Mobile

Abstract

A moving body according to the present disclosure loads a load onto a carrier and transports the load, and comprises a drive device that moves the moving body and a control device that, on the basis of a parameter pertaining to at least one of the mass, size, shape, and center of gravity of the load, sets the speed and / or acceleration / deceleration speed of the moving body, and controls the drive device on the basis of the set speed and / or acceleration / deceleration speed.

Description

[Technical field]

[0001] A mobile object is disclosed herein. [Background technology]

[0002] Conventionally, there is known a delivery system that uses an automated moving vehicle capable of loading a dolly on the loading platform. For example, Patent Document 1 proposes that an automated moving vehicle enters under a dolly with casters, loads the dolly on the loading platform, and moves automatically (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 10202061 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when such an autonomous vehicle is driven at high speed with a heavy object on the platform, it can be difficult to avoid danger, while when a light object is driven at low speed, the vehicle takes a long time to move.

[0005] The present disclosure has been made to solve such problems, and has as its main object to move a moving body at an appropriate speed and acceleration / deceleration. [Means for solving the problem]

[0006] The first moving body of the present disclosure is A mobile body that transports a loaded object on a loading platform, A drive device that moves the moving body; a control device that sets at least one of a speed and an acceleration / deceleration of the moving body based on a parameter related to at least one of a mass, a size, a shape, and a center of gravity of the loading object, and controls the driving device based on the set speed and / or the acceleration / deceleration; It is equipped with the following:

[0007] In this moving body, at least one of the speed and acceleration / deceleration of the moving body is set based on a parameter related to at least one of the mass, size, shape, and center of gravity of the loaded object, and the drive device is controlled based on the set speed and / or acceleration / deceleration. In other words, the moving body can be moved at a speed and acceleration / deceleration suitable for the loaded object. Therefore, it is possible to avoid the difficulty of avoiding danger and the unnecessary long travel time.

[0008] The second moving body of the present disclosure is A mobile body that transports a loaded object on a loading platform, A drive device that moves the moving body; A loading platform lifting device for lifting and lowering the loading platform; Equipped with the control device acquires a parameter related to at least one of a mass, a size, a shape, and a center of gravity of the loading object when the loading platform lifting device lifts the loading platform on which the loading object is placed. It is something.

[0009] In this moving body, when the platform lifting device lifts the platform on which the load object is placed, the control device acquires parameters related to at least one of the mass, size, shape, and center of gravity of the load object. These parameters are easy to acquire when the platform on which the load object is placed is lifted. Therefore, the control device can acquire these parameters relatively easily.

[0010] A third moving object of the present disclosure is A mobile body that transports a loaded object on a loading platform, A loading platform lifting device for lifting and lowering the loading platform; a positioning member that does not protrude from an upper surface of the loading platform when the loading platform is not lifted by the loading platform lifting device, and that protrudes from the upper surface of the loading platform when the loading platform is lifted by the loading platform lifting device to position the loaded object placed on the loading platform; It is equipped with the following:

[0011] In this moving body, the positioning member does not protrude from the top surface of the loading platform when the loading platform is not lifted by the loading platform lifting device, so there is no risk of the positioning member getting caught on something. Also, when the loading platform is lifted by the loading platform lifting device, the positioning member protrudes from the top surface of the loading platform to position the loaded object placed on the loading platform, so that it is possible to restrict the loaded object from moving on the loading platform during transportation. Note that "not protruding from the top surface of the loading platform" includes cases where the positioning member does not protrude at all from the top surface of the loading platform, as well as cases where the positioning member protrudes slightly (for example, 1 mm or 2 mm) from the top surface of the loading platform so that it does not get caught on something. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view showing a schematic configuration of a moving body 10. [Diagram 2] FIG. 4 is a plan view of a positioning member 30 provided on the left side of the loading platform 16. [Diagram 3] Cross section AA of Figure 2. [Figure 4] FIG. 4 is a vertical cross-sectional view of the positioning member 30 when the loading platform 16 is in the upper position. [Diagram 5] FIG. 13 is an explanatory diagram showing a state when the moving body 10 goes under the dolly 160. [Figure 6] FIG. 13 is an explanatory diagram showing a state in which the dolly 160 is placed on the loading platform 16 and lifted up. [Figure 7] Cross-sectional view taken along line B-B in FIG. [Figure 8] 4 is a flowchart of a movement control routine. [Figure 9] 13 is a flowchart of another movement control routine. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] An embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a perspective view showing a schematic configuration of a moving body 10, Fig. 2 is a plan view of a positioning member 30 provided on the left side of a loading platform 16, Fig. 3 is a cross-sectional view taken along line AA in Fig. 2 (a vertical cross-sectional view of the positioning member 30 when the loading platform 16 is in the lower position), and Fig. 4 is a vertical cross-sectional view of the positioning member 30 when the loading platform 16 is in the lower position. Note that Fig. 1 also shows a block diagram showing electrical connections of the moving body 10. In addition, in this embodiment, the left-right direction, the front-rear direction, and the up-down direction will be described as shown in Fig. 1.

