .
  • the vehicle control device 24 controls the drive system, so that the vehicle 10A runs at the acceleration/deceleration instructed by the running state instruction section 36.
  • the loaded object 20 can be moved (slided) to a position where it contacts the wall 18B in advance, and the intervals between the plurality of loaded objects 20 can be adjusted. By doing so, a running state is established in which the system of the loaded object 20 is suppressed based on movement caused by inertial force during running.
  • step 200 the acceleration/deceleration calculation unit 34 of the automatic driving control device 22 acquires map information from the map information storage unit 30, and in step 202, the acceleration/deceleration calculation unit 34 acquires road information from the road information acquisition unit 32. Then, the process moves to step 203.
  • step 203 various detection information related to the loaded object 20 is acquired from the sensor group 60, and the process moves to step 204.
  • step 204 acceleration/deceleration is calculated based on the condition of the road on which the vehicle is about to travel (for example, flat, uphill, downhill).
  • the driving state instruction section 36 sends the calculation result to the vehicle control device 24.
  • the vehicle control device 24 that has acquired the calculation result controls the drive system, so that the vehicle 10A runs at the acceleration/deceleration instructed by the running state instruction section 36.
  • FIG. 9 is a side view of the vehicle 10B in the example (Example 5) of the second embodiment, in which the vehicle 10B is traveling in the order of a flat road 64 ⁇ an uphill road 66.
  • the vehicle 10B has the load 20 mounted on the front side of the floor surface 18A of the load holder 18.
  • the loaded object 20 at this time has a clearance A with the rear wall 18B of the vehicle 10B, which is a relatively large clearance.
  • a large clearance is a size that may cause the loaded object 20 to fall if a force that causes it to fall backward is applied while the vehicle 10B is running.
  • the vehicle 10B recognizes the uphill road 40 while normally traveling on the flat road 64 (running at a predetermined constant speed), it accelerates on the flat road 64 before the uphill road 66. Due to this acceleration, the loaded object 20 moves to the rear of the loaded object holder 18 (slides on the floor surface 18A).
  • the loaded object 20 at this time has a clearance B with the rear wall 18B of the vehicle 10B, which is a relatively small clearance.
  • the small clearance is such a size that even if a force acting on the loaded object 20 causes it to fall backward while the vehicle 10B is running, the wall 18B serves as a support and the object does not fall.
  • the load 20 mounted on the load holder 18 can stably move without falling over on the load holder 18.
  • FIG. 10A is a side view of a state in which the vehicle 10B is about to run on a flat road 68 ⁇ uphill road 70 ⁇ flat road 72 in the order of the traveling route according to the example (example 6) of the second embodiment. be.
  • the vehicle 10B has a load 20 mounted on the front side of the floor surface 18A of the load holder 18.
  • the vehicle 10B when the vehicle 10B recognizes the uphill road 40 while normally traveling (running at a predetermined constant speed) on the flat road 68, it accelerates on the flat road 68 before the uphill road 70.
  • the vehicle on the way to the uphill road 70, the vehicle accelerates in a relatively chronological order from small acceleration to large acceleration. Note that the change from small acceleration to large acceleration is not limited to stepwise but may be continuous.
  • the loaded object 20 does not fall down due to acceleration, and can be safely moved to the rear wall 18B of the vehicle 10B (see Example 5).
  • the vehicle decelerates in relative chronological order in the order of large deceleration ⁇ small deceleration. Note that the change from large deceleration to small deceleration is not limited to stepwise but may be continuous.
  • FIG. 10B is a modification of the sixth embodiment (FIG. 10A), in which the vehicle 10B is traveling in the order of flat road 74 ⁇ first uphill road 76 ⁇ flat road 78 ⁇ second uphill road 80.
  • FIG. 10A is a modification of the sixth embodiment (FIG. 10A), in which the vehicle 10B is traveling in the order of flat road 74 ⁇ first uphill road 76 ⁇ flat road 78 ⁇ second uphill road 80.
