Cart Robot

Abstract

To improve traveling performance.SOLUTION: A cart robot is equipped with a traveling vehicle body, a first axle, a plurality of second axels, wheels, a first driving portion, a second driving portion, and a control device. The traveling vehicle body and the first axel are provided on the traveling vehicle body. The plurality of second axels extends in a diametrical direction of the first axel from a tip end portion of the first axel. The wheels are respectively provided at tip end portions of the second axels. The first driving portion rotates the plurality of second axels in a circumferential direction of the first axel. The second driving portion rotates the wheels with respect to the second axels. The control device controls the first driving portion and the second driving portion. The control device changes the number of the wheels contacting with a roach surface, according to the weight of a load placed on the traveling vehicle body.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 loading plan for articles and takes out a load from a shelf by 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, in the conventional cart robot, the number of wheels in contact with the road surface during traveling is constant, and there is room for improvement in the traveling performance of the cart robot.

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

Means for Solving the Problems

[0006] <� A cart robot according to an aspect of an embodiment includes a traveling vehicle body, a first axle, a plurality of second axles, wheels, a first drive unit, a second drive unit, and a control device. The first axle is provided on the traveling vehicle body. The plurality of second axles extend in the radial direction of the first axle from the tip of the first axle. The wheels are respectively provided at the tips of the plurality of second axles. The first drive unit rotates the plurality of second axles in the circumferential direction of the first axle. The second drive unit rotates the wheels with respect to the second axles. The control device controls the first drive unit and the second drive unit. The control device changes the number of wheels in contact with the road surface according to the weight of the load placed on the traveling vehicle body. [Effects of the Invention]

[0007] According to one embodiment, drivability can be improved. [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 block diagram of the control system of the information processing apparatus according to the embodiment. [Figure 3] Figure 3 shows the cart robot traveling on a flat road. [Figure 4] Figure 4 shows a cart robot when the weight of the cargo placed on the vehicle is less than a predetermined weight. [Figure 5] Figure 5 shows the cart robot traveling up and down the stairs. [Figure 6] Figure 6 is a flowchart illustrating the process of switching the driving state of the cart robot according to the embodiment. [Figure 7] Figure 7 shows the modified cart robot traveling on a flat road. [Figure 8] Figure 8 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. That is, multiple drive mechanisms 3 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 telescopically extendable 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 telescopically extendable in the radial direction of the first axle 10. The second axle 11 is provided, for example, in four 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 second axles 11 is not limited to four. The number of 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. The wheels 12 are provided, for example, in four 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 wheels 12. The second drive unit 14 is provided for each wheel 12. The second drive units 14 are provided, for example, in four for one first axle 10. The second drive unit 14 is a motor.

[0020] The third drive unit 15 extends and retracts the second axle 11 in the radial direction of the first axle 10. For example, one third drive unit 15 is provided for each first axle 10. The third drive unit 15 extends and retracts the second axle 11, which is provided on the first axle 10, in the radial direction of the first axle 10. A third drive unit 15 may be provided for each second axle 11. The length of each second axle 11 in the radial direction of the first axle 10 may be changeable. The third drive unit 15 includes a motor and a conversion mechanism that converts rotational motion (rotational movement) by the motor into linear motion.

[0021] The first locking mechanism 16 is configured to restrict the rotation of the second axle 11 in the circumferential direction of the first axle 10. The first locking mechanism 16 switches the rotational state of the second axle 11 in the circumferential direction of the first axle 10. The rotational states include an unlocked state in which rotation is permitted and a locked state in which rotation is restricted, specifically prohibited.

[0022] In other words, the first locking mechanism 16 can prevent the rotation of the second axle 11 in the circumferential direction of the first axle 10. When the first locking mechanism 16 is locked, the first axle 10 is fixed so that it does not rotate relative to the vehicle body 2. This prevents the rotation of the second axle 11 in the circumferential direction of the first axle 10.

[0023] When the first locking mechanism 16 is unlocked, the first axle 10 is released. This allows the first axle 10 to rotate relative to the vehicle body 2, and permits the second axle 11 to rotate in the circumferential direction of the first axle 10.

