Cart Robot

Abstract

To provide a cart robot that can travel a stair.SOLUTION: A cart robot of the embodiment includes: a traveling vehicle body; a first axle provided on the running body; a plurality of second axles extending from a tip end part of the first axle in a radial direction of the first axle and being extendable in the radial direction; a wheel provided at the tip end part of each of the second axles; a first drive part that rotates the second axles in a circumferential direction of the first axle; a second drive part that rotates the wheel relative to the second axle; a third drive part that can expand the second axle in the radial direction; a first lock part that can restrict a rotation in the circumferential direction of the second axle; a second lock part that can restrict the rotation of the wheel; and a control device that controls an expansion of the second axle, a restriction by the first locking part, and the restriction by the second locking part.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The disclosed embodiments relate to a cart robot.

Background Art

[0002] Conventionally, there is known a cart robot that autonomously travels based on a predetermined cargo collection plan and picks up a load from a shelf with an arm (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the conventional cart robot is not assumed to travel on stairs, and there is room for improvement.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a cart robot capable of traveling on stairs.

Means for Solving the Problems

[0006] A cart robot according to an aspect of an embodiment includes a traveling vehicle body, a first axle provided on the traveling vehicle body, a plurality of second axles extending in a radial direction from a tip of the first axle and being radially expandable and contractible, wheels provided at tips of the plurality of second axles respectively, a first drive unit that rotates the plurality of second axles in a circumferential direction of the first axle, a second drive unit that rotates the wheels with respect to the second axles, a third drive unit that expands and contracts the second axles in a radial direction, a first lock unit that can regulate rotation of the second axles in a circumferential direction, a second lock unit that can regulate rotation of the wheels, and a control device that controls expansion and contraction of the second axles, regulation by the first lock unit, and regulation by the second lock unit. [Effects of the Invention]

[0007] According to one embodiment, it is possible to travel up and down stairs. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic side view of a cart robot according to an embodiment. [Figure 2] Figure 2 is a control system block diagram of the information processing device 6 according to the embodiment. [Figure 3] Figure 3 shows the cart robot traveling on a flat road. [Figure 4] Figure 4 shows the cart robot traveling up and down the stairs. [Figure 5] Figure 5 is a flowchart illustrating the process of switching the driving state of the cart robot according to the embodiment. [Figure 6] Figure 6 is a schematic diagram showing an example of a computer hardware configuration that functions as an information processing device. [Modes for carrying out the invention]

[0009] The present invention will be described below through embodiments, but these embodiments are not intended to limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0010] The cart robot 1 according to this embodiment will be described with reference to Figure 1. Figure 1 is a schematic side view of the cart robot 1 according to this embodiment.

[0011] Cart robot 1 transports cargo. Cart robot 1 transports the cargo that is placed on it. Cart robot 1 travels along a set travel path. The travel path may be changeable.

[0012] Cart robot 1 can, for example, retrieve and transport goods within a warehouse. Cart robot 1 is not limited to use within a warehouse. Cart robot 1 may also be used in a building, such as an office building. Goods include items and documents. The following description uses, but is not limited to, a cart robot 1 with an arm 4. Cart robot 1 may also not have an arm 4.

[0013] The cart robot 1 comprises a vehicle body 2, a drive mechanism 3, an arm 4, a detection unit 5, and an information processing device 6. The vehicle body 2 is formed, for example, in the shape of a box with an opening at the top. A load can be placed on the vehicle body 2.

[0014] The drive mechanism 3 is provided on the vehicle body 2. The drive mechanism 3 comprises a first axle 10, a second axle 11, wheels 12, a first drive unit 13, a second drive unit 14, a third drive unit 15, a first locking unit 16, and a second locking unit 17.

[0015] The first axle 10 is provided on the vehicle body 2. The first axle 10 is rotatably supported on the vehicle body 2. Multiple first axles 10 are provided. An even number of first axles 10 are provided on the vehicle body 2. For example, four first axles 10 are provided on the vehicle body 2. The number of first axles 10 is not limited to four. The number of first axles 10 may be two, six, or more. The first axles 10 are configured to extend in the left-right direction of the vehicle body 2. If there are two first axles 10, the two first axles 10 are provided side by side in the front-rear direction.

