Control system of animal carrier and animal carrier

Abstract

To provide a control system of an animal carrier which can suppress discomfort given to an animal when the animal is carried.SOLUTION: A control system of an animal carrier, which controls the operation of an animal carrier including a load-carrying platform having a base part having a plurality of wheels, and a loading part which is arranged in the base part and is configured to load an animal therein, includes: an adjustment mechanism which is arranged between the base part and the loading part, and is configured to adjust each position and angle of the loading part based on the base part; a detection part which is configured to detect yaw angle acceleration of the mounting part; and a control part which is configured to control adjustment operation of the adjustment mechanism, according to behavior characteristics of the animal in the loading part, accompanied by the increase in the yaw angle acceleration of the loading part detected by the detection part.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a control system for an animal transport vehicle and an animal transport vehicle.

Background Art

[0002] As a control system for an animal transport vehicle, various technologies have been disclosed (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] In such a control system for an animal transport vehicle, for example, when transporting animals, it is required to suppress the discomfort given to the animals. It is desirable to provide a control system for an animal transport vehicle and an animal transport vehicle that can suppress the discomfort given to the animals when transporting them.

Means for Solving the Problems

[0005] A control system for an animal transport vehicle according to an embodiment of the present disclosure is a system for controlling the operation of an animal transport vehicle including a loading platform portion having a base portion having a plurality of wheels and a loading portion disposed within the base portion and configured to load animals therein, the system including an adjustment mechanism disposed between the base portion and the loading portion and configured to adjust the position and angle of the loading portion with respect to the base portion, a detection portion configured to detect the yaw angular acceleration of the loading portion, and a control portion configured to control the adjustment operation of the adjustment mechanism according to the behavior characteristics of the animals within the loading portion in accordance with an increase in the yaw angular acceleration of the loading portion detected by the detection portion.

[0006] An animal transporter according to an embodiment of the present disclosure is an animal transporter for transporting animals, and includes a base portion having a plurality of wheels, a loading portion disposed within the base portion and configured to load animals therein, a loading platform portion having the loading portion, and a control system configured to control the operation of the animal transporter. The control system is disposed between the base portion and the loading portion, and includes an adjustment mechanism configured to adjust the position and angle of the loading portion with respect to the base portion, a detection portion configured to detect the yaw angular acceleration of the loading portion, and a control portion configured to control the adjustment operation of the adjustment mechanism according to the behavior characteristics of the animals within the loading portion in response to an increase in the yaw angular acceleration of the loading portion detected by the detection portion.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The description will be made in the following order. 1. Embodiment (Example of performing operation control of the adjustment mechanism based on the detection result of yaw angular acceleration) 2. Modification Modification 1 (Example of operation control of the adjustment mechanism according to the acceleration in the front-rear direction of the animal carrier) Modification 2 (Example of operation control of the adjustment mechanism according to the acceleration in the lateral direction of the animal carrier) Modification 3 (Example of operation control using the detection results of pitch angular acceleration and roll angular acceleration) 3. Other modifications

[0009] <1. Embodiment> [Configuration] FIG. 1 schematically shows a schematic configuration example of an animal carrier (animal carrier 1) according to an embodiment of the present disclosure in a block diagram. This animal carrier 1 is a vehicle that transports an animal 9 mounted in a loading section 12 described later. Note that examples of the animal 9 include, for example, a horse shown in FIG. 1, and various other animals, and may also include humans.

[0010] As shown in FIG. 1, the animal carrier 1 includes a vehicle body section 11, a loading section 12, an adjustment mechanism 13, a projection section 14, a detection section 15, and a vehicle control section 16. Hereinafter, as shown in FIG. 1 for example, the traveling direction (front-rear direction) of the animal carrier 1 is defined as the X-axis, the vehicle width direction (lateral direction) of the animal carrier 1 is defined as the Y-axis, the height direction of the animal carrier 1 is defined as the Z-axis, and a yaw angle θyaw centered on this Z-axis is defined.