[0014] The moving body 10 is a self-propelled vehicle having four Mecanum wheels 14 attached to the front, rear, left and right sides of a body 12. The moving body 10 is configured as an AMR (Autonomous Mobile Robot) that moves by detecting its surroundings.

[0015] The mobile body 10 has a loading platform 16, a loading platform lifting device 20, a positioning member 30, a wheel drive device 40, a vibration detection sensor 44, a distance measurement sensor 45, a gyro sensor 46, a vehicle speed sensor 47, an acceleration sensor 48, and a control device 50.

[0016] The loading platform 16 is provided on the upper surface of the vehicle body 12. An object 60 is loaded onto the loading platform 16. When the loading platform 16 is not raised by the loading platform lifting device 20 (when in the lower position), the loading platform 16 is flush with an annular surface 18 surrounding the loading platform 16. As shown in FIG. 3, the loading platform 16 has a structure in which an upper horizontal plate 16a and a lower horizontal plate 16b are stacked together.

[0017] The bed lifting device 20 is disposed below the bed 16 in the vehicle body 12, and lifts and lowers the bed 16 by extending and retracting a rod (not shown) using a lifting motor (not shown).

[0018] As shown in FIG. 3, the positioning member 30 is a claw-shaped member having a tip end 30a and a base end 30b, and is disposed in a rectangular storage groove 32 provided on the upper surface of the loading platform 16. The positioning member 30 shown in FIG. 3 is provided on the left side of the loading platform 16 in FIG. 1. The storage groove 32 is composed of an upper groove 32a that penetrates the upper horizontal plate 16a in the vertical direction, and a lower groove 32b that penetrates the lower horizontal plate 16b in the vertical direction. The short-side length of the lower groove 32b is the same as the short-side length of the upper groove 32a, but the longitudinal length of the lower groove 32b is shorter than the longitudinal length of the upper groove 32a. Therefore, when the upper groove 32a is viewed from above, a portion of the lower horizontal plate 16b where the lower groove 32b is not provided is visible, and this portion is referred to as the groove bottom surface 32c. The positioning member 30 is rotatably supported by a horizontal fulcrum pin 34 provided in the storage groove 32. The fulcrum pin 34 is attached near the center of the positioning member 30. A spring 36, which is a biasing member, is attached between the tip 30a of the positioning member 30 and the groove bottom surface 32c. The spring 36 biases the tip 30a of the positioning member 30 upward. In other words, the spring 36 biases the positioning member 30 counterclockwise around the fulcrum pin 34. The vehicle body 12 is provided with a base portion 17 below the loading platform 16, which is immovable up and down. The base portion 17 is provided so as not to be raised and lowered by the loading platform lifting and lowering device 20. A columnar protrusion 38, which is an adjustment member, is provided on the upper surface of the base portion 17.

[0019] In a state where the loading platform 16 is not lifted by the loading platform lifting device 20 (when the loading platform 16 is in the lower position), as shown in Fig. 3, the protrusion 38 comes into contact with the base end 30b of the positioning member 30 and presses the base end 30b upward. As a result, the tip 30a of the positioning member 30 fits inside the storage groove 32 against the biasing force of the spring 36 and does not protrude from the upper surface of the loading platform 16. In this way, when the loading platform 16 is in the lower position, the protrusion 38 restricts the upper surface of the positioning member 30 from protruding from the upper surface of the loading platform 16. In this embodiment, the upper surface of the positioning member 30 at this time is flush with the upper surface of the loading platform 16.