[0016] The second axle 11 is configured to extend in the radial direction of the first axle 10 from the tip of the first axle 10. The second axle 11 is telescopic in the radial direction of the first axle 10. A plurality of second axles 11 are provided with respect to the first axle 10. The plurality of second axles 11 are each telescopic in the radial direction of the first axle 10. For example, four second axles 11 are provided for one first axle 10. The second axles 11 are provided at equal intervals along the circumferential direction of the first axle 10. When the first axle 10 is rotated, the second axle 11 rotates integrally with the first axle 10. The number of the second axles 11 is not limited to four. The number of the second axles 11 is three or more.

[0017] The wheel 12 is provided at the tip of the second axle 11. The wheels 12 are provided respectively with respect to the second axles 11. That is, a plurality of wheels 12 are provided for one first axle 10. For example, four wheels 12 are provided for one first axle 10. The wheels 12 are provided so as to be rotatable with respect to the second axles 11. The wheels 12 are rotatably supported by the second axles 11.

[0018] The first drive unit 13 rotates the plurality of second axles 11 in the circumferential direction of the first axle 10. The first drive unit 13 rotates the second axles 11 in the circumferential direction of the first axle 10 by rotating the first axle 10. The first drive unit 13 is provided respectively for a plurality of first axles 10. That is, a plurality of first drive units 13 are provided. For example, four first drive units 13 are provided. The first drive unit 13 is a motor.

[0019] The second drive unit 14 rotates the wheel 12. The second drive unit 14 is provided for each wheel 12. For example, four second drive units 14 are provided for one first axle 10. The second drive unit 14 is a motor.

[0020] The third drive unit 15 expands and contracts the second axle 11 in the radial direction of the first axle 10. The third drive unit 15 is provided, for example, one for each first axle 10. The third drive unit 15 expands and contracts the second axle 11 provided on the first axle 10 in the radial direction of the first axle 10. The third drive unit 15 may be provided for each second axle 11. The second axle 11 may be capable of changing the length in the radial direction of the first axle 10 respectively. The third drive unit 15 includes a motor and a conversion mechanism that converts the rotational motion (swinging motion) by the motor into a linear motion.

[0021] The first locking portion 16 is configured to be able to restrict the rotation of the second axle 11 in the circumferential direction of the first axle 10. The first locking portion 16 switches the rotational state of the second axle 11 in the circumferential direction of the first axle 10. The rotational state includes a non-locked state in which rotation is permitted and a locked state in which rotation is restricted, specifically prohibited.

[0022] That is, the first locking portion 16 can prohibit the rotation of the second axle 11 in the circumferential direction of the first axle 10. When the first locking portion 16 is in the locked state, the first axle 10 is fixed so that the first axle 10 does not rotate with respect to the traveling vehicle body 2. Thereby, the rotation of the second axle 11 in the circumferential direction of the first axle 10 is prohibited.

[0023] When the first locking portion 16 is in the non-locked state, the fixing of the first axle 10 is released. Thereby, the first axle 10 can rotate with respect to the traveling vehicle body 2, and the rotation of the second axle 11 in the circumferential direction of the first axle 10 is permitted.

[0024] The first locking portion 16 is provided for each first axle 10. The first locking portion 16 includes, for example, an engaging member that engages with the first axle 10 to prohibit the rotation of the first axle 10 and an actuator that operates the engaging member. The actuator includes, for example, a motor and the like.

[0025] The second locking mechanism 17 is configured to restrict the rotation of the wheel 12. The second locking mechanism 17 switches the rotation state of the wheel 12. The second locking mechanism 17 can prevent the rotation of the wheel 12. When the second locking mechanism 17 is in the locked state, the wheel 12 is fixed to the second axle 11 so that it does not rotate. This prevents the wheel 12 from rotating relative to the second axle 11.

