Autonomous Vehicles

Abstract

To provide an autonomous movable body capable of easily achieving fine adjustment of a position of a machine base.SOLUTION: A machine base 11 comprises: a grip part 26 which can be gripped by an operator by one hand H1; and a button switch 27 which is a brake release part for switching a state of a brake device from a brake state to a brake release state, in a travel impossible mode. The button switch 27 is arranged at a position where the same can be operated by a thumb F1 of the one hand H1 of the operator which grips the grip part 26. The operator grips the grip part 26 and operates the button switch 27 by the thumb F1 of the one hand H1 which grips the grip part 26, for switching the state of the brake device from the brake state to the brake release state in the travel impossible mode. The operator moves the machine base 11 while gripping the grip part 26. In addition, since the button switch 27 is arranged at a position where the same can be operated by the thumb F1 of the one hand H1 gripping the grip part 26, the state of the brake device can be easily switched from the brake state to the brake release state in the travel impossible mode.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an autonomous moving body. [Background technology]

[0002] The autonomous mobile body includes a machine base, wheels provided on the machine base, a drive unit for driving the wheels, and a control device for controlling the drive unit. The control device switches between a run-enabled mode in which the drive unit is driven to run the machine base, and a run-disabled mode in which the drive unit is stopped to disable the machine base. When the control device is in the run-enabled mode, the drive unit drives the wheels to run the machine base, thereby moving autonomously. On the other hand, when the control device switches from the run-enabled mode to the run-disabled mode, the drive unit stops driving the wheels, making it impossible for the machine base to run, and the autonomous movement stops. Such an autonomous mobile body is disclosed in, for example, Patent Document 1.

[0003] Moreover, such an autonomous moving body is equipped with a brake device. The brake device switches between a braking state in which the wheels are braked and a brake release state in which the wheels are released from the brake. When the control device switches from a non-traveling mode to a travelling mode, for example, the brake device switches from the braking state to the brake release state to enable the vehicle to travel. On the other hand, when the control device switches from a travelling mode to a non-travelling mode and the drive of the wheels stops, the brake device switches from the brake release state to the braking state to stop the vehicle at a predetermined position. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-95256 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in such an autonomous moving body, when the brake device switches from the brake release state to the brake state when the control device is in the non-traveling mode and stops the machine at a predetermined position, the machine may be stopped at a position not intended by the operator. In this case, it is necessary to switch the brake device from the brake release state to the brake release state and switch the control device from the non-traveling mode to the travelling mode to drive the drive unit to travel the machine and fine-tune the position of the machine. However, since the autonomous moving body moves autonomously, it is difficult to fine-tune the position of the machine so that the machine stops at the position intended by the operator. Therefore, it is desired to be able to easily fine-tune the position of the machine. [Means for solving the problem]

[0006] The autonomous mobile body that solves the above problem includes a base, wheels provided on the base, a drive unit that drives the wheels, a control device that controls the drive unit, and a brake device that switches between a braking state in which the wheels are braked and a brake release state in which the wheels are released, the control device switches between a runnable mode in which the drive unit is driven to cause the base to run, and a run-disabled mode in which the drive unit is stopped to cause the base to be unable to run, and the brake device switches to the braking state when the control device switches from the run-disabled mode to the runnable mode. and when the control device switches from the driveable mode to the non-driveable mode and drive of the wheels stops, the autonomous mobile body switches from the brake released state to the braked state to stop the autonomous mobile body in a predetermined position, wherein the autonomous mobile body has a gripping portion that can be held by an operator, and a brake release portion that switches the brake device from the braked state to the brake released state in the non-driveable mode, and the brake release portion is positioned at a position where it can be operated by the hand holding the gripping portion.