[0020] In a state where the platform 16 is lifted by the platform lifting device 20 (the platform 16 is in the upper position), as shown in FIG. 4, the base end 30b of the positioning member 30 is separated from the protrusion 38. Therefore, the protrusion 38 is not pressing the base end 30b of the positioning member 30 upward. As a result, the tip 30a of the positioning member 30 protrudes from the upper surface of the platform 16 by the biasing force of the spring 36. The positioning member 30 is positioned in a state where the step 30d provided on the back surface of the positioning member 30 abuts against the opening edge 32d (stopper) of the lower groove 32b. In this way, the protrusion 38 allows the tip 30a of the positioning member 30 to protrude from the upper surface of the platform 16 when the platform 16 is in the upper position. At this time, the tip surface 30e of the positioning member 30 is approximately perpendicular to the upper surface of the platform 16. Even if the load object 60 placed on the loading platform 16 shifts and hits the positioning member 30, the positioning member 30 can receive the load object 60 and stop it.

[0021] The wheel drive unit 40 is a motor that drives the four Mecanum wheels 14 to rotate independently, thereby moving the mobile unit 10. The Mecanum wheels 14 have a structure in which a plurality of rollers are provided on the ground surface side, which are supported so as to be freely rotatable at a 45° angle with respect to the axle. The mobile unit 10 is configured such that each Mecanum wheel 14 can be rotated independently forward or backward to move the mobile unit 10 in all directions, and perform pivot turns, yaw turns, gentle turns, and the like.

[0022] The vibration detection sensor 44 detects the vibration frequency generated when the moving body 10 moves. The distance measurement sensor 45 detects objects and obstacles present around the moving body 10 and their distances. The gyro sensor 46 detects the vehicle direction and arrangement angle of the moving body 10. The vehicle speed sensor 47 detects the speed at which the moving body 10 moves. The acceleration sensor 48 detects the acceleration at which the moving body 10 moves.

[0023] The control device 50 is a general-purpose computer including a CPU 51, a ROM 52, a RAM 53, a storage 54, and the like. The CPU 51 executes various processes. The ROM 52 stores processing programs and the like. The RAM 53 is a working area for temporarily storing data and the like. The storage 54 is a storage area for readably storing data, files, and the like. Signals from the vibration detection sensor 44, the distance measurement sensor 45, the gyro sensor 46, the vehicle speed sensor 47, and the acceleration sensor 48 are input to the control device 50. The control device 50 outputs a drive signal to the wheel drive device 40, a lifting signal to the loading platform lifting device 20, and the like. The control device 50 is connected to a management device 70 that manages the moving body 10 so as to be able to communicate with the management device 70.

[0024] Next, an example of how the moving body 10 is used will be described. Fig. 5 is an explanatory diagram showing the state when the moving body 10 slips under the dolly 160, Fig. 6 is an explanatory diagram showing the state when the dolly 160 is placed on the loading platform 16 and lifted up, and Fig. 7 is a BB cross-sectional view of Fig. 6. Here, a case will be described in which the moving body 10 slips under the dolly 160, which is the loading object 60, and after the dolly 160 is placed on the loading platform 16, it is transported to a predetermined target position.

[0025] As shown in FIG. 5, the dolly 160 has wheels 164 attached to the four corners of a plate-shaped platform 162. A plurality of baskets 166 filled with luggage are placed on the platform 162. The top surface of the platform 162 is flat, but the bottom surface of the platform 162 is provided with reinforcing ribs 168 vertically and horizontally. A space is formed between the platform 162 and the floor surface FL. This space is large enough for the mobile body 10 with the loading platform 16 placed at the lower position to slip in. The bottom surface of the platform 162 is divided into a plurality of quadrangles by these ribs 168 (see FIG. 7). When the mobile body 10 receives position information of the dolly 160 from the management device 70, it moves based on the position information with the loading platform 16 placed at the lower position to slip in directly under the dolly 160. At this time, if the positioning member 30 were to protrude from the upper surface of the loading platform 16, there would be a risk of it getting caught on the underside of the trolley 160; however, when the loading platform 16 is in the lower position, the positioning member 30 does not protrude from the upper surface of the loading platform 16, so there is no such risk.