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

[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 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. The signals transmitted from the control center or the like may also include information about the cargo.

[0038] The information acquisition unit 30 acquires information regarding the weight of the cargo measured by the weight sensor 25 (see Figure 1). The weight sensor 25 is installed on the vehicle body 2. The weight sensor 25 measures the weight of the cargo placed on the vehicle body 2. The weight of the cargo placed on the vehicle body 2 is the total weight of the cargo placed on the vehicle body 2. For example, if there are two pieces of cargo placed on the vehicle body 2, the weight of the cargo placed on the vehicle body 2 is the sum of the weights of the two pieces of cargo.

[0039] The control unit 31 controls the operation of the arm 4 and the vehicle body 2 based on signals transmitted from the control center and other sources 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. The control unit 31 controls the drive mechanism 3 based on the measurement results from the weight sensor 25.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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 path on which the cart robot 1 travels is flat. Figure 3 shows the state when the cart robot 1 is traveling on a flat path. After adjusting the rotational position of the first axle 10, the control unit 31 fixes the first axle 10 so that it does not rotate. For example, the control unit 31 detects the rotational angle of the first axle 10 using a rotational angle sensor and adjusts the rotational position of the first axle 10.

[0047] 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.

[0048] The control unit 31 changes the number of wheels 12 in contact with the road surface according to the weight of the load placed on the vehicle body 2, if the road on which the cart robot 1 travels is a flat road.

[0049] The weight sensor 25 may also be provided on the arm 4. In this case, the control unit 31 calculates the weight of the load to be placed on the vehicle body 2 by adding the measured weights of the loads.

[0050] Furthermore, the weight of the cargo placed on the vehicle body 2 may be the sum of the weights registered for each individual cargo. In other words, the weight of the cargo placed on the vehicle body 2 may be the sum of the weights registered for each cargo received by the cart robot 1. In this case, the weight of each cargo is linked to the information of each cargo as information for each cargo. When the cart robot 1 receives a cargo, for example, the control unit 31 reads the information about the weight of the cargo from the information of each cargo. Then, the control unit 31 calculates the weight of the cargo to be placed on the vehicle body 2.

[0051] Furthermore, the control unit 31 may change the number of wheels 12 in contact with the road surface according to the weight of the cargo to be loaded onto the vehicle body 2. That is, the weight of the cargo to be loaded onto the vehicle body 2 includes the weight to be loaded onto the vehicle body 2. In this case, the number of wheels 12 in contact with the road surface is set in advance according to the weight of the cargo to be loaded onto the vehicle body 2.

[0052] The control unit 31 increases the number of wheels 12 in contact with the road surface when the weight of the load placed on the vehicle body 2 is heavy. The control unit 31 increases the number of wheels 12 in contact with the road surface when the weight of the load placed on the vehicle body 2 is greater than or equal to a predetermined weight, compared to when the weight of the load placed on the vehicle body 2 is less than a predetermined weight.

[0053] The predetermined weight is a weight that has been set in advance. The predetermined weight is a threshold for changing the number of wheels 12 that are in contact with the road surface.

[0054] When the weight of the load placed on the vehicle body 2 is less than a predetermined weight, the control unit 31 controls each drive mechanism 3 so that, for example, as shown in Figure 4, the number of wheels 12 in contact with the road surface becomes one. Figure 4 shows the cart robot 1 when the weight of the load placed on the vehicle body 2 is less than a predetermined weight. In this case, the cart robot 1 travels with all four wheels 12 in contact with the road surface. The control unit 31 changes the number of wheels 12 in contact with the road surface by controlling the first drive unit 13 and the second drive unit 14.

[0055] If the weight of the load placed on the vehicle body 2 is greater than or equal to a predetermined weight, the control unit 31 controls each drive mechanism 3 so that, for example, as shown in Figure 3, the number of wheels 12 in contact with the road surface becomes two. In this case, the cart robot 1 runs with eight wheels 12 in contact with the road surface. The control unit 31 changes the number of wheels 12 in contact with the road surface by controlling the first drive unit 13 and the second drive unit 14.