  • FIG. 11 is a side view of a state in which the vehicle 10B is about to travel on a flat road 82 ⁇ uneven road 84 in the order of the traveling route (FIG. 11A) according to an example (example 7) of the second embodiment. reference).
  • the uneven road 84 is assumed to be a gravel road, an unrepaired road under construction, a road surface with intentional projections to encourage deceleration, a road surface with embedded Braille blocks, etc.
  • the loaded object 20 is placed on the vehicle 10B on the rear side of the floor surface 18A of the loaded object holder 18 (see FIG. 11B) and on the front side of the floor surface of the loaded object holder 18. It is mounted on the side (see FIG. 11C).
  • the vehicle 10B when the loaded object 20 is mounted on the rear side of the floor surface 18A of the loaded object holder 18, the vehicle 10B normally travels on the flat road 82 (travels at a predetermined constant speed). When the vehicle recognizes the bumpy road 84 ahead, it accelerates on the flat road 82 before the bumpy road 84.
  • the loaded object 20 moves to the rear of the loaded object holder 18 (slides on the floor surface 18A).
  • the loaded object 20 is less likely to fall over and continues to run stably.
  • the vehicle 10B when the loaded object 20 is mounted on the front side of the floor surface 18A of the loaded object holder 18, the vehicle 10B normally runs on the flat road 82 (travels at a predetermined constant speed). When the vehicle recognizes the bumpy road 84 while driving, it decelerates on the flat road 82 before the bumpy road 84.
  • the loaded object 20 moves forward of the loaded object holder 18 (slides on the floor surface 18A).
  • the loaded object 20 is less likely to fall over and continues to run stably.
  • FIG. 12 shows an example (Example 8) of the second embodiment, in which the vehicle 10B has a structure in which the loaded object holder 18 rotates around a perpendicular to the road surface passing inside the main body 12. There is. That is, the payload holder 18 can rotate while the vehicle 10B moves forward.
  • left and right wheels 14 may be rotated in opposite directions to each other, and may be rotated (changed in the front-rear direction) while the vehicle 10B is stopped. Further, the rotation of the vehicle 10B may be a rotation with a predetermined radius due to normal steering of the vehicle 10B.
  • FIGS. 12A and 12B will be described as situations in which the vehicle 10B having such a rotation function is used.
  • FIG. 12A is a side view of the vehicle 10B passing through an uphill road (not shown) and arriving at a flat road 86.
  • the load 20 on the load holder 18 is mounted near the center of the load holder 18, but it may move backward when traveling on an uphill road (not shown).
  • the loaded object holder 18 is rotated 180 degrees (or the vehicle 10B itself is rotated 180 degrees), and the loaded object 20 is substantially mounted.
  • the object 20 is placed in front of the vehicle 10B, and then, by acceleration, the object 20 is returned to its original position (center position of the object holder 18).
  • Example 8 the movement of the loaded object 20 was controlled when the vehicle reached the flat road 86 from an uphill road (not shown), but the movement control may be performed in advance in anticipation of the uphill road (not shown).
  • FIG. 12B shows that while the vehicle 10B is running, the relative positions of a plurality of loaded objects (here, two loaded objects 20A and 20B with different physical properties (shape, weight, center of gravity)) are in a proper state (constant). This assumes an inappropriate state (a state in which they are in contact with each other) that deviates from the state with an interval of .
  • a plurality of loaded objects here, two loaded objects 20A and 20B with different physical properties (shape, weight, center of gravity)
  • the loaded object 20A and 20B move outward due to centrifugal force, but since they have different physical properties, the moving conditions are different, and as a result, the loaded objects 20A and 20B move outward.
  • the loaded object 20B has an appropriate sense of distance.
  • the vehicle 10C is a nursing care robot that can travel automatically, and the load 20 mounted on the load holder 18 is replaced with a cared person riding in the vehicle 10C (nursing robot). are doing.
  • the vehicle 10A of the first embodiment and the vehicle 10B of the second embodiment cause the vehicle 10C (nursing robot) to execute control (acceleration/deceleration control) that changes the way it moves depending on the road surface
  • control acceleration/deceleration control
  • FIG. 13 is a plan view showing a situation in which the vehicle 10C (nursing robot) approaches a curved road 90 from a straight road 88.