[0026] In this state, the CPU 51 of the control device 50 executes a movement control routine. 8 is a flowchart of the movement control routine. The program of the movement control routine is stored in the ROM 52 of the control device 50.

[0027] When the CPU 51 of the control device 50 starts the movement control routine, first, it controls the loading platform lifting device 20 to lift the loading platform 16 to the upper position (S110), and estimates the mass of the object to be loaded 60 based on the feedback value of the current flowing through the lifting motor (not shown) of the loading platform lifting device 20 at that time (S120). The loading platform 16 comes into contact with the object to be loaded 60 during the lifting process to the upper position, and then rises together with the object to be loaded 60 until it reaches the upper position. The greater the mass of the object to be loaded 60, the greater the load torque of the lifting motor (not shown) of the loading platform lifting device 20, and the greater the feedback value of the current flowing through the lifting motor. Therefore, the mass of the object to be loaded 60 can be estimated based on the feedback value of the current flowing through the lifting motor. Here, since the object to be loaded 60 is the cart 160, as shown in FIG. 6, the loading platform 16 with the cart 160 placed thereon is lifted to the upper position. When the loading platform 16 is lifted to the upper position, the tip 30a of the positioning member 30 rises as shown in FIGS. 3 to 4. At this time, the four positioning members 30 surround the rib 168 that forms a rectangle (see the dashed line in FIG. 7) at the center of the mounting table 162. Therefore, the cart 160 is positioned by the four positioning members 30.

[0028] Next, the CPU 51 sets the movement conditions for the mass (S130). In the storage 54, a table showing the correspondence between the mass and the movement conditions is stored in advance, and the CPU 51 refers to the table to set the movement conditions. Specifically, as shown in Table 1 in the table, the acceleration and the maximum speed are determined in association with the lightness or heaviness of the mass. In Table 1, the mass is divided into three levels: "light", "medium", and "heavy". "Light" means the mass is less than X [kg], "medium" means the mass is equal to or greater than X [kg] and less than Y [kg] (where X < Y), and "heavy" means the mass is equal to or greater than Y [kg]. The acceleration is divided into three levels: "low", "medium", and "high". "Low" means the absolute value of the acceleration is less than A [m / s 2 or less, "medium" means the absolute value of the acceleration is less than B [m / s 2 or less, and "high" means the absolute value of the acceleration is less than C [m / s 2It is set as follows (where A < B < C). The maximum speed is also divided into three levels: "low", "medium", and "high". The "low" level has a maximum speed of P [m / s], the "medium" level has a maximum speed of Q [m / s], and the "high" level has a maximum speed of R [m / s] (where P < Q < R), and it is set in this way.

[0029]

Table 1

[0030] Next, the CPU 51 derives the movement path from the initial position to the target position based on the initial position where the object 60 to be loaded was placed and a predetermined target position (S140). Specifically, the moving body 10 creates an environmental map and estimates its own position by SLAM, and derives the movement path connecting the initial position and the target position based on the environmental map and its own position.

[0031] Next, while the CPU 51 inputs the speed and acceleration from the vehicle speed sensor 47 and the acceleration sensor 48, it controls the wheel drive device 40 to meet the currently set movement conditions, and moves the moving body 10 along the derived movement path to the target position (S150), and then ends this routine. As a result, the carriage 160 placed at the initial position is transported to the target position.

[0032] In the moving body 10 described above, the speed and acceleration / deceleration of the moving body 10 are set based on the mass of the loaded object 60, and the wheel drive device 40 is controlled based on the set speed and acceleration / deceleration. In other words, the moving body 10 is moved at a speed and acceleration / deceleration suitable for the mass of the loaded object 60. Therefore, it is possible to avoid the difficulty of avoiding danger and the unnecessary long travel time. Specifically, if the mass of the loaded object 60 is light, the acceleration and maximum speed are set high, so that the target position is reached in a short time. In this case, since the mass is light, danger can be avoided relatively easily even if the acceleration and maximum speed are high. On the other hand, if the mass of the loaded object 60 is heavy, the acceleration and maximum speed are set low, so that the target position cannot be reached in a short time, but it is not difficult to avoid danger.

[0033] In addition, it becomes possible to downsize the drive motor and battery of the wheel drive device 40, which contributes to cost reduction and energy saving.