[0007] For example, when the brake device is switched from the brake release state to the brake state when the control device is in the non-traveling mode and the machine is stopped at a predetermined position, the machine is stopped at a position not intended by the operator. In such a case, the operator grips the gripping portion and operates the brake release portion with the hand holding the gripping portion to switch the brake device from the braked state to the brake released state in the non-traveling mode. This allows the operator to move the machine while holding the gripping portion. Therefore, for example, by switching the brake device from the braked state to the brake release state and switching the control device from the non-traveling mode to the travelling mode, it is not necessary to drive the drive unit to travel the machine and fine-tune the position of the machine. Furthermore, since the brake release portion is arranged in a position that can be operated by the hand holding the gripping portion, the brake device can be easily switched from the braked state to the brake released state while holding the gripping portion in the non-traveling mode. As a result, the position of the machine can be easily fine-tuned.

[0008] In the above-mentioned autonomous moving body, the machine base may have a plate-shaped base extending horizontally and a column-shaped erected portion erected vertically upward from the base, and the gripping portion and the brake releasing portion may each be provided on the erected portion. In this manner, a configuration in which the gripping portion and the brake releasing portion are each provided on the column-shaped erected portion erected vertically upward from the base is suitable as a configuration of an autonomous moving body.

[0009] In the above-described autonomous moving body, the base portion may be a rectangular plate, and the erected portions may be erected vertically upward from four corners of the base portion. With this, no matter where the operator is in relation to the machine base, the operator can grip the grip portion provided on at least one of the four upright portions and operate the brake release portion with the hand gripping the grip portion, making it even easier to fine-tune the position of the machine base.

[0010] In the autonomous moving body, the gripping portion may be formed by a through hole provided in the erected portion, which can suppress protrusion in an outer circumferential direction, compared to a case in which the gripping portion is formed by a knob protruding from an outer surface of the erected portion, for example.

[0011] In the above-mentioned autonomous moving body, the brake release portion is provided at a portion of the upright portion that is located vertically above the gripping portion, and is a button switch that switches the brake device from the braking state to the brake release state when pressed with the thumb of the hand holding the gripping portion.

[0012] This allows the button switch to be easily pressed with the thumb of the hand holding the gripping portion, and the brake device can be easily switched from the braking state to the braking release state, making it even easier to fine-tune the position of the machine base.

[0013] In the above-mentioned autonomous moving body, the brake release state of the brake device is maintained while the button switch is pressed with the thumb of the hand holding the gripping portion, and when the button switch is released from the thumb of the hand holding the gripping portion, the brake device switches from the brake release state to the braked state.

[0014] This allows the operator to fine-tune the position of the machine base while being aware that the brake device is in the released state. After fine-tuning the position of the machine base, the operator can reliably switch the brake device from the released state to the braked state by releasing the button switch with the thumb of the hand holding the gripping portion. This improves workability.

[0015] In the above-mentioned autonomous moving body, the autonomous moving body may be an unmanned guided vehicle that transports a load. In an automated guided vehicle that transports loads, it is required to stop the vehicle so that the vehicle position is at a predetermined load transfer position. Therefore, it is possible to easily fine-tune the position of the vehicle so that the position of the vehicle is at the load transfer position, thereby improving the efficiency of load transport work using an automated guided vehicle. Effect of the Invention

[0016] According to this invention, the position of the machine base can be easily fine-tuned. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a perspective view showing an autonomous moving body according to an embodiment. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a block diagram of an autonomous vehicle. [Figure 4] 1 is a perspective view showing a state in which an operator is holding a grip portion and pressing a button switch with the thumb of one hand. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, a specific embodiment of an autonomous moving body will be described with reference to FIGS. (Overall configuration of the autonomous moving body 10) As shown in Fig. 1 and Fig. 2, the autonomous moving body 10 is an omnidirectional vehicle. In this embodiment, the autonomous moving body 10 is an unmanned guided vehicle that transports a load W1. Note that in Fig. 1 and Fig. 2, the load W1 is indicated by a two-dot chain line. The autonomous moving body 10 includes a machine base 11 and four wheels 12. Note that for convenience of illustration, only two wheels 12 are shown in Fig. 2. The four wheels 12 are provided on the machine base 11.