  • the loaded object 20 (cared person) or a person (not shown) existing around the traveling route
  • the purpose of this is to notify changes in driving, and the notification timing, notification means, notification method, and notification contents are as follows.
  • Notification timing It may be before acceleration and deceleration, or it may be during acceleration and deceleration.
  • Notification means Notifications are made using visual (light), auditory (sound, voice), and tactile (vibration) senses. Note that it is also possible to notify using the sense of smell (smell).
  • auditory notifications include voice notifications such as ⁇ The movement is changing,'' ⁇ It's turning,'' ⁇ It's a curve,'' and ⁇ Please be careful.'' , music, etc. may be output.
  • Example 9 corresponds to claim 13, and in the first embodiment and the second embodiment, the loaded object 20 is moved while monitoring the state of the loaded object 20. This makes it possible to travel in accordance with the condition of the loaded object 20.
  • Example 10 corresponds to claim 14, and in the first embodiment and the second embodiment, even when the state of the payload 20 is not monitored, the payload holder and the load It outputs acceleration/deceleration commands that can reduce the clearance with objects. This makes it possible to stabilize the load.
  • centrifugal force is applied outward in a curve, so regardless of the state of the loaded object, it is sufficient to output an acceleration/deceleration command to shift it outward before entering the curve. This is a particularly preferred measure when stable movement is required.
  • Example 11 corresponds to claim 15, and in the second embodiment, although the description in FIG. 9 focuses on the decrease in the clearance between the loaded object 20 and the loaded object holder 18, Example 11 considers the case where a plurality of objects 20 are present in the object holder 18.
  • the acceleration/deceleration command is output by utilizing the difference in movement difficulty (weight, friction, etc.) between the loaded objects 20.
  • the difference in the movement difficulty of the loaded object 20 is acquired from the loaded object state information acquisition unit (for example, the sensor group 60 shown in FIG. 7).
  • the difficulty in moving the loaded object 20 is related to the amount of movement caused by traveling on the target travel path and the amount of movement caused by inertial force caused by acceleration/deceleration commands. It does not have to be acquired from the sensor group 60) shown in FIG.
  • Embodiment 12 corresponds to claim 16, and in the second embodiment, FIG. 9 shows an example in which the target travel road is a flat road 64 ⁇ an uphill road 66, but the present invention is not limited to this. isn't it.
  • the vehicle 10A moves the loaded object 20 to the outside of the curved road before entering the curved road to improve the outer clearance between the loaded object holder 18 and the loaded object 20.
  • Embodiment 13 corresponds to claim 18, and in the second embodiment, in FIG. 7, a sensor group 60 (weight sensors 60A, 60B, hardness sensor 60C, vibration sensor 60D, and a shape sensor 60E), but as shown in FIG. 14, a parabolic antenna 92 (a parabolic antenna 92 is shown in FIG. 14 as a receiving section) is provided on the vehicle 10A as a receiving section, but other types of antennas may be used. ), and the center 94 may receive the information transmitted via the transmitting unit 98 using the parabolic antenna 92, including information on the loaded items acquired by the infrastructure sensor 96.
  • a parabolic antenna 92 a parabolic antenna 92 is shown in FIG. 14 as a receiving section
  • the center 94 may receive the information transmitted via the transmitting unit 98 using the parabolic antenna 92, including information on the loaded items acquired by the infrastructure sensor 96.
  • FIG. 15 is a flowchart for executing travel control including load state information acquisition control in the 13th embodiment, and shows the flow of processing by cooperation between vehicle-side control and center-side control (including sensing by infrastructure sensor 96). It shows.
  • FIG. 15A is a control routine on the vehicle 10A side.
  • the acceleration/deceleration calculation unit 34 of the automatic driving control device 22 acquires map information from the map information storage unit 30, and in step 302, the acceleration/deceleration calculation unit 34 acquires map information from the map information storage unit 30. 34 acquires road information from the road information acquisition unit 32, and proceeds to step 304.