[0034] Furthermore, when the loading platform lifting device 20 lifts the loading platform 16 on which the loading object 60 is placed, the control device 50 acquires the mass of the loading object 60. The mass of the loading object 60 is easily acquired when the loading platform 16 on which the loading object 60 is placed is lifted. Therefore, the control device 50 can acquire the mass relatively easily.

[0035] Furthermore, since the positioning member 30 does not protrude from the upper surface of the loading platform 16 when the loading platform 16 is not lifted by the loading platform lifting device 20, there is no risk of the positioning member 30 getting caught on something. Also, when the loading platform 16 is lifted by the loading platform lifting device 20, the positioning member 30 protrudes from the upper surface of the loading platform 16 to position the loading object 60 placed on the loading platform 16, so that it is possible to restrict the loading object 60 from moving on the loading platform 16 during transportation.

[0036] The positioning member 30 is rotatably supported by the fulcrum pin 34 and is actuated by a spring 36 and a protrusion 38. The spring 36 urges the tip 30a of the positioning member 30 upward. The protrusion 38 is provided on the base portion 17, which is a non-lifting portion that is not raised or lowered by the bed lifting device 20. When the bed 16 is not lifted by the bed lifting device 20, the protrusion 38 presses the base end 30b of the positioning member 30 upward to restrict the tip 30a of the positioning member 30 from protruding from the upper surface of the bed 16. When the bed 16 is lifted by the bed lifting device 20, the protrusion 38 releases the upward pressure on the base end 30b of the positioning member 30 and allows the tip 30a of the positioning member 30 to protrude from the upper surface of the bed 16 by the urging of the spring 36. Therefore, the positioning member 30 can be actuated with a relatively simple configuration.

[0037] Furthermore, when the loading platform 16 is lifted by the loading platform lifting device 20, the tip 30a of the positioning member 30 protrudes from the upper surface of the loading platform 16 due to the bias of the spring 36, and when the protruding height reaches a predetermined height, the positioning member 30 abuts against the opening edge 32d of the lower groove 32b, which serves as a stopper, and is prevented from rotating any further. Therefore, the posture of the positioning member 30 that positions the loading object 60 can be maintained. Furthermore, even if the loading object 60 placed on the loading platform 16 shifts and hits the positioning member 30, the positioning member 30 can receive and stop the loading object 60.

[0038] It goes without saying that the present invention is not limited to the above-described embodiment, and can be embodied in various forms within the technical scope of the present invention.

[0039] For example, in the above-described embodiment, the mass of the loaded object 60 is inferred based on the feedback value of the current flowing through the lifting motor of the bed lifting device 20, but this is not particularly limited. For example, a mass detection sensor may be attached to the bed 16, and the control device 50 may input the mass of the loaded object 60 detected by the mass detection sensor. Alternatively, if the management device 70 stores the mass of the loaded object 60 in advance, the control device 50 of the moving body 10 may obtain the mass of the loaded object 60 from the management device 70. In particular, if the moving body 10 does not have the bed lifting device 20, the mass may be detected using the mass detection sensor or obtained from the management device 70 in this manner.

[0040] In the above embodiment, the CPU 51 of the control device 50 executes the flow chart of the movement control routine in FIG. 8, but may execute the flow chart of the movement control routine in FIG. 9 instead. The movement control routine in FIG. 9 is the same as the movement control routine in FIG. 8 except that S122 and S132 are executed instead of S120 and S130. Therefore, only S122 and S132 will be described below. In S122, the CPU 51 performs a dummy operation to determine the stability of the load object 60. The dummy operation is an operation in which the moving body 10 carrying the load object 60 moves a predetermined short distance at a predetermined low speed. The CPU 51 inputs the vibration frequency generated when the dummy operation is executed from the vibration detection sensor 44, and determines the stability based on the vibration frequency. Here, if the vibration frequency is "low", the stability is determined to be "low", and if the vibration frequency is "high", the stability is determined to be "high". The vibration frequency is divided into two categories, "low" and "high", where "low" is set to a frequency less than K [kHz], and "high" is set to a frequency equal to or less than K [kHz]. In the following S132, the CPU 51 sets the movement conditions for that stability. Since a table showing the correspondence between the stability and the movement conditions is stored in advance in the storage 54, the CPU 51 sets the movement conditions by referring to the table. Specifically, as shown in Table 2, the acceleration and maximum speed are determined in correspondence with the high and low stability. By executing the movement control routine of this FIG. 9, it is possible to move the moving body 10 at a speed and acceleration / deceleration suitable for the stability of the loading object 60. In addition, since the stability of the loading object 60 is determined based on the vibration data during the dummy operation, the stability can be obtained relatively easily.