[0019] 3, the autonomous moving body 10 includes a driving unit 13 and a control device 14. The driving unit 13 drives the four wheels 12. The driving unit 13 is, for example, a motor that rotates the axles of the wheels 12. The control device 14 is electrically connected to the driving unit 13. The control device 14 controls the driving unit 13.

[0020] The control device 14 includes a central processing unit (CPU). The control device 14 also includes a memory including a read-only memory (ROM) in which various programs and maps are stored in advance, and a random access memory (RAM) for temporarily storing the results of CPU calculations, etc. The control device 14 also includes a timer counter, an input interface, an output interface, etc.

[0021] The control device 14 has prestored therein a program for switching between a travelable mode in which the drive unit 13 is driven to cause the machine base 11 to travel, and a non-travelable mode in which the drive unit 13 is stopped to cause the machine base 11 to be unable to travel. Thus, the control device 14 switches between a travelable mode in which the drive unit 13 is driven to cause the machine base 11 to travel, and a non-travelable mode in which the drive unit 13 is stopped to cause the machine base 11 to be unable to travel.

[0022] The autonomous moving body 10 includes a range sensor 15. The range sensor 15 is electrically connected to the control device 14. For example, a laser range finder (LRF) is used as the range sensor 15. The range sensor 15 is a two-dimensional laser (2D laser) sensor. The range sensor 15 irradiates a laser to, for example, the legs of a worker. The control device 14 stores in advance a program for measuring the distance to the legs of the worker based on the laser irradiated from the range sensor 15. The control device 14 also stores in advance a program for controlling the driving of the drive unit 13 based on the measurement result of the distance to the legs of the worker, and for running the machine base 11 to track the worker.

[0023] The autonomous moving body 10 also includes a braking device 16. The braking device 16 switches between a braking state in which the four wheels 12 are braked and a braking release state in which the braking of the four wheels 12 is released. The braking device 16 is, for example, an electromagnetic brake. Note that the configuration of the electromagnetic brake is publicly known, and therefore a detailed description of the configuration will be omitted.

[0024] The control device 14 is electrically connected to the brake device 16. The control device 14 transmits a drive signal to the brake device 16. The control device 14 stores in advance a program for transmitting a drive signal to the brake device 16 for switching the brake device 16 from a braking state to a brake release state when the control device 14 switches from a non-traveling mode to a travelling mode. Then, for example, when the control device 14 switches from a non-traveling mode to a travelling mode, the brake device 16 switches from a braking state to a brake release state to enable the machine 11 to travel.

[0025] On the other hand, the control device 14 stores in advance a program for transmitting a drive signal to the brake device 16 for switching the brake device 16 from a brake release state to a braked state when, for example, the control device 14 switches from a travelable mode to a non-travelable mode and the drive of each wheel 12 stops. Then, for example, when the control device 14 switches from a travelable mode to a non-travelable mode and the drive of each wheel 12 stops, the brake device 16 switches from a brake release state to a braked state to stop the machine 11 at a predetermined position.

[0026] As shown in FIG. 1 and FIG. 2, the machine base 11 has a base 21, a base portion 22, and four upright portions 23. The base 21 is in the shape of a flat rectangular block. The four wheels 12 are provided on the base 21. Specifically, the four wheels 12 are arranged at 90° intervals with respect to the center of the base 21 when the base 21 is viewed in a plan view. Each wheel 12 is an omnidirectional wheel, specifically an omniwheel. Therefore, each wheel 12 is configured to be driven in all directions. That is, each wheel 12 is provided with a plurality of rollers (small wheels having a barrel shape) that are arranged in the circumferential direction of the wheel 12 and rotate freely, and can move freely forward, backward, left, and right. Using the four wheels 12 configured in this way, the machine base 11 can be moved in all directions without changing the axle. The range sensor 15 is attached to the base 21.

