Self-driving device, self-driving method, and self-driving program

Abstract

To provide a self-driving device, self-driving method and self-driving program, which improve driving stability of a self-driving device capable of carrying packages.SOLUTION: A self-driving device 1 is provided, comprising a driving processing unit 111 for allowing a self-driving device 1 to self-drive along a given travel route, a detection processing unit 113 for detecting the center of gravity of packages loaded on the self-driving device 1, and a speed control unit 114 for setting a turning speed of the self-driving device 1 while turning on the basis of the center of gravity of the packages.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to a technology for automatically driving an automatic driving device (such as an autonomous vehicle or an AGV (automated guided vehicle)). [Background technology]

[0002] Conventionally, there are known automatic driving devices (autonomous vehicles, AGVs, etc.) that can automatically travel based on map information, travel guide members (floor tape, etc.) and the like (see, for example, Patent Document 1). The automatic driving device can load multiple packages picked from a storage shelf together and transport them to a destination. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-151115 Summary of the Invention [Problem to be solved by the invention]

[0004] In the automatic driving device, as the amount of cargo loaded increases, the weight increases and the cargo tends to be unevenly loaded. If the cargo is unevenly loaded in the left and right directions of the automatic driving device, the problem of reduced driving stability occurs.

[0005] An object of the present disclosure is to provide an automatic driving device, an automatic driving method, and an automatic driving program that can improve the driving stability of an automatic driving device that can carry luggage. [Means for solving the problem]

[0006] An autonomous driving device according to one aspect of the present disclosure includes a driving processing unit that causes the autonomous driving device to automatically drive along a predetermined driving route, a detection processing unit that detects the position of the center of gravity of luggage loaded on the autonomous driving device, and a speed control unit that sets the turning speed when the autonomous driving device turns based on the position of the center of gravity of the luggage.

[0007] An autonomous driving device according to another aspect of the present disclosure includes a driving processing unit that causes the autonomous driving device to automatically drive along a predetermined driving route, a detection processing unit that detects the position of the center of gravity of luggage loaded on the autonomous driving device, and a determination processing unit that determines the loading position of the luggage on the autonomous driving device based on the turning direction of the autonomous driving device and the position of the center of gravity of the luggage.

[0008] An autonomous driving method according to another aspect of the present disclosure is an autonomous driving method in which one or more processors execute the following steps: causing an autonomous driving device to automatically drive along a predetermined driving route; detecting the position of the center of gravity of luggage loaded on the autonomous driving device; and setting a turning speed when the autonomous driving device turns based on the position of the center of gravity of the luggage.

[0009] An autonomous driving program according to another aspect of the present disclosure is an autonomous driving program that causes one or more processors to execute the following operations: causing an autonomous driving device to automatically drive along a predetermined driving route; detecting the position of the center of gravity of luggage loaded on the autonomous driving device; and setting the turning speed when the autonomous driving device turns based on the position of the center of gravity of the luggage. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to provide an automatic driving device, an automatic driving method, and an automatic driving program that can improve the driving stability of an automatic driving device that can carry luggage. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the overall configuration of an automatic driving device according to a first embodiment of the present disclosure. [Figure 2] FIG. 2 is a side view showing the appearance of the automatic driving device according to the first embodiment of the present disclosure. [Figure 3] FIG. 3 is a diagram illustrating an example of a detectable range of the distance measuring device according to the first embodiment of the present disclosure. [Figure 4] FIG. 4 is a diagram illustrating an example of a driving method of the automatic driving device according to the first embodiment of the present disclosure. [Figure 5] FIG. 5 is a flowchart illustrating an example of the procedure of the automatic driving process executed in the automatic driving device according to the first embodiment of the present disclosure. [Figure 6] FIG. 6 is a block diagram showing the overall configuration of the automatic driving device according to the first embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram illustrating an example of a driving method of the automatic driving device according to the first embodiment of the present disclosure. [Figure 8] FIG. 8 is a diagram illustrating an example of a driving method of the automatic driving device according to the first embodiment of the present disclosure. [Figure 9] FIG. 9 is a block diagram showing the overall configuration of an automatic driving device according to the second embodiment of the present disclosure. [Figure 10] FIG. 10 is a flowchart illustrating an example of the procedure of an automatic driving process executed in an automatic driving device according to the second embodiment of the present disclosure. [Figure 11] FIG. 11 is a block diagram showing the overall configuration of an automatic driving device according to the second embodiment of the present disclosure. [Figure 12] FIG. 12 is a diagram illustrating an example of a driving method of the automatic driving device according to the second embodiment of the present disclosure. [Figure 13] FIG. 13 is a diagram illustrating an example of a method for determining a driving route of an automatic driving device according to the second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the following embodiments are examples that embody the present disclosure and do not limit the technical scope of the present disclosure.

[0013] [Embodiment 1] Fig. 1 is a block diagram showing the configuration of an autonomous driving device 1 according to a first embodiment of the present disclosure, and Fig. 2 is a side view showing the appearance of the autonomous driving device 1. As shown in Fig. 1, the autonomous driving device 1 includes a control unit 11, a storage unit 12, a communication unit 13, a LiDAR sensor 14, a robot arm 15, a motor 16, and the like.

[0014] Specifically, the autonomous driving device 1 includes drive wheels provided on the bottom of the main body, driven wheels rotatably provided on the bottom of the main body, a LiDAR sensor 14 that measures the distance to objects (targets) around the autonomous driving device 1, a battery (not shown) that supplies power to the main body, and a motor 16 that drives the drive wheels. The autonomous driving device 1 autonomously drives while measuring the distance to the object (target) based on detection data (ranging data) from the LiDAR sensor 14, and if it determines that the object is an obstacle, it avoids the obstacle or stops driving. A robot arm 15 that can put in and take out cargo A1 to be loaded onto the autonomous driving device 1 is provided on the top surface of the autonomous driving device 1 (see Figure 2).