[0026] When the second locking mechanism 17 is unlocked, the wheel 12 is released from its position on the second axle 11. This allows the wheel 12 to rotate relative to the second axle 11.

[0027] A second locking mechanism 17 is provided for each wheel 12, that is, for each second axle 11. The second locking mechanism 17 includes, for example, a connecting member that connects the second axle 11 and the wheel 12 to prevent the wheel 12 from rotating relative to the second axle 11, and an actuator that operates the connecting member.

[0028] Arm 4 is attached to the vehicle body 2. The base end of Arm 4 is attached to the vehicle body 2, thereby fixing Arm 4 to the vehicle body 2. For example, the base end of Arm 4 is attached to the upper end of the vehicle body 2. Multiple Arm 4s are provided on the vehicle body 2. For example, two Arm 4s are provided. However, the number of Arm 4s is not limited to this. One Arm 4 may be provided, or three or more may be provided.

[0029] Arm 4 is attached to the front end and rear end of the vehicle body 2. Arm 4 is attached to the vehicle body 2 near the center in the left-right direction.

[0030] The arm 4 has multiple rod sections 4a and multiple joint sections 4b. The joint sections 4b are provided, for example, between two rod sections 4a, allowing the two rod sections 4a to rotate relative to each other. Each joint section 4b has a motor. By rotating the rod sections 4a relative to each joint section 4b, the arm 4 can extend and retract and rotate 360 ​​degrees.

[0031] A gripping section 4c is provided at the tip of the arm 4. The gripping section 4c comprises, for example, multiple fingers 4d. The number of fingers 4d on the gripping section 4c is 3 or 5. The number of fingers 4d on the gripping section 4c is not limited to these. The number of fingers 4d on the gripping section 4c is 2 or more. The arm 4 grips the load by moving the multiple fingers 4d. The gripping section 4c may also grip the load by suction.

[0032] The detection unit 5 includes a first detection unit 20 and a second detection unit 21. The first detection unit 20 is attached to the vehicle body 2. The first detection unit 20 is attached, for example, to the front end of the vehicle body 2. The first detection unit 20 detects the shape of the road in the direction of travel of the vehicle body 2. The road includes flat roads and roads with steps, such as stairs. The shape of the road includes the height of the stairs, the depth of the stairs, and the angle of the stairs.

[0033] The first detection unit 20 is a camera. The camera includes an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) and a lens. The first detection unit 20 may include at least one of various sensors, such as a solid-state LiDAR (light detection and ranging), a multi-color laser coaxial displacement meter, or other sensors. The first detection unit 20 may also include a MoPU (Motion Processing Unit). The MoPU is a unit that detects motion using a high-resolution camera. The MoPU outputs motion information indicating the movement of an object from an image of the object taken at a frame rate of, for example, 1000 frames per second or more, at a frame rate of, for example, 1000 frames per second or more. Furthermore, it outputs vector information of the movement of a point indicating the location of the object along a predetermined coordinate axis as motion information. In other words, the motion information output from the MoPU does not include the information necessary to identify what the captured object is (for example, whether it is a person or an obstacle), but only information indicating the movement (direction of movement and speed of movement) along the coordinate axes (x-axis, y-axis, z-axis), such as the center point (or center of gravity) of the object.

[0034] The second detection unit 21 detects movement of the tip of the arm 4. The second detection unit 21 is attached to the arm 4, for example. For example, the second detection unit 21 is attached to the tip of the arm 4.

[0035] The second detection unit 21 is a camera. The second detection unit 21 may include at least one of a solid-state LiDAR, a multi-color laser coaxial displacement sensor, or various other sensors. The second detection unit 21 may also include a MoPU.

[0036] As shown in Figure 2, the information processing device 6 comprises an information acquisition unit 30, a control unit 31, and an information storage unit 32. Figure 2 is a control system block diagram of the information processing device 6 according to this embodiment.

[0037] The information acquisition unit 30 acquires information detected by the first detection unit 20 and the second detection unit 21. The information acquisition unit 30 also acquires signals transmitted from a control center or the like that instructs the operation of the cart robot 1. The signals transmitted from the control center or the like include information about the travel path of the cart robot 1.