[0041] [Table 2]

[0042] In addition, the CPU 51 may execute the dummy operation for each of the X direction, Y direction, and Q direction (rotation direction) in S122, and set the movement condition for each direction in S132. In this case, while moving to the target position, if the moving direction of the moving body 10 is the X direction, the CPU 51 drives and controls the wheel drive device 40 so as to meet the movement condition set for the X direction, if the moving direction of the moving body 10 is the Y direction, the CPU 51 drives and controls the wheel drive device 40 so as to meet the movement condition set for the Y direction, and if the moving direction of the moving body 10 is the Q direction, the CPU 51 drives and controls the wheel drive device 40 so as to meet the movement condition set for the Q direction. By doing so, even if the stability of the load object 60 differs for each direction, the moving body 10 can be moved at a speed and acceleration / deceleration suitable for the actual moving direction.

[0043] In the above embodiment, the loading platform 16 is positioned at two positions, a lower position and an upper position, but the upper position may be provided in multiple stages. For example, the upper position may be provided in two stages, such as a first upper position and a second upper position, and the first upper position may be set to a position higher than the second upper position. After S110 and S120 of the movement control routine, if the mass of the load object 60 is heavy (the mass exceeds a threshold) when the loading platform 16 is raised to the first upper position, the CPU 51 may lower the loading platform 16 to the second upper position before starting the movement of the moving body 10. In this way, the load object 60 can be transported in a stable state.

[0044] In the above-described embodiment, the control device 50 may determine whether the position of the center of gravity of the load object 60 falls within a predetermined appropriate range of the loading platform 16, and if the position of the center of gravity does not fall within the appropriate range, the loading platform 16 may be lowered to a lower position by the loading platform lifting device 20 to remove the load object 60 from the loading platform 16. Thereafter, the control device 50 may move the moving body 10 so that the position of the center of gravity of the load object 60 falls within a predetermined appropriate range on the loading platform 16, and may again raise the loading platform 16 to an upper position by the loading platform lifting device 20 to place the load object 60 on the loading platform 16 and lift it up. In this way, the load object 60 placed on the loading platform 16 can be transported in a stable state. In this case, the control device 50 may determine whether the position of the center of gravity of the load object 60 falls within the predetermined appropriate range while the moving body 10 is moving. In this way, even if the position of the center of gravity of the loaded object 60 is out of the appropriate range due to an external force (such as wind) while the moving body 10 is moving, the loaded object 60 is temporarily removed from the loading platform 16, which is preferable from the viewpoint of safety. Furthermore, if the control device 50 determines during the movement of the moving body 10 that the position of the center of gravity of the loaded object 60 is not within a predetermined appropriate range, the control device 50 may remove the loaded object 60 from the loading platform 16, wait the moving body 10 for a predetermined time, and then place the loaded object 60 on the loading platform 16 again to perform the determination. In this way, the loaded object 60 can be transported safely. The position of the center of gravity of the loaded object 60 can be physically obtained by providing load cells at the four corners of the loading platform 16 and based on the mass detected by each load cell when the loaded object 60 placed on the loading platform 16 comes into contact with each load cell. A pressure sensor may be provided instead of the load cell. Alternatively, the measurement may be performed using the center of gravity position measuring device disclosed in JP 2016-194534 A.

[0045] In the above-described embodiment, the movement conditions (speed and acceleration / deceleration) of the moving body 10 are set based on the mass of the loaded object 60, but the movement conditions of the moving body 10 may be set based on at least one of the mass, size, shape, and center of gravity of the loaded object 60. For example, the control device 50 may recognize the mass and size of the loaded object 60 based on an image of the loaded object 60 captured by a camera. Alternatively, the control device 50 may measure the position of the center of gravity of the loaded object 60 by a center of gravity position measuring device. Alternatively, when data such as the mass, size, and center of gravity of the loaded object 60 is stored in advance in the management device 70, the control device 50 may acquire the data from the management device 70.