[0056] The control unit 31 measures the weight of the package at predetermined measurement intervals. These predetermined measurement intervals are set in advance. For example, the predetermined measurement intervals may be every few minutes. Alternatively, the predetermined measurement intervals may be every tens of seconds, for example.

[0057] When the weight of the load fluctuates around a predetermined weight, the control unit 31 can suppress repeated changes in the number of wheels 12 in contact with the road surface by measuring the weight of the load at predetermined measurement timings. In other words, the control unit 31 changes the number of wheels 12 in contact with the road surface according to the weight of the load while performing hysteresis control. As a result, the control unit 31 can suppress the occurrence of hunting, in which the number of wheels 12 changes repeatedly in a short period of time.

[0058] For example, as shown in Figure 5, the control unit 31 (see Figure 2) locks the second locking unit 17 (see Figure 1) when the path the cart robot 1 travels on is a staircase, preventing the wheels 12 from rotating relative to the second axle 11. Figure 5 shows the state when the cart robot 1 is traveling up a staircase.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] Next, the process for switching the driving state of the cart robot 1 according to the embodiment will be explained using the flowchart in Figure 6. Figure 6 is a flowchart illustrating the process for switching the driving state of the cart robot 1 according to the embodiment. The switching process is the process when the cart robot 1 is traveling on a flat road.

[0066] The information processing device 6 measures the weight of the cargo placed on the vehicle body 2 (S100). The information processing device 6 measures the weight of the cargo placed on the vehicle body 2 using the weight sensor 25.

[0067] The information processing device 6 determines whether the weight of the cargo placed on the vehicle body 2 is equal to or greater than a predetermined weight (S101).

[0068] If the weight of the load placed on the vehicle body 2 is greater than or equal to a predetermined weight (S101: Yes), the information processing device 6 controls each drive mechanism 3 so that the number of wheels 12 in contact with the road surface increases (S102). For example, the information processing device 6 controls each drive mechanism 3 so that two wheels 12 in each drive mechanism 3 are in contact with the road surface. If each drive mechanism 3 is already controlled so that two wheels 12 in each drive mechanism 3 are in contact with the road surface, the process in step S102 is skipped.

[0069] If the weight of the load placed on the vehicle body 2 is less than a predetermined weight (S101: No), the information processing device 6 controls each drive mechanism 3 so that the number of wheels 12 in contact with the road surface is reduced (S103). For example, the information processing device 6 controls each drive mechanism 3 so that one wheel 12 in each drive mechanism 3 is in contact with the road surface. If each drive mechanism 3 is already controlled so that one wheel 12 in each drive mechanism 3 is in contact with the road surface, the processing in step S103 is skipped.

[0070] 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, 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. The wheels 12 are provided at 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 information processing device 6 controls the first drive unit 13 and the second drive unit 14. The information processing device 6 changes the number of wheels 12 in contact with the road surface according to the weight of the load placed on the vehicle body 2.

[0071] As a result, the cart robot 1 travels with its wheels 12, which are adjusted according to the weight of the load placed on the vehicle body 2, in contact with the road surface. Therefore, the cart robot 1 can travel with an appropriate number of wheels 12 for the weight of the load placed on the vehicle body 2, thereby improving its maneuverability.

[0072] The information processing device 6 increases the number of wheels 12 in contact with the road surface when the weight of the load placed on the vehicle body 2 is greater than or equal to a predetermined weight, compared to when the weight of the load placed on the vehicle body 2 is less than a predetermined weight.

[0073] As a result, when the weight of the load on the vehicle body 2 is heavy, the cart robot 1 will run with many wheels 12 in contact with the road surface. Therefore, the cart robot 1 can run in a stable posture. Conversely, when the weight of the load on the vehicle body 2 is light, the cart robot 1 will run with fewer wheels 12 in contact with the road surface. Therefore, the cart robot 1 can reduce its turning radius and make tight turns.

[0074] Furthermore, the control unit 31 of the information processing device 6 may control each drive mechanism 3, which is arranged in the front-rear direction of the vehicle body 2, so that the number of wheels 12 in contact with the road surface differs. For example, as shown in Figure 7, the control unit 31 may set the number of wheels 12 in contact with the road surface to one in each drive mechanism 3 on the front side, and the number of wheels 12 in contact with the road surface to two in each drive mechanism 3 on the rear side. Figure 7 shows a modified cart robot 1 traveling on a flat road.