[0011] The vehicle body section 11 has two left and right wheels W1 along the lateral direction, and has a space for accommodating passengers such as a driver in the animal carrier 1.

[0012] The loading platform part 12 is towed behind the vehicle body part 11 and is the part for mounting the animal 9 to be transported. Specifically, as shown in FIG. 1, this loading platform part 12 has a two-layer structure including a base part 121 on the outer layer side and a mounting part 122 on the inner layer side. The base part 121 has a plurality of wheels (two left and right wheels (front wheels) W2f and two left and right wheels (rear wheels) W2r). The mounting part 122 is arranged inside the base part 121 and is configured to mount the animal 9 therein.

[0013] As shown in FIG. 1, the adjustment mechanism 13 is arranged between the above-described base part 121 and the mounting part 122 (between the two layers), and is configured to adjust the position and angle of the mounting part 122 with respect to the base part 121, respectively. Specifically, although the details will be described later, the adjustment mechanism 13 is configured to move the mounting part 122 and adjust the arrangement angle of the mounting part 122 along the front-rear direction (X-axis direction), the horizontal (left-right) direction (Y-axis direction), and the height (up-down) direction (Z-axis direction). Such an adjustment mechanism 13 is configured using, for example, a plurality of sets of springs (elastic bodies) and motors, etc., and in the case of position adjustment in the height direction, an active suspension may be used, for example.

[0014] The projection part 14 is a projection mapping mechanism (projector) configured to project a projection object 8 onto the inner wall surface S of the mounting part 122, although the details will be described later.

[0015] The detection part 15 is a sensor for detecting the yaw angular acceleration αyaw of the mounting part 122. Further, this detection part 15 is configured to detect a change in the line of sight of the animal 9 in the mounting part 122. Such a detection part 15 is configured to include, for example, an angular acceleration sensor for detecting the yaw angular acceleration αyaw and a camera (imaging device) for detecting a change in the line of sight of the animal 9.

[0016] The vehicle control unit 16 controls various operations in the animal transport vehicle 1 and performs various arithmetic processes. Specifically, the vehicle control unit 16 includes, for example, one or more processors (CPUs: Central Processing Units) that execute programs, and one or more memories communicably connected to these processors. Such a memory is composed of, for example, a RAM (Random Access Memory) that temporarily stores processing data, a ROM (Read Only Memory) that stores programs, and the like.

[0017] In the example shown in FIG. 1, this vehicle control unit 16 has a travel control unit 161 and an operation control unit 162.

[0018] Here, the operation control unit 162 corresponds to a specific example of the "control unit" in one embodiment of the present disclosure. Further, the adjustment mechanism 13, the projection unit 14, the detection unit 15, and the operation control unit 162 correspond to a specific example of the "(control system for controlling the operation of the animal transport vehicle)" in one embodiment of the present disclosure.

[0019] The travel control unit 161 controls the travel operation of the animal transport vehicle 1 and performs overall control related to the travel of the animal transport vehicle 1. Specifically, the travel control unit 161 controls the drive system, braking system, steering system, etc. in the animal transport vehicle 1.

[0020] The operation control unit 162 controls the adjustment operation of the adjustment mechanism 13 (the adjustment operation of the position and angle in the mounting unit 122) based on the yaw angular acceleration αyaw of the mounting unit 122 detected by the detection unit 15. Specifically, the operation control unit 162 controls the adjustment of the position and angle in the mounting unit 122 by controlling the operations of the springs and motors described above. Further, this operation control unit 162 controls the operation of the projection unit 14 described above (the projection operation of the projection object 8). Details of each control (control of the adjustment operation and control of the projection operation) by the operation control unit 162 will be described later.

[0021] [Operations, Functions, and Effects] Subsequently, the operations, functions, and effects in this embodiment will be described in detail.