[0015] As shown in FIG. 2, the robot arm 15 includes a fixed base 151 fixed to the top surface of the automatic traveling device 1, an arm unit 152 rotatably mounted on the fixed base 151, and a gripper 153 mounted on the tip of the arm unit 152 and capable of picking up luggage A1. The fixed base 151 is fixed to the center position in the left-right direction of the main body of the automatic traveling device. The fixed base 151 is also disposed on the front side of the automatic traveling device 1, and a loading space for loading luggage A1 is provided on the rear side of the automatic traveling device 1. The arm unit 152 may have a multi-joint structure. The robot arm 15 is mounted so as to be rotatable in the front-rear direction, left-right direction, and up-down direction relative to the automatic traveling device 1, with the fixed base 151 as a fulcrum. The robot arm 15 moves (rotates) according to instructions from the control unit 11.

[0016] For example, when the automatic driving device 1 reaches a position (picking position) of a storage shelf where luggage is stored within a travel area such as a warehouse, the robot arm 15 picks the target luggage from the storage shelf and places it in the loading space of the automatic driving device 1. Also, for example, when the automatic driving device 1 reaches an output location within the travel area, the robot arm 15 picks the luggage loaded in the loading space of the automatic driving device 1 and places it in the output location. In this way, the robot arm 15 is attached so as to be able to move relatively to the automatic driving device 1, and performs picking work in accordance with the automatic travel of the automatic driving device 1.

[0017] The automatic driving device 1, the LiDAR sensor 14, and the robot arm 15 are connected to each other wirelessly or via a wire so as to be able to communicate data.

[0018] The communication unit 13 is a communication interface that connects the automatic driving device 1 to a network via wire, wirelessly, or infrared, and executes data communication with an external device such as a server via the network in accordance with a predetermined communication protocol.

[0019] The storage unit 12 is a non-volatile storage unit such as a hard disk drive (HDD), a solid state drive (SSD), or a flash memory that stores various types of information. Specifically, the storage unit 12 stores route data (such as information on a driving route) received from the server.

[0020] The storage unit 12 also stores control programs such as an automatic driving program for causing the control unit 11 to execute an automatic driving process (see FIG. 5, etc.) described later. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a reading device (not shown) such as a CD drive or a DVD drive provided in the automatic driving device 1 and stored in the storage unit 12.

[0021] The control unit 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that pre-stores control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The control unit 11 controls the automatic driving device 1 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 12.

[0022] Specifically, as shown in Fig. 1, the control unit 11 includes various processing units such as a driving processing unit 111 and an adjustment processing unit 112. The control unit 11 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0023] The driving processing unit 111 drives the automatic driving device 1. For example, the driving processing unit 111 drives the automatic driving device 1 along a preset driving route while estimating its own position on a map using a well-known self-position estimation method.

[0024] A general method for estimating the self-position of an autonomous driving device 1 will be described. Here, we will take as an example a configuration in which the left and right drive wheels move in a parallel direction and turn by varying the speed. The autonomous driving device 1 moves straight by rotating the left and right drive wheels in the same direction, and turns on the spot (stationary turning) by rotating them in opposite directions. The autonomous driving device 1 can also move in an arc (turning) by varying the speed of the left and right drive wheels. The autonomous driving device 1 is equipped with left and right drive wheels and encoders (not shown) for measuring the rotation angle of each drive wheel.

[0025] First, the current attitude (initial position) of the automatic driving device 1 is set on a map corresponding to the driving area. This setting process may be performed by an operator on an operation terminal, or, in cases where driving starts from a charging station, it may be performed automatically by determining the position of the charging station on the map in advance.

[0026] The autonomous driving device 1 translates at the average speed of each drive wheel and turns based on the speed difference. The translation speed and turning speed can be calculated from the rotation angle per time measured by an encoder, the radius of the drive wheels, and the distance between the left and right drive wheels. In addition, the travel trajectory of the autonomous driving device 1 on a map can be calculated by integrating the translation speed and turning speed.

[0027] Here, the speed obtained from the encoder observation value contains errors. These errors are caused by errors in the radius of the drive wheels, errors in the spacing between the left and right drive wheels, drive wheel slippage, etc. As a result, the calculated trajectory of the autonomous driving device 1 on the map and the actual trajectory of the autonomous driving device 1 gradually deviate.

[0028] As the automatic driving device 1 continues to drive, the positional deviation increases and eventually its own position becomes unknown. Therefore, the automatic driving device 1 executes a correction process to correct its own position using the measurement results of the LiDAR sensor 14.

[0029] If the self-position on the map is correct, the arrangement of surrounding objects measured by the LiDAR sensor 14 will match the arrangement of objects on the map. If the measured arrangement of objects does not match the arrangement of objects on the map, the automated driving device 1 corrects the trajectory on the map every time it moves a certain distance or a certain turning angle so that the arrangement of objects measured by the LiDAR sensor 14 matches the arrangement of objects on the map. A specific method known is the Monte Carlo method.

[0030] In this way, the automatic driving device 1 travels along a predetermined route by estimating its own position by matching the LiDAR sensor 14 with the objects on the map while measuring (detecting) surrounding objects.

[0031] 2 and 3, the LiDAR sensors 14 are provided at both the front and rear of the automatic driving device 1. One LiDAR sensor 14 may be provided only at the front, or a total of four LiDAR sensors 14 may be provided at the front, rear, left and right, or two at the front and one at the rear.

[0032] The LiDAR sensor 14 is a distance sensor that can measure the distance to an object using laser light.

[0033] Specifically, the LiDAR sensor 14 uses mirrors and MEMS (microelectromechanical systems) to project laser light onto the surroundings, receive the reflected light, and measure the distance to an object in the direction of the laser projection by measuring the time difference between projection and reception. By repeating the direction of laser light projection in a fixed pattern, the arrangement of objects in space can be observed at a frequency of several tens of hertz. For example, the LiDAR sensor 14 projects (scans) laser light within a detectable range Ar (scanning range) shown in FIG. 3 to measure the distance to an object. The LiDAR sensor 14 sequentially scans the detectable range Ar with laser light at predetermined scanning intervals. FIG. 3 shows two LiDAR sensors 14, one at the front and one at the back, each projecting laser light in a predetermined scanning direction. The LiDAR sensor 14 stores data (ranging data) measured by scanning the detectable range Ar in the memory unit 12. The LiDAR sensor 14 measures the distance in each scanning direction while changing the scanning direction within the detectable range Ar.

[0034] The driving processing unit 111 acquires distance measurement data in each scanning direction measured by the LiDAR sensor 14, and drives the automatic driving device 1 while correcting its own position using the distance measurement data.