[0075] In this case, the control unit 31 controls each drive mechanism 3 so that the vehicle body 2 becomes horizontal. Specifically, the control unit 31 controls the third drive unit 15 to extend and retract the second axle 11, thereby making the vehicle body 2 horizontal. Alternatively, only the second axle 11 to which the wheels 12 that contact the road surface are attached may be extended and retracted.

[0076] As a result, the cart robot 1 can maintain the vehicle body 2 horizontally while changing the number of wheels 12 in contact with the road surface in the drive mechanism 3 according to the weight of the load mounted on the vehicle body 2. Therefore, the cart robot 1 can suppress the movement of the load inside the vehicle body 2.

[0077] As described above, the control unit 31 may measure the weight of the load at a predetermined measurement timing. This allows the control unit 31 to suppress repeated extension and retraction of the second axle 11 when the weight of the load fluctuates around a predetermined weight. For example, even if the weight of the load changes to cross a predetermined weight, the second axle 11 extends and retracts in accordance with the predetermined measurement timing at which the weight of the load is measured. This allows the control unit 31 to suppress the occurrence of hunting, where the extension and retraction of the wheel 12 is repeatedly changed in a short period of time.

[0078] Furthermore, multiple predetermined weights may be set. For example, the predetermined weights may include a first predetermined weight and a second predetermined weight. The second predetermined weight is heavier than the first predetermined weight. The control unit 31 changes the number of wheels 12 in contact with the road surface in stages according to the weight of the load placed on the vehicle body 2.

[0079] For example, if the weight of the load placed on the vehicle body 2 is less than a first predetermined weight, the control unit 31 controls each drive mechanism 3 so that the number of wheels 12 in contact with the road surface is one in each drive mechanism 3.

[0080] The control unit 31 controls each front drive mechanism 3 so that the number of wheels 12 in contact with the road surface becomes one when the weight of the load placed on the vehicle body 2 is equal to or greater than a first predetermined weight and less than a second predetermined weight. The control unit 31 also controls each rear drive mechanism 3 so that the number of wheels 12 in contact with the road surface becomes two when the weight of the load placed on the vehicle body 2 is equal to or greater than a first predetermined weight and less than a second predetermined weight. The control unit 31 may also set the number of wheels 12 in contact with the road surface to two for each front drive mechanism 3 and the number of wheels 12 in contact with the road surface to one for each rear drive mechanism 3.

[0081] The control unit 31 controls each drive mechanism 3 so that the number of wheels 12 in contact with the road surface becomes two, if the weight of the load placed on the vehicle body 2 is equal to or greater than the second predetermined weight.

[0082] Figure 8 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 apparatus according to this embodiment, or to cause the computer 1200 to execute operations associated with the apparatus 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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]

[0098] 1. Cart Robot 2. Running vehicle 3. Drive mechanism 4 Arms 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 25 Weight Sensor 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, Multiple second axles extending radially from the tip of the first axle, 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, The first drive unit and the control device that controls the second drive unit and Equipped with, Multiple first axles are provided in the longitudinal direction of the vehicle body, The control device is If the weight of the load placed on the vehicle body is less than the first predetermined weight, the number of wheels in contact with the road surface on the first axle arranged in the front-rear direction is set to one. If the weight of the load placed on the vehicle body is equal to or greater than the first predetermined weight, and less than a second predetermined weight that is heavier than the first predetermined weight, then the number of wheels in contact with the road surface on the first axle located on either the front or rear side shall be one, and the number of wheels in contact with the road surface on the other first axle located on either the front or rear side shall be two. A cart robot in which, when the weight of the load placed on the vehicle body is equal to or greater than the second predetermined weight, the number of wheels in contact with the road surface on each of the first axles arranged in the front-rear direction is set to two.

2. A third drive unit that extends and retracts the second axle in the radial direction. Equipped with, The aforementioned plurality of second axles are extendable and retractable in the radial direction, The cart robot according to claim 1, wherein the control device controls the length of each second axle provided on the first axle so that the vehicle body becomes horizontal.

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