[0022] (A. Examples of Various Controls by the Operation Control Unit 162) Here, FIG. 2 schematically shows an example of the state before the start of operation in the animal carrier 1. FIG. 3 schematically shows an example of the behavior characteristics of the animal 9 as the yaw angular acceleration αyaw of the mounting portion 122 increases. FIG. 4 schematically shows an example of the control of the adjustment operation according to the behavior characteristics of the animal 9 shown in FIG. 3. FIG. 5 schematically shows an example of the control when returning from the adjusted state of the adjustment mechanism 13 shown in FIG. 4 to the initial state. FIG. 6 schematically shows an example of the operation control of the projection unit 14 according to the change in the line of sight of the animal 9.

[0023] For example, as shown in FIGS. 2(A) and 2(B), in the control of the adjustment mechanism 13 by the operation control unit 162, first, the state before the start of operation is controlled as follows. That is, the operation control unit 162 controls the adjustment mechanism 13 located below the mounting portion 122 as shown by the dashed arrow in FIG. 2(B), so that the mounting portion 122 moves upward (lifts the mounting portion 122 upward) and is set to a state of floating from the base portion 121.

[0024] Next, after the start of the running of the animal carrier 1 in this state, the operation control unit 162 controls the adjustment operation of the adjustment mechanism 13 according to the yaw angular acceleration αyaw of the mounting portion 122 detected by the detection unit 15. Specifically, the operation control unit 162 controls the adjustment operation of the adjustment mechanism 13 according to the behavior characteristics of the animal 9 in the mounting portion 122 as the yaw angular acceleration αyaw of the mounting portion 122 increases, as described below.

[0025] Here, for example, as indicated by the arrow in FIG. 3, when the yaw angular acceleration αyaw increases, the animal 9 feels uncomfortable, so it has a behavioral characteristic of moving its head (neck) in a direction to cancel out such an increase in the yaw angular acceleration αyaw (refer to the moving direction myaw indicated by the dashed line in FIG. 3). Therefore, considering such a behavioral characteristic of the animal 9, the operation control unit 162 controls the adjustment operation of the adjustment mechanism 13 so that the increase in the yaw angular acceleration αyaw is canceled out (for example, refer to the dashed arrow in FIG. 4), so that the animal 9 does not have to move its head as much as possible. As a result, in the example of FIG. 4, in a situation where a large yaw angular acceleration αyaw1 is generated in the animal carrier 1 (base portion 121), the yaw angular acceleration αyaw2 generated in the mounting portion 122 is suppressed.

[0026] Specifically, the operation control unit 162 controls the adjustment operation of the adjustment mechanism 13 so that the yaw angular acceleration αyaw of the mounting portion 122 does not exceed a predetermined threshold value αyawth. This predetermined threshold value αyawth corresponds to the value of the yaw angular acceleration αyaw of the mounting portion 122, which corresponds to a state in which as the yaw angular acceleration αyaw of the mounting portion 122 increases, the head of the animal 9 in the mounting portion 122 begins to move in a direction to cancel out the yaw angular acceleration αyaw of the mounting portion 122.

[0027] Also, for example, as indicated by the dashed arrows and the yaw angular accelerations αyaw1 and αyaw2 in FIGS. 5(A) and 5(B), when the operation control unit 162 returns the adjustment state of the adjustment mechanism according to the behavior characteristics of such an animal 9 to the original initial state, it performs the following control. That is, when the operation control unit 162 returns from such an adjustment state to the original initial state, it gradually (slowly) returns the adjustment state of the adjustment mechanism 13 to the initial state so that the yaw angular acceleration αyaw2 of the mounting unit 122 is suppressed. Also, the operation control unit 162 changes the speed of returning from the adjustment state to the initial state according to, for example, the road conditions of the planned route (such as the presence or absence of the next curved road on the planned route) in the animal carrier 1 based on the navigation information (such as map information). That is, for example, when such a curved road exists, the operation control unit 162 quickly returns from the adjustment state to the initial state.