[0038] The control unit 31 controls the operation of the arm 4 and the vehicle body 2 based on signals transmitted from the control center or the like and acquired by the information acquisition unit 30. The control unit 31 also controls the operation of the arm 4 and the vehicle body 2 based on the detection results from the first detection unit 20 and the second detection unit 21. The control unit 31 controls the operation of the vehicle body 2 by controlling the drive units 13 to 15 and the lock units 16 and 17 of the drive mechanism 3.

[0039] The control unit 31 determines, based on the detection results from the first detection unit 20, whether the path on which the cart robot 1 travels is a flat path or a step, such as stairs. The control unit 31 uses the detection results from the first detection unit 20 and, for example, AI (Artificial Intelligence) to determine whether the path on which the cart robot 1 travels is a flat path or a step, such as stairs.

[0040] The control unit 31 controls the restriction by the first locking unit 16. The control unit 31 switches the rotation state of the second axle 11 in the circumferential direction of the first axle 10. The control unit 31 switches between the locked state and the unlocked state by the first locking unit 16.

[0041] The control unit 31 controls the restriction by the second locking unit 17. The control unit 31 switches the rotation state of the wheel 12. The control unit 31 switches between the locked state and the unlocked state by the second locking unit 17.

[0042] The control unit 31 controls the rotational speed of the first axle 10 in the first drive unit 13. The control unit 31 can control the rotational speed of each first axle 10 individually. For example, the control unit 31 can control the rotational speed of at least one of the first axles 10 to be different from that of the other first axles 10. The control unit 31 can control the rotational direction of each first axle 10 individually.

[0043] The control unit 31 controls the rotational speed of the wheels 12 in the second drive unit 14. The control unit 31 can control the rotational speed of each wheel 12 individually. For example, the control unit 31 can control the rotational speed of at least one wheel 12 to be different from that of the other wheels 12.

[0044] The control unit 31 controls the expansion and contraction of the second axle 11 in the radial direction of the first axle 10. The control unit 31 controls the expansion and contraction of the second axle 11 in the radial direction of the first axle 10 by controlling the third drive unit 15. The control unit 31 can control the expansion and contraction of each second axle 11 individually. For example, the control unit 31 can control the length of at least one second axle 11 of each second axle 11 to be a different length from the other second axles 11.

[0045] For example, as shown in Figure 3, the control unit 31 (see Figure 2) locks the first locking unit 16 (see Figure 1) to prevent the first axle 10 from rotating when the road on which the cart robot 1 travels is a flat road. Figure 3 shows the state when the cart robot 1 is traveling on a flat road. The control unit 31 adjusts the rotational position of the first axle 10 so that two of the multiple wheels 12 provided on one first axle 10 are in contact with the road surface, and then fixes the first axle 10 so that it does not rotate.

[0046] Furthermore, the control unit 31 unlocks the second locking unit 17 (see Figure 1) when the path on which the cart robot 1 travels is flat. The control unit 31 moves the cart robot 1 by controlling the rotation speed of the wheels 12 by the second drive unit 14.

[0047] For example, as shown in Figure 4, the control unit 31 (see Figure 2) locks the second locking unit 17 (see Figure 1) when the path the cart robot 1 is traveling on is a staircase, preventing the wheels 12 from rotating relative to the second axle 11. Figure 4 shows the state when the cart robot 1 is traveling up a staircase.

[0048] Furthermore, the control unit 31 unlocks the first locking unit 16 (see Figure 1) if the path on which the cart robot 1 travels is a staircase. The control unit 31 controls the rotational speed of the first axle 10 by the first drive unit 13, thereby rotating the first axle 10, the second axle 11, and the wheels 12 together to move the cart robot 1.

[0049] When the cart robot 1 travels up and down stairs, the wheels 12 are fixed to the second axle 11 without rotating, and the second axle 11 and the wheels 12 rotate together as a single unit, allowing the cart robot 1 to ascend and descend stairs.