[0027] (Configuration of base 22) The base 22 is provided on the upper part of the base 21. The base 22 is in the form of a flat plate extending horizontally. The base 22 is in the form of a rectangular plate. In this embodiment, the base 22 is in the form of a substantially square plate. The base 22 is provided on the base 21 with the center of the base 22 approximately coinciding with the center of the base 21. A load W1 can be placed on the upper surface of the base 22.

[0028] (Configuration of the standing portion 23) The four standing parts 23 are columnar and stand vertically upward from the base 22. Specifically, the four standing parts 23 stand vertically upward from the four corners of the base 22. Each standing part 23 is flat and plate-like. The four standing parts 23 have the same length in the standing direction from the base 22. Adjacent standing parts 23 in the circumferential direction of the base 22 are connected to each other by a side wall 24. Note that the side walls 24 are shown by virtual lines in Figs. 1 and 2 for convenience of illustration. Each side wall 24 is made of, for example, a resin sheet material. Note that one of the side walls 24 has, for example, a bellows door structure or a double door structure. By opening and closing the side wall 24, it is possible to perform a load W1 transfer operation, such as taking out the load W1 placed on the base 22 or placing the load W1 on the base 22.

[0029] (Configuration of gripping portion 26) A through hole 25 is formed in each standing portion 23 at a position located at the center in the standing direction. The through hole 25 penetrates each standing portion 23 in the thickness direction. Each standing portion 23 is erected from the base portion 22 so that the penetration direction of the through hole 25 with respect to the standing portion 23 coincides with each other. Each through hole 25 has an elongated hole shape. Each through hole 25 is formed in each standing portion 23 with the longitudinal direction of the through hole 25 coinciding with the standing direction of the standing portion 23 from the base portion 22.

[0030] 4, in each of the standing portions 23, a portion forming an inner peripheral edge of the through hole 25 extending in the longitudinal direction of the through hole 25 is a gripping portion 26 that can be gripped by an operator with one hand H1 by inserting one hand H1 into the inside of the through hole 25. Thus, the machine base 11 has a gripping portion 26 that can be gripped by an operator, specifically, a gripping portion 26 that can be gripped by an operator with one hand H1. The gripping portion 26 is formed by the through hole 25 provided in the standing portion 23.

[0031] (About button switch 27) A button switch 27 is provided on each of the standing portions 23. The button switch 27 is a brake release portion that switches the braking device 16 from a braking state to a brake release state in the traveling disabled mode. Therefore, in this embodiment, the brake release portion is the button switch 27. And, each of the standing portions 23 is provided with a grip portion 26 and the button switch 27 that is a brake release portion. Therefore, the machine base 11 has a brake release portion that switches the braking device 16 from a braking state to a brake release state in the traveling disabled mode.

[0032] The button switch 27 is provided at a position located vertically above the grip portion 26 on the upright portion 23. The button switch 27 switches the brake device 16 from a braking state to a braking release state when pressed with the thumb F1 of the hand H1 gripping the grip portion 26. Therefore, the button switch 27 is disposed at a position where it can be operated with the fingers of the hand H1 gripping the grip portion 26. Therefore, the button switch 27 is disposed at a position where it can be operated with the hand gripping the grip portion 26.

[0033] As shown in Fig. 3, specifically, the button switch 27 is electrically connected to the control device 14. For example, when the button switch 27 is pressed by an operator in the travel-disabled mode, a signal indicating that the button switch 27 has been pressed by the operator is transmitted to the control device 14. When the control device 14 receives the signal from the button switch 27, it transmits a drive signal to the brake device 16 for switching the brake device 16 from a braking state to a braking-released state. In this way, the brake device 16 is configured to switch from the braking state to the braking-released state.

