JP7565499B2 - MOBILE BODY AND MOBILE BODY CONTROL METHOD - Google Patents

Description

The present disclosure relates to a moving body and a method for controlling the moving body. More specifically, the present disclosure relates to a moving body for transporting a cart and a method for controlling the moving body.

Patent Document 1 discloses a transport device that transports a cart such as a cage cart. The transport device is coupled to the cart by sliding under the cart and lifting the lift plate to raise the bottom surface of the loading section of the cart. The unmanned transport vehicle transports the cart by traveling while coupled to the cart.

JP 2020-77295 A

The above-mentioned automated guided vehicle is coupled to the cart by lifting the lift plate and lifting the bottom of the loading plate, which has a rectangular shape in plan view, while the cart is sliding under the cart from the long side of the loading plate. Here, the cart is a foldable cart in which fences are provided along three sides of the outer periphery of the loading plate (the long side and the two short sides on either side), and the two fences provided along the short sides can be folded up by lifting the loading plate. When a transport device transports such a foldable cart, if the transport device slides under the cart from the long side of the loading plate and lifts the lift plate to lift the bottom of the loading plate, the loading plate will spring up, and the cart will be in a foldable state. This could cause the cart to become unstable, which could lead to an unstable transport state in which the automated guided vehicle transports the cart.

The objective of this disclosure is to provide a moving body and a method for controlling the moving body that can transport a cart in a stable state.

A moving body according to an aspect of the present disclosure includes a moving body main body, a holding unit, a driving unit, and a control unit. The holding unit holds the dolly by lifting at least a part of the dolly with at least a part of the moving body main body inserted under the dolly. The dolly is movable by a plurality of wheels provided on a lower part of a dolly main body having a bottom. The driving unit moves the moving body main body. The control unit controls the driving unit. The control unit controls the driving unit so that at least a part of the moving body main body enters under the bottom from a short side part of the bottom of the dolly. The control unit transports the dolly by controlling the driving unit to move the moving body main body with the holding unit holding the dolly. The plurality of wheels provided on the dolly include a fixed wheel arranged on one end side of the bottom in the longitudinal direction and rotatable along a predetermined direction, and a free wheel arranged on the other end side of the bottom in the longitudinal direction and rotatable in an all-around direction. The control unit controls the drive unit so that at least a part of the movable body main body enters under the bottom from a short side portion on one end side of the bottom in the longitudinal direction. The holding unit includes a pin chuck unit that holds a pin provided on at least one end of the dolly in the longitudinal direction. The movable body further includes a pin detection unit that detects whether the pin is present on the dolly. When the pin detection unit detects the absence of the pin, the holding unit holds the dolly in a state in which the free wheels and the fixed wheels are all floating above the moving surface.
A moving body according to an aspect of the present disclosure includes a moving body main body, a holding unit, a driving unit, and a control unit. The holding unit holds the dolly by lifting at least a part of the dolly with at least a part of the moving body main body inserted under the dolly. The dolly is movable by a plurality of wheels provided on a lower part of a dolly main body having a bottom. The driving unit moves the moving body main body. The control unit controls the driving unit. The control unit controls the driving unit so that at least a part of the moving body main body enters under the bottom from a short side part of the bottom of the dolly. The control unit transports the dolly by controlling the driving unit to move the moving body main body with the holding unit holding the dolly. The plurality of wheels provided on the dolly include a fixed wheel arranged on one end side of the bottom in the longitudinal direction and rotatable along a predetermined direction, and a free wheel arranged on the other end side of the bottom in the longitudinal direction and rotatable in an all-around direction. The control unit controls the drive unit so that at least a part of the movable body main body enters under the bottom from a short side portion on one end side of the bottom in the longitudinal direction. The movable body further includes a steering assist unit that is provided on the movable body main body and abuts against the carriage main body to cause the moving direction of the carriage to follow the moving direction of the movable body main body. There is at least one holding unit on each side of the movable body main body in the front-rear direction. The steering assist unit is disposed on the holding unit on the front side of the movable body main body.
A moving body according to an aspect of the present disclosure includes a moving body main body, a holding unit, a driving unit, and a control unit. The holding unit holds the dolly by lifting at least a part of the dolly with at least a part of the moving body main body inserted under the dolly. The dolly is movable by a plurality of wheels provided on the lower part of a dolly main body having a bottom. The driving unit moves the moving body main body. The control unit controls the driving unit. The control unit controls the driving unit so that at least a part of the moving body main body enters under the bottom from a short side part of the bottom of the dolly. The control unit transports the dolly by controlling the driving unit to move the moving body main body while the holding unit holds the dolly. The control unit controls the driving unit to cause the moving body main body to travel forward to a first position in a first transport mode in which the moving body main body is at the front and pulls the dolly while the holding unit holds the dolly. The control unit controls the drive unit to rotate the movable body at the first position to assume a second transport configuration in which the movable body pushes the carriage from behind. The control unit controls the drive unit to cause the movable body to travel backward in the second transport configuration to a second position. The control unit controls the drive unit to separate the carriage from the holding unit at the second position and then cause the movable body to travel forward.