[0028] Also, for example, as shown in FIGS. 6(A) and 6(B), when the operation control unit 162 detects a change in the line of sight of the animal 9 based on the behavior characteristics of the animal 9 by the detection unit 15 (refer to the line-of-sight change direction Eyaw shown in FIG. 6(B)), it controls the projection operation of the projection unit 14 as follows. That is, for example, as shown in FIG. 6(A), when a change in the line of sight based on the behavior characteristics of the animal 9 is detected due to the generation of the yaw angular acceleration αyaw2 in the mounting unit 122, it controls the projection operation of the projection unit 14 so that the projection object 8 moves along the same direction as the line-of-sight change direction Eyaw of this animal 9 (refer to the moving direction myaw shown in FIG. 6(B)). Specifically, the operation control unit 162 controls the behavior of the projection object 8 on the inner wall surface S in the mounting unit 122 according to the global 6-axis behavior in the mounting unit 122.

[0029] (B. Function and Effect) In this way, in the present embodiment, in accordance with the behavior characteristics of the animal 9 in the mounting portion 122 as the yaw angular acceleration αyaw of the mounting portion 122 in the loading platform portion 12 increases, the adjustment operation of the adjustment mechanism 13 is controlled. Thereby, the discomfort given to the animal 9 in the mounting portion 122 as the yaw angular acceleration αyaw of the mounting portion 122 increases is suppressed. As a result, in the present embodiment, it is possible to suppress the discomfort given to the animal 9 when transporting the animal 9 using the loading platform portion 12.

[0030] Further, in the present embodiment, when returning the adjustment state of the adjustment mechanism 13 according to the behavior characteristics of the animal 9 to the original initial state, the adjustment state of the adjustment mechanism 13 is gradually returned to the initial state so that the value of the yaw angular acceleration αyaw of the mounting portion 122 is suppressed. Thus, the following occurs. That is, even when returning the adjustment state of the adjustment mechanism 13 to the original initial state, since the discomfort given to the animal 9 is suppressed, it is possible to further suppress the discomfort given to the animal 9 when transporting the animal 9.

[0031] Furthermore, in the present embodiment, when a change in the line of sight of the animal 9 based on the behavior characteristics of the animal 9 is detected, the operation of the projection unit 14 is controlled so that the projection object 8 moves along the same direction as the line of sight change direction Eyaw of the animal 9. Thus, the following occurs. That is, by utilizing the illusion by visual information (controlling the vestibular sense), since the yaw angular acceleration αyaw perceived by the animal 9 can be reduced, it is possible to further suppress the discomfort given to the animal 9 when transporting the animal 9.

[0032] <2. Modification Example> Subsequently, modification examples (modification examples 1 to 3) of the above embodiment will be described. In the following, the same components as those in the embodiment are denoted by the same reference numerals, and the description will be omitted as appropriate.

[0033] [Modification Examples 1 and 2] FIG. 7 and FIG. 8 schematically show control examples of the adjustment operation of the adjustment mechanism 13 in the animal transport vehicles (animal transport vehicles 1A and 1B) according to modification examples 1 and 2, respectively.

[0034] (Control Example of Modification 1) First, in Modification 1 shown in FIGS. 7(A) to 7(C), the detection unit 15 is configured to further detect the acceleration (longitudinal acceleration ax) in the front-rear direction (X-axis direction) corresponding to the traveling direction of the animal transport vehicle 1A in the mounting unit 122. In this Modification 1, the operation control unit 162 controls the adjustment operation of the adjustment mechanism 13 so that the mounting unit 122 is inclined along the front-rear direction, as shown in FIGS. 7(B) and 7(C), for example, to reduce the perceived acceleration of the animal 9 in the front-rear direction.

[0035] Specifically, in the example of FIG. 7(B), by controlling the adjustment mechanism 13 located on the front side, the front side of the mounting unit 122 is lifted to incline the mounting unit 122 (see the dashed arrow in FIG. 7(B)). On the other hand, in the example of FIG. 7(C), by adjusting the height of the front side in the loading platform 12 (performing position adjustment in the height direction) using the active suspension described above, the mounting unit 122 is inclined in the same manner as the example of FIG. 7(B) (see the dashed arrow in FIG. 7(C)). By inclining the mounting unit 122 along the front-rear direction according to the longitudinal acceleration ax in this way, it becomes possible to create an environment in which the animal 9 can brace itself within the mounting unit 122 even in a situation where the generation of the longitudinal acceleration ax cannot be predicted by the animal 9, such as when the animal transport vehicle 1A brakes.