[0035] In another embodiment, the driving processing unit 111 may drive the automatic driving device 1 while detecting a driving guide member such as a magnetic tape. For example, a magnetic tape corresponding to a preset driving route and a marker (such as an RFID tag) to which control information (control parameters) is set are placed on the floor. The driving processing unit 111 drives the automatic driving device 1 along the magnetic tape while detecting the magnetic tape, and performs an operation (such as stopping, turning, slowing down, or increasing speed) according to the control information when the marker is detected.

[0036] The adjustment processing unit 112 adjusts the position (posture) of the robot arm 15 on the upper surface of the automatic driving device 1.

[0037] Here, the robot arm 15 has a certain weight so that it can load and unload heavy luggage. Therefore, the weight of the robot arm 15 may affect the traveling of the automatic driving device 1. In particular, when the automatic driving device 1 turns, the weight of the robot arm 15 in addition to the weight of the luggage may cause a centrifugal force to act in the direction opposite to the turning direction, which may cause a problem of reduced traveling stability. The automatic driving device 1 according to the first embodiment has a configuration that can solve the above problem. Specifically, the automatic driving device 1 has the configuration of at least one of Examples 1 and 2 shown below.

[0038] [Example 1] In the automatic driving device 1 according to the first embodiment, the adjustment processing unit 112 adjusts the position of the robot arm 15 based on the turning direction of the automatic driving device 1. Specifically, as shown in Fig. 4, in a case where a driving route is set in which the automatic driving device 1 travels in order along a straight route R1, a turning route R2, and a straight route R3, the adjustment processing unit 112 places the robot arm 15 at a center position (reference posture) in the left-right direction of the main body of the automatic driving device 1 when the automatic driving device 1 travels along the straight route R1, and moves the robot arm 15 from the center position to a position (predetermined position P1) that is a predetermined distance L1 before the start position P2 of the turning route R2 (the end position of the straight route R1).

[0039] For example, the adjustment processing unit 112 adjusts the position of the robot arm 15 so that the position of the center of gravity of the automatic driving device 1 is on the inside of the turning direction. In the example shown in Fig. 4, the automatic driving device 1 turns left, so the adjustment processing unit 112 moves (rotates by an angle D1) the main body of the robot arm 15 to the left (inside of the turning direction) with the fixed base 151 as the reference (axis of rotation) at a predetermined position P1 so that the position of the center of gravity of the automatic driving device 1 is on the inside of the turning direction. In other words, before the automatic driving device 1 starts turning, the adjustment processing unit 112 changes the position (posture) of the robot arm 15 so that the position of the center of gravity of the automatic driving device 1 moves toward the turning direction.

[0040] This reduces the centrifugal force acting outward when the automatic driving device 1 turns along the turning path R2, enabling the automatic driving device 1 to turn along the turning path R2 in a stable manner.

[0041] When the automatic driving device 1 reaches the end position P3 of the turning path R2 (the start position of the straight path R3), the adjustment processing unit 112 moves the position of the robot arm 15 back to the center position (reference posture) (see FIG. 4).

[0042] As another embodiment of Example 1, the adjustment processing unit 112 may move the robot arm 15 from the center position a predetermined time before the time (estimated arrival time) at which the automatic driving device 1 reaches the start position P2 of the turning path R2 (the end position of the straight path R1). Note that the adjustment processing unit 112 can calculate the estimated arrival time of the start position P2 based on information such as the travel distance and travel speed of the travel path that is set in advance.

[0043] The adjustment processing unit 112 may also set the predetermined distance L1 or the predetermined time based on the traveling speed of the automatic traveling device 1, the weight of the baggage A1 loaded on the automatic traveling device 1, and the like.

[0044] Furthermore, the adjustment processing unit 112 may set the angle D1 (the rotation angle of the robot arm 15) based on the traveling speed of the automatic traveling device 1, the weight of the luggage A1 loaded on the automatic traveling device 1, etc. For example, the adjustment processing unit 112 sets the angle D1 to a larger angle as the weight of the luggage A1 increases. Also, for example, the adjustment processing unit 112 sets the angle D1 to a larger angle as the traveling speed increases.

[0045] [Automatic driving process of Example 1] An example of the automatic driving process executed by the automatic driving device 1 will be described below with reference to FIG.

[0046] The present disclosure can be understood as a disclosure of an autonomous driving method that executes one or more steps included in the autonomous driving process. The autonomous driving method is an example of the autonomous driving method of the present disclosure. One or more steps included in the autonomous driving process described herein may be omitted as appropriate. The steps in the autonomous driving process may be executed in a different order as long as the same effects are achieved. While the description here uses an example in which the control unit 11 of the autonomous driving device 1 executes each step in the autonomous driving process, in other embodiments, a server capable of data communication with the autonomous driving device 1 may execute each step in the autonomous driving process, or the control unit 11 of the autonomous driving device 1 and the server may cooperate to execute each step in the autonomous driving process. Another possible embodiment of the autonomous driving method is one in which one or more processors execute each step in the autonomous driving process in a distributed manner.

[0047] In step S11, the control unit 11 of the automatic driving device 1 determines whether to start automatic driving. For example, when a driving instruction is received from the server, the control unit 11 determines to start automatic driving. The control unit 11 receives route data related to the driving route along with the driving instruction. When the control unit 11 determines to start automatic driving (S11: Yes), it shifts the processing to step S12. The control unit 11 waits until a driving instruction is received from the server (S11: No).

[0048] In step S12, the control unit 11 places the robot arm 15 at the center position (reference posture). The center position is the center in the left-right direction of the main body of the automatic driving device 1. When the control unit 11 places the robot arm 15 at the center position, the automatic driving device 1 starts automatic driving according to the driving route. In this case, the center of gravity position of the robot arm 15 substantially coincides with the center position of the automatic driving device 1.

[0049] Next, in step S13, the control unit 11 determines whether the automatic driving device 1 has reached a position a predetermined distance before the start position of the turning path (end position of the straight path). For example, in the example shown in FIG. 4, when the automatic driving device 1 is traveling on a straight path R1, the control unit 11 determines whether the automatic driving device 1 has reached a predetermined position P1 a predetermined distance L1 before the start position P2 of the turning path R2 (end position of the straight path R1). If the control unit 11 determines that the automatic driving device 1 has reached the predetermined position P1 (S13: Yes), the control unit 11 shifts the processing to step S14. On the other hand, if the control unit 11 determines that the automatic driving device 1 has not reached the predetermined position P1 (S13: No), the control unit 11 shifts the processing to step S17.