  • step 304 the state information of the loaded object is requested from the center 94, and the process moves to step 306.
  • step 306 it is determined whether or not an acceleration command has been received from the center 94 in response to the request made in step 304. If an affirmative determination is made, the process proceeds to step 308, in which the calculation result based on the acceleration command is calculated based on the driving state.
  • the instruction unit 36 sends the information to the vehicle control device 24.
  • the vehicle control device 24 that has acquired the calculation result controls the drive system, so that the vehicle 10A runs at the acceleration/deceleration instructed by the running state instruction section 36.
  • FIG. 15B shows a control routine on the center side.
  • step 312 it is determined whether or not there has been an information request from step 304 of the vehicle-side control routine. If the determination is negative, this routine ends. Further, if an affirmative determination is made in step 312, the process proceeds to step 314, and sensing information from the infrastructure sensor 96 is received.
  • step 322 information on the load status of the vehicle 10A is sensed periodically or irregularly from the infrastructure sensor 96 (step 322), and the sensing information is transmitted to the center side (step 324). .
  • step 314 when sensing information is received in step 314, the process moves to step 316 to estimate the state of the payload 20, and then, in step 318, adjustment is made based on the estimated state of the payload 20. The speed is calculated and the process moves to step 320.
  • step 320 an acceleration/deceleration command is sent to the vehicle 10A, and this routine ends.
  • the infrastructure sensor 96 can be, for example, a camera installed along a road or a surveillance camera installed at a store, but in addition to a fixed camera, it may also be a mobile camera such as a drone. Good too.
  • Embodiment 14 corresponds to claim 19, and in the second embodiment, FIG. The installed configuration is shown.
  • FIG. 16A shows a configuration suitable for a physical distribution management system, which allows the vehicle 10A to stably load the load 20 at a predetermined position based on a predetermined stop position index 150 and a loading position index 152.
  • FIG. 16B shows that when a worker etc. visually loads the vehicle, a plate 154 is provided with an asterisk ( ⁇ ) and a message such as "Please place it here", so that the worker can visually check the load.
  • the payload can be positioned at a predetermined position based on. Note that the instructions are not limited to asterisks, and may be identified by color or written only in words.
  • FIG. 16C shows that when loading the load 20 on the load holder 18, the load 20 can be positioned at a predetermined position on the load holder 18 by physically restricting the loading location using the positioning guide 156. can.
  • Embodiment 15 corresponds to claim 20, and in the third embodiment, as shown in FIG. 17, travel information is reported even when the vehicle 10A (10B) travels at an intersection 158 on a general road. There are favorable opportunities. That is, when the vehicle 10A (10B) turns left at the intersection 158, driving information (for example, the notation "Turn left" on the electronic bulletin board 162) is displayed to the pedestrian 160, so that the pedestrian 160 can be called attention to.
  • driving information for example, the notation "Turn left" on the electronic bulletin board 162
  • the fifteenth embodiment as shown in FIG. 18, by outputting sound (music, etc.) on the target travel road 164 (for example, a bend on a general road), it is possible to draw attention.
  • the loaded objects 20 are By performing acceleration/deceleration control depending on the traveling road conditions (uphill, downhill, bumpy road, curved road, etc.), the attitude of the loaded object 20 is stabilized to prevent problems such as falling, for example. This allows stable driving to be achieved.
  • the attitude of the loaded object 20 can be stabilized by maintaining the current position and stabilizing the loaded object 20 by acceleration/deceleration control, or by moving the loaded object 20 closer to the wall 18B of the loaded object holder 18 by acceleration/deceleration control. This includes cases in which the device is moved (slided) in advance and supported by the wall 18B to prevent it from falling.
  • control unit and its method described in the present disclosure may be implemented by a dedicated computer comprising a processor programmed to perform one or more functions embodied by a computer program.
  • the apparatus and techniques described in this disclosure may be implemented by a special purpose computer whose processor is comprised of dedicated hardware logic circuits.