[0036] Also, when the generation of such longitudinal acceleration ax is predicted, for example, as indicated by the dashed arrows in FIGS. 7(B) and 7(C), before tilting the mounting portion 122 along the longitudinal direction (in this example, lifting the front side of the mounting portion 122), the following may be done. That is, before tilting the mounting portion 122 along the longitudinal direction, the operation control unit 162 may first tilt the mounting portion 122 in the reverse direction along the longitudinal direction, as indicated by the dashed arrow in FIG. 7(A) (in this example, lifting the rear side of the mounting portion 122). By thus pre-producing the generation state of the longitudinal acceleration ax (for example, the braking state), the posture in which the animal 9 can brace itself within the mounting portion 122 can be prepared. For example, even when the animal 9 is not good at the braking state and sways, it becomes easier to cope with.

[0037] (Control example of Modification 2) On the other hand, in Modification 2 shown in FIGS. 8(A) and 8(B), the detection unit 15 is configured to further detect the acceleration in the lateral direction (lateral acceleration ay) corresponding to the vehicle width direction of the animal carrier 1B in the mounting portion 122. And in this Modification 2, the operation control unit 162 controls the adjustment operation of the adjustment mechanism 13 so that the mounting portion 122 tilts along the lateral direction, as shown in FIG. 8(B) for example, to reduce the sensed acceleration of the animal 9 in the lateral direction.

[0038] Specifically, in the example of FIG. 8(B), by controlling the adjustment mechanism 13, the left side of the mounting portion 122 is lifted to tilt the mounting portion 122 (see the dashed arrow in FIG. 8(B)). By thus tilting the mounting portion 122 along the lateral direction according to the lateral acceleration ay, it becomes possible to create an environment in which the animal 9 can brace itself within the mounting portion 122 even in a situation where the generation of the lateral acceleration ay cannot be predicted by the animal 9, such as when the animal carrier 1B is traveling on a curve (in this example, when traveling on a right curve).

[0039] Also, in this Modification 2 as well, similar to the case of the above-described Modification 1, when the generation of such lateral acceleration ay is predicted, the operation control unit 162 may operate as follows. That is, before tilting the mounting unit 122 along the lateral direction (in this example, lifting the left side of the mounting unit 122), the mounting unit 122 may be once tilted to the opposite side along the lateral direction (in this example, lifting the right side of the mounting unit 122). By thus producing in advance the state of generation of the lateral acceleration ay (for example, a curve driving state), it is possible to prepare the posture in which the animal 9 braces itself within the mounting unit 122. For example, even when the animal 9 is not good at the curve driving state and sways, it becomes easier to cope with it.

[0040] Note that the above-described longitudinal acceleration ax corresponds to a specific example of the "acceleration in the longitudinal direction" in an embodiment of the present disclosure. Also, the above-described lateral acceleration ay corresponds to a specific example of the "acceleration in the lateral direction" in an embodiment of the present disclosure.

[0041] (Function and Effect) In this way, in Modifications 1 and 2, by controlling the adjustment operation of the adjustment mechanism 13 so that the mounting unit 122 tilts along the above-described longitudinal direction or lateral direction, the perceived acceleration of the animal 9 in these longitudinal and lateral directions is reduced, so the following effects are achieved. That is, even when the above-described longitudinal acceleration ax or lateral acceleration ay occurs, the discomfort given to the animal 9 can be suppressed, so it becomes possible to further suppress the discomfort given to the animal 9 when transporting the animal 9.