[0050] In step S14, the control unit 11 moves the robot arm 15 so that the center of gravity of the automatic traveling device 1 is located inside the turning direction. In the example shown in Fig. 4, the automatic traveling device 1 turns leftward, so the control unit 11 rotates the main body of the robot arm 15 to the left by an angle D1 with the fixed base 151 as the rotation axis.

[0051] Next, in step S15, the control unit 11 determines whether the automatic driving device 1 has finished turning. The control unit 11 determines that the automatic driving device 1 has finished turning when it reaches the end position P3 of the turning path R2 (the start position of the straight path R3). When the control unit 11 determines that the automatic driving device 1 has finished turning (S15: Yes), it shifts the processing to step S16. The control unit 11 continues turning until the automatic driving device 1 reaches the end position P3 of the turning path R2 (the start position of the straight path R3) (S15: No).

[0052] In step S16, the control unit 11 places the robot arm 15 at the center position (reference posture). That is, if the control unit 11 rotates the robot arm 15 to the left by angle D1 when starting the turning movement, the control unit 11 rotates the robot arm 15 to the right by angle D1 when finishing the turning movement and returns it to its original position (center position). After returning the robot arm 15 to the center position, the control unit 11 causes the robot arm 15 to automatically travel along the subsequent straight path (straight path R3 in FIG. 4).

[0053] Next, in step S17, the control unit 11 determines whether or not to end the autonomous driving. If the autonomous driving device 1 has reached the destination, the control unit 11 ends the autonomous driving (S17: Yes). If the autonomous driving device 1 has not reached the destination, the control unit 11 returns the process to step S13 and executes the above-mentioned process. The control unit 11 repeatedly executes the processes of steps S13 to S16 from the start to the end of the autonomous driving.

[0054] According to the configuration of Example 1, the centrifugal force acting on the outside when the automatic driving device 1 turns can be reduced by the positioning of the robot arm 15, thereby improving the driving stability when turning.

[0055] [Example 2] As shown in FIG. 6, the automatic driving device 1 according to the second embodiment further includes a weight sensor 17 and a detection processing unit 113 in addition to the configuration of the first embodiment (see FIG. 1).

[0056] The weight sensor 17 is provided, for example, on each wheel (drive wheel and driven wheel) and measures the weight of the luggage A1 loaded on the automatic traveling device 1. Specifically, the weight sensor 17 executes a measurement process at a predetermined cycle and outputs the measurement result (detection result) corresponding to each wheel to the control unit 11.

[0057] The detection processing unit 113 acquires the detection result (weight of the luggage) from the weight sensor 17 and detects the position of the center of gravity of the luggage A1 based on the weight of the luggage A1. Specifically, the detection processing unit 113 detects the position of the center of gravity of the luggage A1 based on the detection results of each of the four wheels.

[0058] In another embodiment, the detection processing unit 113 may detect the position of the center of gravity of the luggage based on the load on the motor 16 during driving. Note that since the position of the center of gravity of only the body of the automatic driving device 1 is known, the detection processing unit 113 can store information on the weight and loading position of the luggage and the position of the center of gravity of the body, and calculate the position of the center of gravity of the luggage from this information.

[0059] The adjustment processing unit 112 adjusts the position of the robot arm 15 based on the turning direction of the automatic traveling device 1 and the position of the center of gravity of the luggage detected by the detection processing unit 113.

[0060] For example, as shown in FIG. 7, when the luggage A1 is unevenly loaded on the right side of the automatic driving device 1, the position of the center of gravity of the luggage is shifted to the right side relative to the main body of the automatic driving device 1. In this case, the adjustment processing unit 112 moves the position of the robot arm 15 to the left. For example, the adjustment processing unit 112 rotates the robot arm 15 to the left by an angle D0 so that the position of the center of gravity of the robot arm 15 moves to the left. This cancels out the offset of the position of the center of gravity of the luggage A1 and the position of the center of gravity of the robot arm 15, so that the position of the center of gravity of the entire automatic driving device 1 can be aligned to the central position. This makes it possible to improve the driving stability of the automatic driving device 1 when traveling straight along the straight path R1, even when the luggage is unevenly loaded.

[0061] Furthermore, when the automatic traveling device 1 makes a turn, the adjustment processing unit 112 takes centrifugal force into consideration and further moves the position of the robot arm 15. In the example shown in Fig. 7, the adjustment processing unit 112 further rotates the main body of the robot arm 15 to the left (inside the turning direction) by an angle D2 (note that D2>D1) with the fixed base 151 as the reference (rotation axis) at the predetermined position P1 so that the center of gravity of the automatic traveling device 1 is located inside the turning direction.

[0062] This reduces the centrifugal force acting outward when the automatic driving device 1 turns along the turning path R2, enabling the automatic driving device 1 to turn along the turning path R2 in a stable manner.

[0063] When the automatic driving device 1 reaches the end position P3 of the turning path R2 (the start position of the straight path R3), the adjustment processing unit 112 moves the position of the robot arm 15 to the position at the angle D0 again (see FIG. 7).

[0064] In this way, in Example 2, the adjustment processing unit 112 adjusts the position of the robot arm 15 while updating the center of gravity position of the loaded cargo in real time, thereby moving the center of gravity position of the automatic driving device 1 to an appropriate position (center position) and achieving stable automatic driving.

[0065] In the second embodiment, the adjustment processing unit 112 may fix (stop) the robot arm 15 at a predetermined position (reference position) while the detection processing unit 113 is detecting the center of gravity position of the luggage. This makes it possible to eliminate the influence of the center of gravity position of the robot arm 15 and properly calculate the center of gravity position of only the luggage.

[0066] Furthermore, in the second embodiment, the driving processing unit 111 may stop the driving of the automatic driving device 1 while the detection processing unit 113 is detecting the position of the center of gravity of the luggage. This makes it possible to eliminate the influence of fluctuations in the position of the center of gravity while the automatic driving device 1 is driving, and to appropriately calculate the position of the center of gravity of only the luggage.