  • the apparatus and techniques described in this disclosure may be implemented by one or more special purpose computers configured by a combination of a processor executing a computer program and one or more hardware logic circuits.
  • the computer program may also be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium.
  • the vehicle traveling device corresponds to the first embodiment, and is powered by power for driving a vehicle (10A) equipped with a loaded object holder (18) on which a loaded object (20) can be mounted.
  • a vehicle control section (24) that controls the driving force and braking force of the unit;
  • a road condition information acquisition section (32) that acquires condition information of the road on which the vehicle travels;
  • a travel control section (34) that outputs an acceleration/deceleration command during traveling to the vehicle control section.
  • the vehicle running system according to Supplementary Note 2 corresponds to Embodiment 1, and in the vehicle running system according to Supplementary Note 1, the running control section collects the running road condition information acquired by the running road condition information acquisition section. , when the vehicle recognizes the existence of an uphill road and a downhill road ahead of the road on which it is traveling, before entering the uphill road, there is an inertia that can offset the movement of the loaded object due to traveling on the uphill road.
  • a deceleration command is output for generating force
  • an acceleration command is output for generating an inertial force capable of offsetting the movement of the loaded object due to traveling on the downhill road before entering the downhill road.
  • the vehicle running system according to Supplementary Note 3 corresponds to Embodiment 3, and in the vehicle running system according to Supplementary Note 1 or 2, the normal running is running at a constant speed without sudden starting or sudden braking.
  • the deceleration on the uphill road is inertia force due to deceleration in normal driving/2 ⁇ inertia force due to deceleration
  • the acceleration on the downhill road is inertia force in normal driving/2 ⁇ inertial force due to deceleration.
  • the vehicle traveling device according to Supplementary Note 4 corresponds to Example 3, and in the vehicle traveling device according to Supplementary Note 3, the inertia force due to the deceleration on the uphill road or the acceleration on the downhill road is equal to the gravity of the loaded object ⁇ Ratio of inclination - Should be equal to or less than the inertial force during normal running.
  • the vehicle running system according to Supplementary Note 5 corresponds to Example 2, and in the vehicle running system according to any one of Supplementary Notes 1 to 4, the running control unit may acquire the information obtained by the running road condition information acquisition unit.
  • the running road condition information acquisition unit When the presence of a curved road ahead of the traveling road on which the vehicle is traveling is recognized from the state information of the traveling road, the movement of the loaded object due to traveling on the curved road is offset before entering the curved road. Outputs an acceleration command to generate a possible inertial force.
  • the vehicle traveling device according to appendix 7 corresponds to the third embodiment, and in the vehicle traveling device according to any one of appendixes 1 to 6, the vehicle is a care robot (10C) having a traveling function.
  • the cared person as the cared object can be mounted on the load holder by getting on the car, and the acceleration/deceleration information is notified to notification targets including the cared person.
  • the vehicle running device corresponds to the second embodiment, and controls the driving force and braking force of a power unit for driving a vehicle equipped with a payload holder on which a payload can be mounted.
  • a vehicle control unit that acquires status information of a running road on which the vehicle travels;
  • a road condition information acquisition unit that acquires status information of a load mounted on the load holder; 60), the state information of the traveling path acquired by the traveling path condition information acquisition unit, and the status information of the loaded object acquired by the loaded object status information acquisition unit, the loaded object holder and the loaded object a travel control unit that generates acceleration/deceleration information of the vehicle to maintain a predetermined relative positional relationship with the loaded object mounted on the holder, and outputs an acceleration/deceleration command during traveling to the vehicle control unit; and has.
  • the vehicle running system according to Supplementary Note 9 corresponds to Example 5, and in the vehicle running system according to Supplementary Note 8, the running control unit uses the running road state information acquired by the running road state information acquisition unit. Accordingly, when the vehicle recognizes the existence of an uphill road and a downhill road ahead of the road on which the vehicle is traveling, before entering the uphill road, it is possible to suppress the overturning of the loaded object due to traveling on the uphill road.
  • a deceleration command is output for reducing the clearance with a wall formed in the loaded object holder and located on the front side in the vehicle running direction.