[0042] Also, in these Modifications 1 and 2, when the generation of the longitudinal acceleration ax or the lateral acceleration ay is predicted, before tilting the mounting unit 122 along the longitudinal direction or the lateral direction, the mounting unit 122 is once tilted to the opposite side along the longitudinal direction or the lateral direction, so the following effects are achieved. That is, for example, as described above, even when the animal 9 sways, it is possible to prepare the posture in which the animal 9 braces itself, so it becomes possible to further suppress the discomfort given to the animal 9 when transporting the animal 9.

[0043] In the above-described Modification Examples 1 and 2, the case of detecting one of the longitudinal acceleration ax and the lateral acceleration ay has been described, but the following may also be adopted. That is, for example, both the longitudinal acceleration ax and the lateral acceleration ay may be detected, and the adjustment operations of the adjustment mechanism 13 described in Modification Examples 1 and 2 may be controlled respectively.

[0044] [Modification Example 3] (Configuration) FIG. 9 schematically shows a schematic configuration example of an animal carrier (animal carrier 1C) according to Modification Example 3 in a block diagram. In the animal carrier 1C of this Modification Example 3, in addition to the yaw angular acceleration αyaw of the mounting portion 122 described so far in the animal carrier 1 of the embodiment shown in FIG. 1, the pitch angular acceleration αpitch and the roll angular acceleration αroll of the mounting portion 122 are also detected respectively.

[0045] Specifically, for example, as shown in FIG. 9, when the yaw angle θyaw centered on the Z axis, the pitch angle θpitch centered on the Y axis, and the roll angle θroll centered on the X axis are defined respectively, the detection unit 15 in this Modification Example 3 performs the following detections. That is, in this case, the detection unit 15 detects the yaw angular acceleration αyaw, the pitch angular acceleration αpitch, and the roll angular acceleration αroll of the mounting portion 122 as described above.

[0046] Then, the operation control unit 162 in this Modification Example 3 controls the adjustment operation of the adjustment mechanism 13 according to the behavior characteristics of the animal 9 in the mounting portion 122 in accordance with an increase in the yaw angular acceleration αyaw, the pitch angular acceleration αpitch, or the roll angular acceleration αroll of the mounting portion 122 detected by the detection unit 15. That is, the operation control unit 162 controls the adjustment operation of the adjustment mechanism 13 according to the behavior characteristics of the animal 9 in the mounting portion 122 in the same manner as the respective methods described in the embodiment and Modification Examples 1 and 2 so far.

[0047] (Function and Effect) In the third modification example in this way, since the adjustment operation of the adjustment mechanism 13 is controlled according to the behavior characteristics of the animal 9 in the mounting portion 122 as the yaw angular acceleration αyaw, pitch angular acceleration αpitch, or roll angular acceleration αroll of the mounting portion 122 increases, the following is achieved. That is, in addition to the yaw angular acceleration αyaw described so far, considering also the pitch angular acceleration αpitch or roll angular acceleration αroll, and controlling the adjustment operation according to the behavior characteristics of the animal 9, it becomes possible to further suppress the discomfort given to the animal 9 when transporting the animal 9.

[0048] In addition, in this third modification example, although the case where both the pitch angular acceleration αpitch and roll angular acceleration αroll of the mounting portion 122 are detected in addition to the yaw angular acceleration αyaw of the mounting portion 122 has been described, the example in this case is not limited thereto. That is, for example, in addition to the yaw angular acceleration αyaw of the mounting portion 122, only one of the pitch angular acceleration αpitch and roll angular acceleration αroll of the mounting portion 122 may be detected.

[0049] <3. Other Modification Examples> As described above, the present disclosure has been described by giving embodiments and modification examples, but the present disclosure is not limited to these embodiments and the like, and various modifications are possible.

[0050] For example, the configurations (types, shapes, arrangements, numbers, etc.) of the respective members in the entire animal transporter 1, the loading portion 12, the adjustment mechanism 13, the vehicle control unit 16, etc. are not limited to those described in the above embodiments and the like. That is, the configurations of these respective members may be other types, shapes, arrangements, numbers, etc. Also, the values, ranges, magnitude relationships, etc. of the various parameters described in the above embodiments and the like are not limited to those described in the above embodiments and the like, and may be other values, ranges, magnitude relationships, etc.