[0067] The automatic driving process according to the second embodiment can be realized by adding a process for detecting the position of the center of gravity of the luggage and a process for adjusting the position of the robot arm 15 based on the position of the center of gravity of the luggage to the automatic driving process according to the first embodiment shown in FIG.

[0068] In addition, the automatic driving device 1 according to Example 2 may be configured to include a driving processing unit 111 that causes the automatic driving device 1 to automatically drive along a predetermined driving route, a detection processing unit 113 that detects the position of the center of gravity of luggage loaded on the automatic driving device 1, and an adjustment processing unit 112 that adjusts the position of the robot arm 15 based on the position of the center of gravity of the luggage.

[0069] The automatic driving device 1 may further include the following configuration in addition to the configurations of the first and second embodiments described above.

[0070] Specifically, the reaction force generated by the movement of the robot arm 15 is used to start and stop the automatic driving device 1. For example, as shown in FIG. 8, when stopping the automatic driving device 1, the adjustment processing unit 112 moves the robot arm 15 in the traveling direction (forward). A backward force F1 acts on the automatic driving device 1 due to the reaction of the forward movement of the robot arm 15. This shortens the braking distance of the automatic driving device 1, allowing the automatic driving device 1 to stop accurately at the stopping position.

[0071] Similarly, when starting the automatic driving device 1, the adjustment processing unit 112 moves the robot arm 15 in the direction opposite to the traveling direction (rearward). A forward force acts on the automatic driving device 1 due to the reaction of the rearward movement of the robot arm 15. This allows the automatic driving device 1 to start smoothly.

[0072] In the first embodiment, the position of the center of gravity of the automatic driving device 1 is adjusted by the position of the robot arm 15, but in another embodiment, the position of a transport conveyor that transports luggage loaded on the automatic driving device 1 may be adjusted. That is, the movable member according to the present disclosure is not limited to the robot arm 15, but may be a transport conveyor or another movable member that can put in and take out luggage. Furthermore, the robot arm 15 in the first embodiment has one end (fixed base 151) fixed to the automatic driving device 1 and is configured to be rotatable with respect to the fixed base 151, but in another embodiment, the entire robot arm 15 may be movable relative to the automatic driving device 1.

[0073] [Embodiment 2] 9 is a block diagram showing the configuration of an automatic driving device 1 according to a second embodiment of the present disclosure. Note that the automatic driving device 1 according to the second embodiment may omit the robot arm 15 and the adjustment processing unit 112. In the following, descriptions of the same configuration as that shown in the first embodiment will be omitted as appropriate.

[0074] Here, in an automatic driving device, as the amount of luggage loaded increases, the weight increases and the luggage is more likely to be loaded unevenly. If luggage is loaded unevenly in the left and right directions of the automatic driving device, a problem occurs in which driving stability decreases. The automatic driving device 1 according to the second embodiment has a configuration that can solve the above problem. Specifically, the automatic driving device 1 has the configuration of at least one of Examples 1 to 3 shown below.

[0075] [Example 1] In the automatic driving device 1 according to the first embodiment, the detection processing unit 113 acquires a detection result (weight of the luggage) from the weight sensor 17 and detects the position of the center of gravity of the luggage based on the weight of the luggage. Specifically, the detection processing unit 113 detects the position of the center of gravity of the luggage based on the detection results of each of the four wheels. In another embodiment, the detection processing unit 113 may detect the position of the center of gravity of the luggage based on the load on the motor 16 during driving.

[0076] The speed control unit 114 sets the turning speed when the automatic driving device 1 turns, based on the position of the center of gravity of the luggage. Specifically, the route data received from the automatic driving device 1 server includes information on the driving route and information on the driving speed. The driving speed also includes the driving speed when driving straight (straight speed) and the driving speed when driving turning (turning speed). The driving processing unit 111 sets the driving speed to the straight driving speed when driving on a straight route, and sets the driving speed to the turning speed when driving on a turning route, according to the route data. The driving speed is set in advance to a speed at which the automatic driving device 1 can travel stably.

[0077] Here, if the cargo loaded on the automatic driving device 1 is unevenly loaded in the left-right direction, the driving stability of the automatic driving device 1 may decrease at a preset driving speed (set turning speed) when the automatic driving device 1 turns. For example, as shown in Fig. 7, if the cargo is unevenly loaded on the right side of the automatic driving device 1 and the automatic driving device 1 turns to the left, the centrifugal force to the right increases. Therefore, when the automatic driving device 1 turns at the set turning speed, there is a possibility that the automatic driving device 1 may deviate from the intended turning path.

[0078] Therefore, the speed control unit 114 sets (corrects) the turning speed to a speed slower than the set turning speed when the center of gravity of the luggage is in the opposite direction to the turning direction of the automatic traveling device 1. This allows the automatic traveling device 1 to turn stably along the turning path.

[0079] Furthermore, in cases where the luggage loaded on the automatic driving device 1 is biased toward the left and the automatic driving device 1 turns to the left, the outward centrifugal force during the turn does not become large. Therefore, when the center of gravity of the luggage is in the same direction as the turning direction of the automatic driving device 1, the speed control unit 114 sets (corrects) the turning speed to a speed faster than the set turning speed. This allows the automatic driving device 1 to turn stably along the turning path and also shortens the time required for turning (turning time).

[0080] In addition, the speed control unit 114 may calculate an appropriate turning speed when the automatic driving device 1 reaches a position (predetermined position P1) a predetermined distance L1 before the start position P2 of the turning path R2 (the end position of the straight path R1), or a predetermined time before the time at which the automatic driving device 1 reaches the start position P2 (estimated arrival time).

[0081] [Automatic driving process of Example 1] An example of the automatic driving process executed by the automatic driving device 1 will be described below with reference to FIG.

[0082] In step S21, the control unit 11 of the automatic driving device 1 determines whether to start automatic driving. For example, when a driving instruction is received from the server, the control unit 11 determines to start automatic driving. The control unit 11 receives route data related to the driving route along with the driving instruction. When the control unit 11 determines to start automatic driving (S21: Yes), it shifts the processing to step S22. The control unit 11 waits until a driving instruction is received from the server (S21: No).