  • the vehicle traveling device according to Supplementary Note 10 corresponds to Example 6, and in the vehicle traveling device according to Supplementary Note 9, the vehicle accelerates in stages or continuously before entering the uphill road, and While traveling on the uphill road, the vehicle decelerates the acceleration in stages or continuously, or the vehicle decelerates in stages or continuously before entering the downhill road, and the vehicle travels on the downhill road. While traveling on a slope, the vehicle accelerates the deceleration in steps or continuously.
  • the vehicle running device according to Supplementary Note 11 corresponds to Embodiment 6, and in the vehicle running device according to Supplementary Note 10, when the existence of the uphill road is further recognized after passing the uphill road, the vehicle traveling device according to Supplementary Note 10 canceling the deceleration of the acceleration amount in stages or continuously while traveling on a slope, or when the presence of a downhill road is further recognized after passing the downhill road, the deceleration while traveling on the downhill road Cancel acceleration step by step or continuously by deceleration.
  • the vehicle running device according to Appendix 12 corresponds to Embodiment 7, and in the vehicle traveling device according to any one of the vehicle traveling devices according to Appendix 8 to Appendix 11, the traveling control section is configured to control the traveling road state. If the existence of a bumpy road ahead of the road on which the vehicle is traveling is recognized from the driving road condition information acquired by the information acquisition unit, the loaded object due to the driving on the bumpy road is detected before entering the bumpy road. An acceleration or deceleration command is output to reduce the clearance between the loaded object holder and a wall formed in the loaded object holder so as to prevent the object from overturning.
  • the vehicle traveling device according to Supplementary Note 13 corresponds to Example 8, and in the vehicle traveling device according to any one of the vehicle traveling devices according to Supplementary Notes 8 to 12, the loaded object holder is configured to hold the loaded object.
  • the holder is rotatable about a line perpendicular to the loaded object, and the travel control unit controls the relative position of the loaded object holder and the loaded object mounted on the loaded object holder while the vehicle is running. If the relationship deviates, the position of the loaded object is adjusted by centrifugal force when the loaded object holder is rotated.
  • the vehicle running device according to Appendix 14 corresponds to the third embodiment, and in the vehicle traveling device according to any one of the vehicle traveling devices according to Appendix 8 to Appendix 13, the vehicle has a driving function.
  • the nursing care robot has the above-mentioned loading object holder, on which the cared person as the loaded object can be mounted by getting on the car, and the acceleration/deceleration information is notified to notification targets including the cared person.
  • the vehicle running device according to Supplementary Note 15 is the vehicle running device according to any one of the vehicle running devices according to Supplementary Notes 1 to 14, wherein the running road condition information acquisition unit is a means for acquiring the running road condition information.
  • the vehicle traveling device according to Supplementary Note 16 is the vehicle traveling device according to any one of the vehicle traveling devices according to Supplementary Notes 1 to 15, wherein the traveling route is a target traveling route that is controlled by the traveling control unit. If this is recognized, the acceleration/deceleration command is executed in a period selected from a pre-travel period, an on-travel period, and a post-travel period on the target travel route.
  • the vehicle traveling device according to Supplementary Note 17 is the vehicle traveling device according to any one of the vehicle traveling devices according to Supplementary Notes 1 to 16, wherein the traveling route is a target traveling route that is controlled by the traveling control unit. If this is recognized and the target travel routes are continuous, the acceleration/deceleration command is output to the first target travel route.
  • the vehicle traveling device according to Appendix 18 is the vehicle traveling device according to any one of the vehicle traveling devices according to Appendixes 1 to 17, wherein the traveling control section controls the movement of the loaded object due to traveling of the vehicle.
  • the acceleration/deceleration commands that can be offset are output.
  • the vehicle traveling device according to Appendix 19 is the vehicle traveling device according to any one of the vehicle traveling devices according to Appendixes 1 to 18, wherein the traveling control section reduces the clearance between the loaded object holder and the loaded object.
  • the acceleration/deceleration command is outputted so that the acceleration/deceleration command can be performed.