A moving body according to one aspect of the present disclosure includes a moving body main body, a holding unit, and a steering assist unit. The holding unit holds the dolly by lifting at least a part of the dolly with at least a part of the moving body main body inserted under the dolly. The dolly is movable by a plurality of wheels provided on the lower part of a dolly main body having a bottom. The plurality of wheels include a fixed wheel arranged on one end side of the longitudinal direction of the bottom and rotatable along a predetermined direction, and a free wheel arranged on the other end side of the longitudinal direction of the bottom and rotatable in an all-around direction. The steering assist unit is provided on the moving body main body, and by abutting against the dolly main body, causes the moving direction of the dolly to follow the moving direction of the moving body main body. There is at least one holding unit on each side of the moving body main body in the front-rear direction. The steering assist unit is arranged on the holding unit on the front side of the moving body main body. The holding unit holds the cart in a state where the free wheels of the cart are in contact with the moving surface and the fixed wheels of the cart are floating above the moving surface.

A mobile body control method according to an aspect of the present disclosure is a mobile body control method for controlling a mobile body. The mobile body includes a mobile body main body, a holding unit, and a driving unit. The holding unit holds the dolly by lifting at least a part of the dolly with at least a part of the mobile body main body inserted under the dolly. The dolly is movable by a plurality of wheels provided on a lower part of a dolly main body having a bottom. The driving unit moves the mobile body main body . The holding unit includes a pin chuck unit that holds a pin provided on at least one end in the longitudinal direction of the dolly. The mobile body further includes a pin detection unit that detects whether the pin is present on the dolly. The mobile body control method includes a first step and a second step. In the first step, the driving unit is controlled so that at least a part of the mobile body main body enters under the bottom from a short side portion of the bottom of the dolly. In the second step, the dolly is transported by controlling the driving unit to run the mobile body main body while the holding unit holds the dolly. The plurality of wheels of the dolly include a fixed wheel arranged on one end side of the bottom in the longitudinal direction and rotatable along a predetermined direction, and a free wheel arranged on the other end side of the bottom in the longitudinal direction and rotatable in an all-around direction. In the first step, the driving unit is controlled so that at least a part of the moving body main body enters under the bottom from a short side portion on the one end side of the bottom in the longitudinal direction. When the pin detection unit detects the absence of the pin, the holding unit further includes a holding step in which the holding unit holds the dolly in a state in which the free wheel and the fixed wheel are all floating above the moving surface.
A mobile body control method according to one aspect of the present disclosure is a mobile body control method for controlling a mobile body. The mobile body includes a mobile body main body, a holding unit, a drive unit, and a steering assist unit. The holding unit holds the bogie by lifting at least a part of the bogie with at least a part of the mobile body main body inserted under the bogie. The bogie is movable by a plurality of wheels provided on a lower part of the bogie main body having a bottom. The drive unit moves the mobile body main body. The steering assist unit makes the moving direction of the bogie follow the moving direction of the mobile body main body by abutting against the bogie main body. There is at least one holding unit on each side in the front-rear direction of the mobile body main body. The steering assist unit is disposed in the holding unit on the front side of the mobile body main body. The mobile body control method includes a first step and a second step. In the first step, the drive unit is controlled so that at least a part of the mobile body main body enters under the bottom from a short side portion of the bottom of the bogie. In the second step, while the holding unit is holding the dolly, the driving unit is controlled to run the movable body to transport the dolly. The wheels of the dolly include a fixed wheel arranged on one end side of the longitudinal direction of the bottom and rotatable along a predetermined direction, and a free wheel arranged on the other end side of the longitudinal direction of the bottom and rotatable in an all-around direction. In the first step, the driving unit is controlled so that at least a part of the movable body enters under the bottom from a short side portion on the one end side of the longitudinal direction of the bottom.
A mobile body control method according to one aspect of the present disclosure is a mobile body control method for controlling a mobile body. The mobile body includes a mobile body main body, a holding unit, and a driving unit. The holding unit holds the dolly by lifting at least a part of the dolly with at least a part of the mobile body main body inserted under the dolly. The dolly is movable by a plurality of wheels provided on a lower part of a dolly main body having a bottom. The driving unit moves the mobile body main body. The mobile body control method includes a first step and a second step. In the first step, the driving unit is controlled so that at least a part of the mobile body main body inserts under the bottom from a short side portion of the bottom of the dolly. In the second step, the dolly is transported by controlling the driving unit to run the mobile body main body while the holding unit holds the dolly. In the second step, with the holding unit holding the dolly, the drive unit is controlled to cause the mobile body to travel forward to a first position in a first transport configuration in which the mobile body leads and tows the dolly. At the first position, the drive unit is controlled to rotate the mobile body to assume a second transport configuration in which the mobile body pushes the dolly from behind. The drive unit is controlled to cause the mobile body to travel backward to a second position in the second transport configuration. After separating the dolly from the holding unit at the second position, the drive unit is controlled to cause the mobile body to travel forward.