[0083] In step S22, the control unit 11 detects the position of the center of gravity of the luggage loaded on the automatic driving device 1. Specifically, the control unit 11 detects the position of the center of gravity of the luggage based on the detection results of each of the four wheels obtained from the weight sensor 17. The control unit 11 executes the process of detecting the position of the center of gravity at a predetermined cycle while the automatic driving device 1 is automatically driving.

[0084] Next, in step S23, the control unit 11 determines whether the automatic driving device 1 has reached a position a predetermined distance L1 before the start position of the turning path (end position of the straight path). For example, in the example shown in FIG. 7, when the automatic driving device 1 is traveling on a straight path R1, the control unit 11 determines whether the automatic driving device 1 has reached a predetermined position P1 that is a predetermined distance L1 before the start position P2 of the turning path R2 (end position of the straight path R1). If the control unit 11 determines that the automatic driving device 1 has reached the predetermined position P1 (S23: Yes), the control unit 11 shifts the processing to step S24. On the other hand, if the control unit 11 determines that the automatic driving device 1 has not reached the predetermined position P1 (S23: No), the control unit 11 shifts the processing to step S27.

[0085] In step S24, the control unit 11 sets the traveling speed (turning speed) of the turning route. Specifically, the control unit 11 sets the turning speed of the automatic driving device 1 based on the position of the center of gravity of the luggage. For example, when the position of the center of gravity of the luggage approximately coincides with the center position of the automatic driving device 1, the control unit 11 sets the turning speed to the preset set turning speed. On the other hand, when the position of the center of gravity of the luggage is in the opposite direction to the turning direction of the automatic driving device 1, the control unit 11 sets the turning speed to a speed slower than the set turning speed. Furthermore, when the position of the center of gravity of the luggage is in the same direction as the turning direction of the automatic driving device 1, the control unit 11 sets the turning speed to a speed faster than the set turning speed. The automatic driving device 1 travels along the turning route at the set turning speed.

[0086] Next, in step S25, the control unit 11 determines whether the automatic driving device 1 has finished turning. The control unit 11 determines that the automatic driving device 1 has finished turning when it reaches the end position P3 of the turning path R2 (see FIG. 7) (the start position of the straight path R3). When the control unit 11 determines that the automatic driving device 1 has finished turning (S25: Yes), it shifts the processing to step S26. The control unit 11 continues turning until the automatic driving device 1 reaches the end position P3 of the turning path R2 (the start position of the straight path R3) (S25: No).

[0087] In step S26, the control unit 11 changes the traveling speed of the automatic driving device 1 to a preset speed. For example, the control unit 11 sets the traveling speed to a straight traveling speed and causes the automatic driving device 1 to travel straight along the straight route R3 (see FIG. 7).

[0088] Next, in step S27, the control unit 11 determines whether or not to end autonomous driving. If the autonomous driving device 1 has reached the destination, the control unit 11 ends autonomous driving (S27: Yes). If the autonomous driving device 1 has not reached the destination, the control unit 11 returns the process to step S22 and executes the above-mentioned process. The control unit 11 repeatedly executes the processes of steps S22 to S26 from the start to the end of autonomous driving.

[0089] According to the configuration of Example 1, the turning speed when the automatic driving device 1 turns can be set (corrected) according to the position of the center of gravity of the luggage, thereby improving the driving stability and driving efficiency when turning.

[0090] [Example 2] As shown in FIG. 11, the automatic driving device 1 according to the second embodiment further includes a decision processing unit 115 in addition to the configuration of the first embodiment (see FIG. 9).

[0091] The determination processing unit 115 determines the loading position of the luggage on the automatic driving device 1 based on the number of times the automatic driving device 1 turns for each turning direction and the current position of the center of gravity of the luggage. Specifically, the determination processing unit 115 determines the loading position of the next luggage to be loaded based on the turning direction (right turns and left turns) in which the automatic driving device 1 will turn most frequently when traveling until the next stop and the position of the center of gravity of the currently loaded luggage.

[0092] 12, when the automatic traveling device 1 travels along a straight path R1 and reaches a picking position on a storage shelf T1, a package A1 is loaded onto the automatic traveling device 1. For example, if the automatic traveling device 1 is provided with a robot arm 15, the robot arm 15 picks the package A1 from the storage shelf T1 and loads it onto the automatic traveling device 1. In another embodiment, a worker at the picking position may load the package A1 onto the automatic traveling device 1.

[0093] In this case, the determination processing unit 115 determines the loading position of the package A1 based on the direction of rotation that has the most rotations among the rotation directions of the travel path until the next stop after the picking operation. Since the package A1 is not loaded on the automatic traveling device 1 when the automatic traveling device 1 reaches storage shelf T1, the determination processing unit 115 loads the package A1 on the same side as the rotation direction (left direction) of the only rotation path R2 on the travel path to storage shelf T2 where the automatic traveling device 1 will stop next. This positions the center of gravity of the package on the left side, allowing the automatic traveling device 1 to travel stably along the rotation path R2. The robot arm 15 performs the picking operation of the package A1 based on the loading position information determined by the determination processing unit 115. Note that when a worker performs the picking operation of the package A1, the determination processing unit 115 notifies the worker of the loading position of the package A1 (loading position information).

[0094] The speed control unit 114 may adopt the configuration of the first embodiment and set (correct) the turning speed of the turning path R2 based on the position of the center of gravity of the luggage.

[0095] Next, when the automated driving device 1 reaches the picking position on storage shelf T2, the determination processing unit 115 determines the loading position of the package on storage shelf T2 based on the center of gravity of the package at that time and the direction of rotation of the travel route to the next storage shelf that will be stopped, which has the most rotations. When the automated driving device 1 reaches storage shelf T2, the center of gravity of the package is on the left side. If the automated driving device 1 turns on rotation route R4 and then stops at storage shelf T3 (not shown in FIG. 12) without turning, the only next rotation route R4 on the travel route turns to the right. Therefore, if a new package A1 is loaded on the left side of the automated driving device 1, for example, the center of gravity of the package will be further to the left. This increases the centrifugal force to the left when turning right, reducing driving stability. Therefore, at storage shelf T2, the determination processing unit 115 determines the loading position of package A1 to be on the right side of the automated driving device 1. This shifts the center of gravity of the luggage A1 to the right side, allowing the automatic driving device 1 to travel stably along the turning path R4.