[0051] In the above-described embodiments and the like, specific examples have been given and described for various controls (controls of various operations in the adjustment mechanism 13 and the projection unit 15) by the operation control unit 162, but these specific examples are not limited thereto. That is, these various controls may be performed using other methods.

[0052] Furthermore, the series of processes described in the above-described embodiments and the like may be performed by hardware (circuit) or may be performed by software (program). When performed by software, the software is composed of a group of programs for causing a computer to execute each function. Each program may be, for example, pre-installed in the above-described computer and used, or may be installed from a network or a recording medium into the above-described computer and used.

[0053] In addition, the various examples described so far may be applied in any combination.

[0054] Note that the effects described in this specification are merely examples and are not limited, and there may be other effects.

[0055] In addition, the present disclosure can also adopt the following configurations. (1) A system for controlling the operation of an animal transport vehicle including a base portion having a plurality of wheels and a loading portion disposed within the base portion and configured to carry an animal therein, an adjustment mechanism disposed between the base portion and the loading portion and configured to adjust the position and angle of the loading portion with respect to the base portion, a detection unit configured to detect the yaw angular acceleration of the loading portion, and a control unit configured to control the adjustment operation of the adjustment mechanism according to the behavior characteristics of the animal within the loading portion in accordance with an increase in the yaw angular acceleration of the loading portion detected by the detection unit A control system for an animal transport vehicle including the above. (2) The control unit is configured to control the adjustment operation of the adjustment mechanism so that the yaw angular acceleration of the mounting unit does not exceed a predetermined threshold value. The predetermined threshold value is a value of the yaw angular acceleration of the mounting unit corresponding to a state in which the head of the animal in the mounting unit begins to move in a direction canceling out the yaw angular acceleration of the mounting unit as the yaw angular acceleration of the mounting unit increases. The control system for an animal transport vehicle according to (1) above. (3) The detection unit is further configured to detect at least one of an acceleration in the lateral direction corresponding to the vehicle width direction of the animal transport vehicle in the mounting unit and an acceleration in the longitudinal direction corresponding to the traveling direction of the animal transport vehicle. The control unit is configured to reduce the perceived acceleration of the animal in the lateral direction or the longitudinal direction by controlling the adjustment operation of the adjustment mechanism so that the mounting unit tilts along the lateral direction or the longitudinal direction. The control system for an animal transport vehicle according to (1) or (2) above. (4) The control unit When the occurrence of acceleration in the lateral direction or the longitudinal direction is predicted, Before tilting the mounting unit along the lateral direction or the longitudinal direction, The mounting unit is configured to be tilted once to the opposite side along the lateral direction or the longitudinal direction. The control system for an animal transport vehicle according to (3) above. (5) The control unit When returning the adjustment state of the adjustment mechanism according to the behavior characteristics of the animal to the original initial state, The adjustment state of the adjustment mechanism is configured to be gradually returned to the initial state so that the value of the yaw angular acceleration of the mounting unit is suppressed. The control system for an animal transport vehicle according to any one of (1) to (4) above. (6) The animal transport vehicle further includes a projection unit configured to project a projection on the inner wall surface of the mounting unit. The detection unit is further configured to detect a change in the line of sight of the animal. The control unit When the detection unit detects a change in the line of sight of the animal based on the behavior characteristics of the animal, it is configured to control the operation of the projection unit so that the projection object moves along the same direction as the change direction of the line of sight of the animal. The control system for an animal transporter according to any one of (1) to (5) above. (7) The detection unit is further configured to detect at least one of the pitch angular acceleration and the roll angular acceleration of the mounting unit. The control unit is further configured to control the adjustment operation of the adjustment mechanism according to the behavior characteristics of the animal in the mounting unit as the pitch angular acceleration or the roll angular acceleration of the mounting unit detected by the detection unit increases. The control system for an animal transporter according to any one of (1) to (6) above. (8) An animal transporter for transporting animals, comprising a base portion having a plurality of wheels, and a loading portion disposed within the base portion and configured to mount the animal therein, a control system configured to control the operation of the animal transporter and the control system includes an adjustment mechanism disposed between the base portion and the mounting portion and configured to adjust the position and angle of the mounting portion with respect to the base portion, a detection unit configured to detect the yaw angular acceleration of the mounting unit, a control unit configured to control the adjustment operation of the adjustment mechanism according to the behavior characteristics of the animal in the mounting unit as the yaw angular acceleration of the mounting unit detected by the detection unit increases and an animal transporter having the same.