[0034] While the button switch 27 is being pressed, a drive signal for switching the brake device 16 from the braked state to the brake released state continues to be transmitted from the control device 14 to the brake device 16. Therefore, while the button switch 27 is pressed with the thumb F1 of the hand H1 gripping the grip portion 26, the brake released state of the brake device 16 continues. On the other hand, when the button switch 27 is released, the drive signal for switching the brake device 16 from the braked state to the brake released state is no longer transmitted from the control device 14 to the brake device 16, and the brake device 16 switches from the brake released state to the braked state. Therefore, when the button switch 27 is released with the thumb F1 of the hand H1 gripping the grip portion 26, the brake device 16 switches from the brake released state to the braked state.

[0035] (action) Next, the operation of this embodiment will be described. For example, when the brake device 16 switches from the brake release state to the brake state to stop the machine base 11 at a predetermined position while the control device 14 is in the non-traveling mode, the machine base 11 may be stopped at a position not intended by the operator. In such a case, the operator holds the grip portion 26 and presses the button switch 27 with the thumb F1 of the hand H1 holding the grip portion 26, thereby switching the brake device 16 from the brake state to the brake release state in the non-traveling mode. This allows the operator to move the machine base 11 while holding the grip portion 26, and thus allows the operator to easily fine-tune the position of the machine base 11.

[0036] (effect) The above embodiment can provide the following effects. (1) The machine base 11 has a gripping portion 26 that can be gripped by an operator with one hand H1, and a button switch 27 that is a brake release portion that switches the brake device 16 from a braked state to a brake released state in the non-traveling mode. The button switch 27 is disposed in a position that can be operated by the thumb F1 of the hand H1 gripping the gripping portion 26. For example, when the brake device 16 switches from a brake released state to a braked state when the control device 14 is in the non-traveling mode and stops the machine base 11 at a predetermined position, the machine base 11 is stopped at a position that is not intended by the operator. In such a case, the operator grips the gripping portion 26 and operates the button switch 27 with the thumb F1 of the hand H1 gripping the gripping portion 26 to switch the brake device 16 from a braked state to a brake released state in the non-traveling mode. This allows the operator to move the machine base 11 while gripping the gripping portion 26. Therefore, for example, there is no need to switch the brake device 16 from a braking state to a brake release state and switch the control device 14 from a traveling disabled mode to a traveling enabled mode to drive the drive unit 13 to travel the machine base 11 and fine-tune the position of the machine base 11. Furthermore, since the button switch 27 is disposed in a position that can be operated by the thumb F1 of one hand H1 holding the grip portion 26, the brake device 16 can be easily switched from a braking state to a brake release state while holding the grip portion 26 in the traveling disabled mode. As a result, the position of the machine base 11 can be easily fine-tuned.

[0037] (2) The machine base 11 has a plate-like base 22 extending horizontally and a columnar erected portion 23 standing vertically upward from the base 22, and a grip portion 26 and a button switch 27 are provided on the erected portion 23. In this manner, a configuration in which the grip portion 26 and the button switch 27 are provided on the columnar erected vertically upward from the base 22 is suitable as a configuration of the autonomous moving body 10.

[0038] (3) The base 22 is a rectangular plate, and the standing portions 23 stand vertically upward from the four corners of the base 22. With this, no matter where the worker is in relation to the machine base 11, the worker can hold the grip portion 26 provided on at least one of the four standing portions 23 and press the button switch 27 with the thumb F1 of the hand H1 holding the grip portion 26. This makes it even easier to fine-tune the position of the machine base 11.

[0039] (4) The grip portion 26 is formed by a through hole 25 provided in the standing portion 23. With this, for example, compared to a case in which the grip portion 26 is formed by a knob protruding from the outer surface of the standing portion 23, protrusion in the outer circumferential direction can be suppressed.

[0040] (5) The button switch 27 is provided at a position located vertically above the grip portion 26 on the upright portion 23, and switches the brake device 16 from a braked state to a brake released state when pressed down with the thumb F1 of the hand H1 holding the grip portion 26. This allows the button switch 27 to be easily pressed down with the thumb F1 of the hand H1 holding the grip portion 26, and the brake device 16 to be easily switched from a braked state to a brake released state, making it even easier to fine-tune the position of the machine base 11.