[0096] Furthermore, if the vehicle turns on turning path R4 after storage shelf T1 without stopping at storage shelf T2 and then stops at storage shelf T3 without turning, the travel path after storage shelf T1 includes turning path R2 that turns left and turning path R4 that turns right, and since there is no difference in the number of turns in each turning direction, package A1 is loaded in the center in the left-right direction on storage shelf T1. Note that if there are multiple packages A1, they are loaded evenly on both sides.

[0097] Note that when there is no luggage to be loaded onto the automatic driving device 1 on the storage shelf T2, or when one luggage A1 is to be loaded onto the automatic driving device 1, the center of gravity position, which is on the left side, cannot be changed to the right side. Therefore, the determination processing unit 115 may change the position of the currently loaded luggage. For example, the determination processing unit 115 moves the luggage A1 loaded on the left side to the right before the turning path R4. For example, the robot arm 15 picks up the luggage A1 loaded on the automatic driving device 1 and moves it from the left side to the right side before the turning path R4. In this way, the control unit 11 may change the position of the loaded luggage A1 in real time according to the traveling direction of the automatic driving device 1.

[0098] Note that the process of adjusting the traveling speed during a turn may be omitted in the automatic driving device 1 of Example 2. That is, the automatic driving device 1 of Example 2 may be configured to include a traveling processing unit 111 that causes the automatic driving device 1 to travel automatically along a travel route, a detection processing unit 113 that detects the position of the center of gravity of a load loaded on the automatic driving device 1, and a determination processing unit 115 that determines the loading position of the load on the automatic driving device 1 based on the turning direction of the automatic driving device 1 and the position of the center of gravity of the load.

[0099] [Example 3] In the automatic driving device 1 according to the third embodiment, the driving processing unit 111 generates a driving route from the driving start position of the automatic driving device 1 to the driving end position (destination) based on the cargo loading operation position (picking position) in the driving area and the cargo loading position in the automatic driving device 1.

[0100] For example, as shown in FIG. 13, a case will be taken as an example in which the automated driving device 1 drives from a start position to an end position, picking up packages at picking positions A to C. In this case, the driving processing unit 111 generates multiple candidate driving routes. Specifically, the driving processing unit 111 generates multiple candidate routes that pass through picking positions A to C. The driving processing unit 111 generates multiple candidate routes based on various factors, such as the distance to the end position, the location of obstacles, and driving conditions. For example, as shown in FIG. 13, the driving processing unit 111 generates "driving route 1" (route indicated by a solid line) and "driving route 2" (route indicated by a dotted line) as candidate routes.

[0101] The driving processing unit 111 determines, as the driving route, the route that the automatic driving device 1 can travel in the shortest time from among a plurality of candidate routes that are the shortest routes from the start position to the end position.

[0102] Specifically, the driving processing unit 111 calculates the driving time for each candidate route. In the example of Fig. 13, the driving processing unit 111 calculates the predicted driving time when driving from the start position to the end position along "driving route 1" and the predicted driving time when driving from the start position to the end position along "driving route 2". As shown in Examples 1 and 2, the turning speed during turning driving changes depending on the loading position of the luggage A1, so the driving time for the turning route changes for each driving route.

[0103] It is assumed that the automatic traveling device 1 is provided with four loading locations a1 to a4 (see FIG. 13) where the baggage A1 can be placed.

[0104] For example, in "travel route 1," there is no luggage A1 from the start position to picking position A, so there is no difference in travel time. The travel processing unit 111 calculates the travel time for the route from picking position A to picking position B when luggage A1 at picking position A is loaded at each of four loading locations a1 to a4. Here, both right turns and left turns exist, so there is no significant difference in travel time. Next, the travel processing unit 111 calculates the travel time for the route from picking position B to picking position C for patterns (16 patterns in total) in which luggage A1 at picking position A is loaded at each of loading locations a1 to a4 and then loaded at picking position B. Here, if there are two consecutive right turns and the center of gravity of luggage A1 is shifted to the right, the turning speed will be faster and the travel time will be shorter. In the same way, the travel processing unit 111 calculates the travel time for the route from picking position C to the end position for a total of 64 patterns. The travel processing unit 111 identifies the shortest travel time for the "travel route 1" from among 64 patterns of travel time, together with the loading pattern of the baggage A1.

[0105] The driving processing unit 111 also performs the above processing on "driving route 2," determines which of "driving route 1" and "driving route 2" will take the shortest time, and determines the driving route that will take the shortest time. The driving processing unit 111 drives the automated driving device 1 according to the determined driving route, and loads the luggage A1 at each picking position according to the loading pattern.

[0106] In addition, in the above configuration, a configuration may be applied in which the position of the center of gravity is adjusted by moving the position of the robot arm 15 during rotation (see embodiment 1), which can further improve running stability and running efficiency (shortening running time).

[0107] As another embodiment of Example 3, the process of adjusting the traveling speed during turning may be omitted. That is, the automatic driving device 1 of Example 3 may be configured to include a traveling processing unit 111 that causes the automatic driving device 1 to travel automatically along a travel route, a detection processing unit 113 that detects the position of the center of gravity of a load loaded on the automatic driving device 1, and a determination processing unit 115 that determines the loading position of the load on the automatic driving device 1 based on the turning direction of the automatic driving device 1 and the position of the center of gravity of the load.

[0108] The automatic driving device 1 according to the present disclosure may have a configuration in which the examples of the first and second embodiments described above are appropriately combined.

[0109] [Supplementary Note 1 of the Disclosure (Embodiment 1)] Below, an outline of the disclosure extracted from the above-described embodiment 1 will be described. Note that the configurations and processing functions described in the following notes can be selected and combined as desired.

[0110] <Appendix 1> An automatic traveling device having a movable member that can take in and out luggage to be loaded on the automatic traveling device, a driving processing unit that causes the automatic driving device to automatically drive along a predetermined driving route; an adjustment processing unit that adjusts the position of the movable member based on the turning direction of the automatic traveling device; An automatic driving device equipped with:

[0111] <Appendix 2> the adjustment processing unit adjusts the position of the movable member so that the center of gravity of the automatic traveling device is located on the inside of the turning direction. 1. An automated driving device as described in Appendix 1.