Description of Signs

[0056] 1, 1A to 1C... animal transporter, 11... vehicle body part, 12... loading platform part, 121... base part, 122... mounting part, 13... adjustment mechanism, 14... projection part, 15... detection part, 16... vehicle control part, 161... running control part, 162... operation control part, 8... projection object, 9... animal, W1, W2f, W2r... wheels, θyaw... yaw angle, θpitch... pitch angle, θroll... roll angle, αyaw, αyaw1, αyaw2... yaw angular acceleration, αpitch... pitch angular acceleration, αroll... roll angular acceleration, ax... longitudinal acceleration, ay... lateral acceleration, myaw... moving direction, Eyaw... line-of-sight change direction, S... inner wall surface.

Claims

1. A system for controlling the operation of an animal transport vehicle, comprising a base portion having a plurality of wheels, and a mounting portion disposed within the base portion and configured to mount an animal therein, an adjustment mechanism disposed between the base portion and the mounting portion and configured to adjust the position and angle of the mounting portion with respect to the base portion, a detection unit configured to detect the yaw angular acceleration of the mounting portion, and a control unit configured to control the adjustment operation of the adjustment mechanism according to the behavior characteristics of the animal within the mounting portion in response to an increase in the yaw angular acceleration of the mounting portion detected by the detection unit. A control system for an animal transport vehicle.

2. The control unit is configured to control the adjustment operation of the adjustment mechanism so that the yaw angular acceleration of the mounting portion does not exceed a predetermined threshold value, wherein the predetermined threshold value is a value of the yaw angular acceleration of the mounting portion corresponding to a state in which the head of the animal within the mounting portion begins to move in a direction to cancel out the yaw angular acceleration of the mounting portion as the yaw angular acceleration of the mounting portion increases. The control system for an animal transport vehicle according to Claim 1.

3. The detection unit is further configured to detect at least one of the acceleration in the lateral direction corresponding to the vehicle width direction of the animal transport vehicle and the acceleration in the longitudinal direction corresponding to the traveling direction of the animal transport vehicle in the mounting portion, and the control unit is configured to reduce the perceived acceleration of the animal in the lateral direction or the longitudinal direction by controlling the adjustment operation of the adjustment mechanism so that the mounting portion tilts along the lateral direction or the longitudinal direction. The control system for an animal transport vehicle according to Claim 1 or Claim 2.

4. The control unit, when the occurrence of acceleration in the lateral direction or the longitudinal direction is predicted, before tilting the mounting portion along the lateral direction or the longitudinal direction, is configured to first tilt the mounting portion in the opposite direction along the lateral direction or the longitudinal direction. The control system for an animal transport vehicle according to Claim 3.

5. An animal transport vehicle for transporting animals, comprising a base portion having a plurality of wheels, and a mounting portion disposed within the base portion and configured to mount the animal therein, and a loading platform portion, and a control system configured to control the operation of the animal transport vehicle, wherein the control system is ​ An adjustment mechanism that is disposed between the base portion and the mounting portion and is configured to adjust the position and angle of the mounting portion with respect to the base portion, A detection unit configured to detect the yaw angular acceleration of the mounting portion, A control unit configured to control the adjustment operation of the adjustment mechanism according to the behavior characteristics of the animal in the mounting portion in accordance with an increase in the yaw angular acceleration of the mounting portion detected by the detection unit A vehicle for transporting animals having the above components.

Images