[0050] The control unit 31 extends or retracts the second axle 11 according to the shape of the stairs (stair height, stair depth, and stair angle) when the path on which the cart robot 1 travels is a staircase. Specifically, the control unit 31 adjusts the length of the second axle 11 to match the shape of the stairs. This allows the cart robot 1 to maintain a stable posture while traveling on stairs. Furthermore, the cart robot 1 can ascend and descend stairs of different shapes.

[0051] The control unit 31 controls the movement of the arm 4 according to the detection result from the second detection unit 21, and delivers the package. The delivery of the package includes taking out the package.

[0052] The control unit 31 controls the movement of the arm 4, allowing the cart robot 1 to move between different floors using an elevator. Based on the detection results from the second detection unit 21, the control unit 31 controls the arm 4 and uses the arm 4 to press the elevator's destination floor button. This allows the cart robot 1 to move between floors without using stairs in buildings with elevators.

[0053] The information storage unit 32 is implemented by a storage medium such as a semiconductor memory element like RAM (Random Access Memory) or flash memory. The information storage unit 32 stores various programs executed by the control unit 31. The information storage unit 32 also stores information acquired by the information acquisition unit 30.

[0054] Next, the process for switching the driving state of the cart robot 1 according to this embodiment will be explained using the flowchart in Figure 5. Figure 5 is a flowchart illustrating the process for switching the driving state of the cart robot 1 according to this embodiment.

[0055] The information processing device 6 acquires the detection result from the first detection unit 20 (S100). Based on the acquired detection result, the information processing device determines whether the road on which the cart robot 1 travels is a flat road (S101).

[0056] If the road on which the cart robot 1 travels is a flat road (S101: Yes), the information processing device 6 locks the first locking unit 16 and unlocks the second locking unit 17 (S102).

[0057] If the path on which the cart robot 1 travels is not a flat path (S101: No), for example, if the path on which the cart robot 1 travels is a staircase, the information processing device 6 will unlock the first locking unit 16 and lock the second locking unit 17 (S103).

[0058] The cart robot 1 comprises a vehicle body 2, a first axle 10, a plurality of second axles 11, wheels 12, a first drive unit 13, a second drive unit 14, a third drive unit 15, a first locking unit 16, a second locking unit 17, and an information processing device 6. The first axle 10 is provided on the vehicle body 2. The plurality of second axles 11 extend radially from the tip of the first axle 10 and are extendable and retractable in the radial direction. The wheels 12 are provided on the tip of each of the plurality of second axles 11. The first drive unit 13 rotates the plurality of second axles 11 in the circumferential direction of the first axle 10. The second drive unit 14 rotates the wheels 12 relative to the second axles 11. The third drive unit 15 extends and retracts the second axles 11 radially of the first axle 10. The first locking mechanism 16 can restrict the rotation of the second axle 11 in the circumferential direction of the first axle 10. The second locking mechanism 17 can restrict the rotation of the wheel 12. The information processing device 6 controls the extension and retraction of the second axle 11, the restriction by the first locking mechanism 16, and the restriction by the second locking mechanism 17.

[0059] As a result, the cart robot 1 can ascend and descend stairs, even if the path on which the cart robot 1 travels is, for example, a staircase. For example, the cart robot 1 can ascend and descend stairs when the first locking part 16 is unlocked and the second locking part 17 is locked.

[0060] Furthermore, the extension and retraction of the second axle 11 allows the cart robot 1 to travel stably up and down stairs. Also, by extending and retracting the second axle 11 to match the shape of the stairs, the cart robot 1 can ascend and descend stairs in accordance with various types of stairs.

[0061] The cart robot 1 includes a first detection unit 20. The first detection unit 20 detects the shape of the road in the direction of travel of the vehicle body 2. The information processing device 6 controls the extension and retraction of the second axle 11, the restriction by the first locking unit 16, and the restriction by the second locking unit 17 according to the shape of the road detected by the first detection unit 20.

[0062] As a result, the cart robot 1 can suitably ascend and descend stairs in accordance with various types of stairs.