  • the traveling control section controls the vehicle traveling device according to appendix 20, in which a plurality of the loaded objects are present in the loaded object holder. In this case, the acceleration/deceleration command is outputted so that the clearance between the loaded objects can be reduced.
  • the vehicle traveling device according to Appendix 22 is the vehicle traveling device according to any one of the vehicle traveling devices according to Appendixes 8 to 21, in which the loaded object state information acquisition unit functions as a sensor that acquires information about the loaded object. , a weight sensor (60A), a hardness sensor (60C), a vibration sensor (60D), and a shape sensor (60E).
  • the vehicle running device according to Appendix 23 is the vehicle traveling device according to any one of the vehicle traveling devices according to Appendixes 8 to 22, wherein the loaded object status information acquisition unit receives information from outside the vehicle.
  • the receiving unit receives information from a monitoring function that monitors a load mounted on the load holder from outside the vehicle.
  • the loaded object state information acquisition unit detects that the loaded object is at a predetermined position of the loaded object holder. Information regarding the predetermined position is acquired in advance on the premise that the device is mounted in a predetermined position.
  • the vehicle running device according to Appendix 25 is the vehicle traveling device according to any one of the vehicle traveling devices according to Appendixes 1 to 24, in which the traveling information of the vehicle is transmitted on the target traveling road to be controlled by the traveling control unit. Notify the target of notification.
  • the vehicle running program according to appendix 26 causes the computer to operate as the running control unit described in any one of the vehicle running devices according to appendices 1 to 25.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un dispositif de déplacement de véhicule comprenant : une unité de commande de véhicule (24) qui commande une force d'entraînement et une force de freinage d'une unité de puissance pour amener un véhicule (10A) à se déplacer, le véhicule comprenant un support d'objet monté (18) sur lequel un objet monté (20) peut être monté ; une unité d'acquisition d'informations d'état de trajet de déplacement (32) qui acquiert des informations d'état d'un trajet de déplacement sur lequel le véhicule se déplace ; et une unité de commande de déplacement (34) qui génère, sur la base des informations d'état du trajet de déplacement acquises par l'unité d'acquisition d'informations d'état de trajet de déplacement, des informations d'accélération et de décélération du véhicule de façon à régler une relation de position relative entre le support d'objet monté et l'objet monté monté sur ledit support d'objet monté de façon à obtenir une relation de position prescrite et qui délivre des instructions d'accélération et de décélération à l'unité de commande de véhicule pendant le déplacement.
PCT/JP2023/021243 2022-07-06 2023-06-07 Dispositif de déplacement de véhicule et programme de déplacement de véhicule WO2024009673A1 (fr)

Applications Claiming Priority (4)

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JP2022-109050 2022-07-06
JP2022109050 2022-07-06
JP2023-006162 2023-01-18
JP2023006162A JP2024008802A (ja) 2022-07-06 2023-01-18 車両走行装置、車両走行プログラム

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004005366A (ja) * 2002-04-15 2004-01-08 Daifuku Co Ltd 搬送台車の走行制御方法
WO2009028133A1 (fr) * 2007-08-28 2009-03-05 Panasonic Corporation Chariot à deux roues inversées et son procédé de commande
US9738449B1 (en) * 2014-09-19 2017-08-22 Amazon Technologies, Inc. Inventory holder load detection and/or stabilization
JP2020038631A (ja) * 2018-08-30 2020-03-12 キヤノン株式会社 情報処理装置、情報処理方法、プログラムおよびシステム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004005366A (ja) * 2002-04-15 2004-01-08 Daifuku Co Ltd 搬送台車の走行制御方法
WO2009028133A1 (fr) * 2007-08-28 2009-03-05 Panasonic Corporation Chariot à deux roues inversées et son procédé de commande
US9738449B1 (en) * 2014-09-19 2017-08-22 Amazon Technologies, Inc. Inventory holder load detection and/or stabilization
JP2020038631A (ja) * 2018-08-30 2020-03-12 キヤノン株式会社 情報処理装置、情報処理方法、プログラムおよびシステム

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