[0041] (6) While the button switch 27 is pressed by the thumb F1 of the hand H1 gripping the grip portion 26, the brake device 16 continues to be in the brake release state. On the other hand, when the button switch 27 is released from the thumb F1 of the hand H1 gripping the grip portion 26, the brake device 16 switches from the brake release state to the brake state. This allows the worker to fine-tune the position of the machine base 11 while knowing that the brake device 16 is in the brake release state. Then, after fine-tuning the position of the machine base 11, the brake device 16 can be reliably switched from the brake release state to the brake state by releasing the button switch 27 with the thumb F1 of the hand H1 gripping the grip portion 26. This improves workability.

[0042] (7) The autonomous mobile body 10 is an unmanned guided vehicle that transports the load W1. In the unmanned guided vehicle that transports the load W1, the platform 11 is required to be stationary so that the platform 11 is positioned at a predetermined transfer position for the load W1. Therefore, it is possible to easily fine-tune the position of the platform 11 so that the position of the platform 11 is the transfer position for the load W1, thereby improving the efficiency of the transport work of the load W1 using the unmanned guided vehicle.

[0043] (Example of change) The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined with each other to the extent that no technical contradiction occurs.

[0044] In the embodiment, the brake device 16 continues to be in the brake release state while the button switch 27 is pressed with the thumb F1 of the hand H1 gripping the grip portion 26, but this is not limited to the above. For example, when the brake device 16 is in the braked state, the button switch 27 may be pressed once with the thumb F1 of the hand H1 gripping the grip portion 26, and even if the button switch 27 with the thumb F1 is immediately released after that, the brake device 16 may continue to be in the brake release state. Then, when the brake device 16 is in the brake release state, pressing the button switch 27 again with the thumb F1 of the hand H1 gripping the grip portion 26 switches the brake device 16 from the brake release state to the braked state.

[0045] In the embodiment, instead of the button switch 27, for example, a lever that can be operated with the fingers of one hand H1 holding the grip portion 26 may be used as the brake release portion. The lever is configured to mechanically switch the braking device 16 from the braked state to the brake released state when operated by an operator.

[0046] In the embodiment, the brake release unit may not be the button switch 27, but may be configured to switch the brake device 16 from the braked state to the brake released state by changing the potential caused by the fingers of one hand H1 gripping the grip portion 26. In short, the brake release unit may be configured to be capable of switching the brake device 16 from the braked state to the brake released state, and the specific configuration is not particularly limited.

[0047] In the embodiment, the configuration of the grip portion 26 is not particularly limited, and may be, for example, a U-shaped knob protruding from the outer surface of the standing portion 23. In short, the grip portion 26 may be configured to be capable of being held by an operator with one hand H1.

[0048] In the embodiment, the button switch 27 may be provided, for example, at a portion of the standing portion 23 that is located vertically lower than the grip portion 26. In this case, for example, the operator needs to hold the grip portion 26 so that the thumb F1 of the hand H1 holding the grip portion 26 can press the button switch 27.

[0049] In the embodiment, the standing portions 23 do not have to be provided standing from each of the four corners of the base 22. For example, the standing portions 23 may be provided standing from portions connecting the corners of the base 22. In short, even if the base 22 is a rectangular plate, the standing positions of the standing portions 23 from the base 22 and the number of the standing portions 23 are not particularly limited.

[0050] In the embodiment, the shape of the base 22 is not limited to a rectangular plate shape and may be, for example, a disk shape. For example, when the shape of the base 22 is a disk shape, the standing portion 23 stands on the outer periphery of the base 22.

[0051] In the embodiment, the machine base 11 may be configured not to have the plate-shaped base 22 extending horizontally and the column-shaped upright portions 23 extending vertically upward from the base 22. In short, the configuration of the machine base 11 is not particularly limited.

[0052] In the embodiment, the number of wheels 12 is four, but the number is not limited to four and may be, for example, two, three, or five or more. Also, the number of wheels 12 may be one. In short, the number of wheels 12 is not particularly limited.