[0112] <Appendix 3> the adjustment processing unit disposes the movable member at a central position in the left-right direction of the main body of the automatic driving device when the automatic driving device travels on a straight path, and moves the movable member from the central position before the automatic driving device starts a turning path following the straight path. 3. The automatic driving device according to claim 1 or 2.

[0113] <Appendix 4> a detection processing unit for detecting a center of gravity position of the luggage loaded on the automatic traveling device; the adjustment processing unit adjusts the position of the movable member based on a turning direction of the automatic traveling device and a center of gravity position of the luggage. 4. The automatic driving device according to any one of appendices 1 to 3.

[0114] <Appendix 5> the detection processing unit detects the center of gravity position of the luggage based on the detection result of a weight sensor provided on a wheel of the automatic traveling device or the load of a motor of the automatic traveling device. 1. The automated driving device according to claim 4.

[0115] <Appendix 6> the adjustment processing unit stops the movable member at a predetermined position while the detection processing unit detects the center of gravity position of the luggage. 6. The automated driving device according to claim 4 or 5.

[0116] <Appendix 7> the driving processing unit stops the driving of the automatic driving device while the detection processing unit is detecting the center of gravity position of the luggage. 7. The automatic driving device according to any one of appendixes 4 to 6.

[0117] <Appendix 8> The adjustment processing unit When the automatic traveling device is stopped, the movable member is moved in the traveling direction of the automatic traveling device; When the automatic traveling device starts, the movable member is moved in a direction opposite to the traveling direction of the automatic traveling device. 8. The automatic driving device according to any one of appendices 1 to 7.

[0118] [Supplementary Note 1 of the Disclosure (Embodiment 2)] Below, an outline of the disclosure extracted from the above-described embodiment 2 will be described. Note that the configurations and processing functions described in the following notes can be selected and combined as desired.

[0119] <Appendix 1> a driving processing unit that causes the automatic driving device to automatically drive along a predetermined driving route; a detection processing unit that detects the position of the center of gravity of a load loaded on the automatic traveling device; a speed control unit that sets a turning speed when the automatic traveling device turns based on the position of the center of gravity of the luggage; An automatic driving device equipped with:

[0120] <Appendix 2> the detection processing unit detects the center of gravity position of the luggage based on the detection result of a weight sensor provided on a wheel of the automatic traveling device or the load of a motor of the automatic traveling device. 1. An automated driving device as described in Appendix 1.

[0121] <Appendix 3> the driving processing unit stops the driving of the automatic driving device while the detection processing unit is detecting the center of gravity position of the luggage. 3. The automatic driving device according to claim 1 or 2.

[0122] <Appendix 4> further comprising a determination processing unit that determines a loading position of the luggage on the automatic driving device based on a turning direction of the automatic driving device and a center of gravity position of the luggage. 4. The automatic driving device according to any one of appendices 1 to 3.

[0123] <Appendix 5> The determination processing unit determines the loading position of the luggage based on the number of times the automatic traveling device turns for each turning direction. 1. The automated driving device according to claim 4.

[0124] <Appendix 6> the driving processing unit generates a driving route from a driving start position to a driving end position of the automatic driving device in a driving area based on a loading operation position of a load in the driving area and a loading position of the load on the automatic driving device; 6. The automatic driving device according to any one of appendices 1 to 5.

[0125] <Appendix 7> the travel processing unit determines, as the travel route, a route that the automated driving device can travel in the shortest time from among a plurality of candidate routes that are the shortest routes from the travel start position to the travel end position; 10. The automated driving device according to claim 6. [Explanation of symbols]

[0126] 1: Automatic driving device 11: Control section 12: Storage section 13: Communications Department 14: LiDAR sensor 15: Robot arm 16: Motor 17: Weight sensor 111: Driving processing unit 112: Adjustment processing unit 113: Detection processing unit 114: Speed ​​control section 115: Decision processing unit

Claims

1. a driving processing unit that causes the automatic driving device to automatically drive along a predetermined driving route; a detection processing unit that detects the position of the center of gravity of a load loaded on the automatic traveling device; a speed control unit that sets a turning speed when the automatic traveling device turns based on the position of the center of gravity of the luggage; An automatic driving device equipped with:

2. the detection processing unit detects the center of gravity position of the luggage based on the detection result of a weight sensor provided on a wheel of the automatic traveling device or the load of a motor of the automatic traveling device. The automatic driving device according to claim 1 .

3. the driving processing unit stops the driving of the automatic driving device while the detection processing unit is detecting the center of gravity position of the luggage. The automatic driving device according to claim 1 .

4. further comprising a determination processing unit that determines a loading position of the luggage on the automatic driving device based on a turning direction of the automatic driving device and a center of gravity position of the luggage. The automatic driving device according to any one of claims 1 to 3.

5. The determination processing unit determines the loading position of the luggage based on the number of times the automatic traveling device turns for each turning direction. The automatic driving device according to claim 4.

6. the driving processing unit generates a driving route from a driving start position to a driving end position of the automatic driving device in a driving area based on a loading operation position of a load in the driving area and a loading position of the load on the automatic driving device; The automatic driving device according to claim 1 .

7. the travel processing unit determines, as the travel route, a route that the automated driving device can travel in the shortest time from among a plurality of candidate routes that are the shortest routes from the travel start position to the travel end position; The automatic driving device according to claim 6.

8. a driving processing unit that causes the automatic driving device to automatically drive along a predetermined driving route; a detection processing unit that detects the position of the center of gravity of a load loaded on the automatic traveling device; a determination processing unit that determines a loading position of the luggage on the automatic traveling device based on a turning direction of the automatic traveling device and a center of gravity position of the luggage; An automatic driving device equipped with:

9. causing the automatic driving device to automatically travel along a predetermined travel route; Detecting the center of gravity position of a load loaded on the automatic traveling device; setting a turning speed when the automatic traveling device turns based on the position of the center of gravity of the luggage; The above is an automatic driving method executed by one or more processors.

10. causing the automatic driving device to automatically travel along a predetermined travel route; Detecting the center of gravity position of a load loaded on the automatic traveling device; setting a turning speed when the automatic traveling device turns based on the position of the center of gravity of the luggage; An automated driving program for executing the above on one or more processors.

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