[0046] In the above embodiment, when the loading platform lifting device 20 lifts the loading platform 16 on which the loading object 60 is placed, the control device 50 acquires the mass of the loading object 60, but the acquired parameter is not limited to the mass. For example, at least one parameter of the mass, size, shape, and center of gravity of the loading object 60 may be acquired.

[0047] In the above-described embodiment, the spring 36 is used as the biasing member, but a weight or a pair of magnets of the same polarity may be used instead of the spring 36. For example, a weight may be attached to the base end 30b side of the positioning member 30 so that the weight biases the tip 30a of the positioning member 30 upward. Alternatively, a magnet of either NS or N polarity may be attached to the back surface of the base end 30a of the positioning member 30, and a magnet of the same polarity may be attached to a position facing the magnet on the groove bottom surface 32c, so that the tip 30a of the positioning member 30 is biased upward by the repulsive force between the same poles.

[0048] In the above-described embodiment, the moving body 10 is configured as an AMR, but may be configured as an AGV (Automated Guided Vehicle). [Industrial Applicability]

[0049] The mobile body of the present disclosure can be used, for example, to transport objects. [Explanation of symbols]

[0050] 10 Mobile body, 12 Vehicle body, 14 Mecanum wheel, 16 Cargo platform, 16a Upper horizontal plate, 16b Lower horizontal plate, 17 Base portion, 18 Annular surface, 20 Cargo platform lifting device, 30 Positioning member, 30a Tip, 30b Base end, 30d Step, 30e Tip surface, 32 Storage groove, 32a Upper groove, 32b Lower groove, 32c Groove bottom surface, 32d Opening edge, 34 Pivot pin, 36 Spring, 38 Protrusion, 40 Wheel drive device, 44 Vibration detection sensor, 45 Distance measurement sensor, 46 Gyro sensor, 47 Vehicle speed sensor, 48 Acceleration sensor, 50 Control device, 51 CPU, 52 ROM, 53 RAM, 54 Storage, 60 Loading object, 70 Management device, 160 Cart, 162 platform, 164 wheels, 166 basket, 168 ribs.

Claims

1. A mobile body that transports a loaded object on a loading platform, A loading platform lifting device for lifting and lowering the loading platform; a positioning member that does not protrude from an upper surface of the loading platform when the loading platform is not lifted by the loading platform lifting device, and that protrudes from the upper surface of the loading platform when the loading platform is lifted by the loading platform lifting device to position the loaded object placed on the loading platform; Equipped with a tip surface of the positioning member that is inclined with respect to the longitudinal direction of the positioning member and is inclined with respect to the upper surface of the loading platform when the loading platform is not lifted by the loading platform lifting device, the tip surface of the positioning member is approximately perpendicular to the upper surface of the loading platform when the positioning member protrudes from the upper surface of the loading platform, and is inclined with respect to the upper surface of the loading platform when the positioning member does not protrude from the upper surface of the loading platform; The loading object is positioned by the tip surface of the positioning member while the angle of the positioning member is raised to an acute angle. Mobile body.

2. The positioning member is rotatably supported on a fulcrum pin provided on the loading platform and is actuated by a biasing member and an adjustment member, The biasing member biases the tip of the positioning member upward, The adjustment member is provided in a non-lifting portion that is not lifted or lowered by the loading platform lifting device, and when the loading platform is not lifted by the loading platform lifting device, the adjustment member presses the base end of the positioning member upward to restrict the tip of the positioning member from protruding from the top surface of the loading platform, and when the loading platform is lifted by the loading platform lifting device, the adjustment member releases the pressure on the base end of the positioning member upward to allow the tip of the positioning member to protrude from the top surface of the loading platform due to the bias of the biasing member. The moving body according to claim 1 .

3. When the loading platform is raised by the loading platform lifting device, the tip of the positioning member protrudes from the upper surface of the loading platform due to the bias of the biasing member, and when the protruding height reaches a predetermined height, the tip of the positioning member abuts against a stopper and is prevented from rotating further by the bias of the biasing member. The moving body according to claim 2.

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