[0063] The cart robot 1 comprises an arm 4 and a second detection unit 21. The arm 4 is attached to the vehicle body 2. The second detection unit 21 detects the movement of the tip of the arm 4. The information processing device 6 controls the arm 4 based on the detection results from the second detection unit 21.

[0064] As a result, for example, the cart robot 1 can press the destination floor button on the elevator with its arm 4 according to the detection result from the second detection unit 21. Therefore, the cart robot 1 can move between floors in a building with an elevator without using the stairs.

[0065] The vehicle body 2 of the cart robot 1 may have a portion that is slidable in the direction of travel (forward and backward direction). For example, the vehicle body 2 comprises a fixed part and a movable part. The first axle 10 is attached to the fixed part. The movable part is slidable in the forward and backward direction relative to the fixed part. The movable part is, for example, a tray on which cargo is placed. A portion of the first axle 10 may be attached to the movable part.

[0066] This allows the balance of the cart robot 1 to be stabilized, for example, by having the movable part slide relative to the fixed part according to the size (weight) of the load.

[0067] Figure 6 is a schematic diagram showing an example of the hardware configuration of a computer 1200 that functions as an information processing device 6. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the device according to this embodiment, or to cause the computer 1200 to execute operations associated with the device according to this embodiment or such one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0068] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0069] The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 and stores it in a frame buffer provided in RAM 1214 or within itself, so that the image data is displayed on the display device 1218.

[0070] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0071] The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 upon activation. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0072] The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0073] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as RAM 1214, storage device 1224, DVD-ROM, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area provided on the recording medium.

[0074] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0075] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies the predetermined condition.

[0076] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0077] In this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements.

[0078] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray® disc, memory stick, integrated circuit card, etc.

[0079] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar programming languages.

[0080] Computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or a programmable circuit, either locally or via a wide area network (WAN) such as a local area network (LAN) or the internet, so that the computer-readable instructions may be executed by the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, in order to generate means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

[0081] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0082] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods described in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," and "next," for convenience, this does not mean that it is essential to perform the operations in that order. [Explanation of Symbols]

[0083] 1. Cart Robot 2. Running vehicle 3. Drive mechanism 4 Arms 5. Detection Unit 6. Information Processing Device (Control Device) 10 1st axle 11 2nd axle 12 wheels 13 First drive unit 14. Second drive unit 15 Third drive unit 16. First Rock Section 17. Second Rock Section 20 First detection unit 21 Second detection unit 30 Information acquisition department 31 Control Unit 32 Information Storage Unit

Claims

1. The vehicle body and The first axle provided on the vehicle body, A plurality of second axles extending radially from the tip of the first axle and being expandable and contractible in the radial direction, Wheels provided at the ends of each of the aforementioned multiple second axles, A first drive unit that rotates the plurality of second axles in the circumferential direction of the first axle, A second drive unit that rotates the wheel with respect to the second axle, A third drive unit that extends and retracts the second axle in the radial direction, A first locking mechanism capable of restricting the rotation of the second axle in the circumferential direction, A second locking mechanism capable of restricting the rotation of the aforementioned wheel, A control device that controls the extension and retraction of the second axle, the restriction by the first locking part, and the restriction by the second locking part, A first detection unit detects the shape of the road in the direction of travel of the vehicle body. Equipped with, The control device controls the extension and retraction of each of the plurality of second axles, the restriction by the first locking unit, and the restriction by the second locking unit according to the shape of the travel path detected by the first detection unit, in a cart robot.

2. The cart robot according to claim 1, wherein a part of the vehicle body is slidable in the direction of travel of the vehicle body.

3. The cart robot according to claim 1, wherein the control device adjusts the length of each of the plurality of second axles according to the shape of the stairs when the travel path is a staircase.

4. An arm attached to the vehicle body, The arm is equipped with a second detection unit that detects the movement of the tip side of the arm, The cart robot according to any one of claims 1 to 3, wherein the control device controls the arm based on the detection result by the second detection unit.

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