[0053] In the above embodiment, the autonomous moving body 10 is an omnidirectional vehicle. However, the autonomous moving body 10 is not limited to this. For example, the autonomous moving body 10 may be another vehicle such as a four-wheel vehicle other than a four-wheel omniwheel vehicle. In the above embodiment, the autonomous moving body 10 is an unmanned guided vehicle that transports the load W1. However, the autonomous moving body 10 is not limited to this and may be, for example, an unmanned forklift or an unmanned towing vehicle. [Explanation of symbols]

[0054] 10...autonomous mobile body, 11...machine base, 12...wheels, 13...drive unit, 14...control unit, 16...brake device, 22...base, 23...standing portion, 25...through hole, 26...gripping portion, 27...button switch which is the brake release portion, F1...thumb, H1...one hand, W1...load.

Claims

1. Machine base and Wheels provided on the machine base; A drive unit that drives the wheels; A control device for controlling the drive unit; a brake device that switches between a braking state in which the wheels are braked and a brake release state in which the wheels are released from the brakes, the control device switches between a travelling mode in which the drive unit is driven to travel the machine base and a travelling disabled mode in which the drive unit is stopped to disable the machine base from traveling; the brake device switches from the braked state to the brake released state when the control device switches from the travel-disabled mode to the travel-enabled mode, thereby enabling the vehicle to travel, and switches from the brake released state to the braked state when the control device switches from the travel-enabled mode to the travel-disabled mode and driving of the wheels stops, thereby stopping the vehicle at a predetermined position; The machine base is A gripping portion that can be gripped by an operator; a brake release unit that switches the brake device from the braking state to the brake release state in the traveling disabled mode without switching from the traveling disabled mode to the traveling enabled mode, The brake release unit is disposed in a position that can be operated by the hand holding the grip unit.

2. The machine base is A plate-shaped base extending horizontally; A columnar standing portion standing vertically upward from the base portion, The autonomous moving body according to claim 1 , wherein the standing portion is provided with the gripping portion and the brake releasing portion.

3. The base portion is a rectangular plate-like member, The autonomous moving body according to claim 2 , wherein the standing portions stand vertically upward from four corners of the base portion.

4. Machine base and Wheels provided on the machine base; A drive unit that drives the wheels; A control device for controlling the drive unit; a brake device that switches between a braking state in which the wheels are braked and a brake release state in which the wheels are released from the brakes, the control device switches between a travelling mode in which the drive unit is driven to travel the machine base and a travelling disabled mode in which the drive unit is stopped to disable the machine base from traveling; the brake device switches from the braked state to the brake released state when the control device switches from the travel-disabled mode to the travel-enabled mode, thereby enabling the vehicle to travel, and switches from the brake released state to the braked state when the control device switches from the travel-enabled mode to the travel-disabled mode and driving of the wheels stops, thereby stopping the vehicle at a predetermined position; The machine base is A gripping portion that can be gripped by an operator; a brake release unit that switches the brake device from the braking state to the brake release state in the traveling disabled mode without switching from the traveling disabled mode to the traveling enabled mode, the brake release portion is disposed at a position operable by a hand holding the grip portion, The autonomous moving body, wherein the gripping portion is formed by a through hole provided in the base.

5. 4. The autonomous moving body according to claim 2 or 3, characterized in that the brake release portion is provided at a portion of the erected portion that is located vertically above the grip portion, and is a button switch that switches the brake device from the braking state to the brake release state when pressed with the thumb of the hand holding the grip portion.

6. 6. The autonomous moving body according to claim 5, characterized in that the brake device continues in the brake release state while the button switch is pressed with the thumb of the hand holding the gripping portion, and when the button switch is released from the thumb of the hand holding the gripping portion, the brake device switches from the brake release state to the braked state.

7. The autonomous mobile body according to any one of claims 1 to 6, characterized in that the autonomous mobile body is an unmanned guided vehicle that transports loads.

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