The mobile body control method according to one aspect of the present disclosure includes a holding step and a transport step. In the holding step, the mobile body holds the dolly in either a first holding state or a second holding state. The dolly is movable with two fixed wheels that can rotate along a predetermined direction and a free wheel that can rotate in an all-around direction. In the transport step, the mobile body transports the dolly while holding the dolly. The first holding state is a state in which the free wheel is in contact with the moving surface and the two fixed wheels are floating above the moving surface. The second holding state is a state in which the dolly is held with the two fixed wheels and the free wheel all floating above the moving surface. In the holding step, the mobile body holds the dolly in the first holding state when the mobile body enters between the two fixed wheels and below the dolly.

According to this disclosure, the cart can be transported in a stable state.

FIG. 1 is a perspective view illustrating a state before a moving body according to an embodiment of the present disclosure enters under a dolly. FIG. 2 is a plan view showing the above-mentioned moving body before it enters under the dolly. FIG. 3 is a perspective view showing the appearance of the moving body. FIG. 4 is a perspective view of the moving body holding the dolly. FIG. 5 is a plan view of the moving body holding the dolly. FIG. 6 is a block diagram of a mobile object control system including the mobile object. FIG. 7 is a perspective view of a carriage that is transported by the moving body. FIG. 8 is a schematic plan view of a pin chuck portion provided on the moving body. FIG. 9 is a schematic perspective view of a pin chuck portion provided on the moving body. FIG. 10 is a flow chart illustrating the operation of holding the dolly by the moving body according to the embodiment of the present invention. FIG. 11 is a side view of the moving body holding the dolly. FIG. 12 is an explanatory diagram for explaining the transport operation of the carriage by the moving body of the above embodiment. FIG. 13 is an explanatory diagram for explaining the transport operation of the carriage by the moving body of the above embodiment. 14A to 14E are operation explanatory diagrams illustrating the transport operation of the carriage by the moving body of the above embodiment. 15A to 15C are operation explanatory diagrams illustrating the transport operation of the carriage by the moving body of the above embodiment. 16A to 16E are operation explanatory diagrams illustrating the transport operation of the carriage by the moving body of the above embodiment. 17A to 17C are operation explanatory diagrams illustrating the transport operation of the carriage by the moving body of the above embodiment.

(Embodiment)
(1) Overview The moving body 1 according to this embodiment (see FIGS. 1 to 5) is a moving body for transporting a carriage 300 (see FIGS. 1, 2, 4, and 5) that can move on a moving surface by wheels. Each figure described in the following embodiment is a schematic diagram, and the ratio of the size and thickness of each component in each figure does not necessarily reflect the actual dimensional ratio. In addition, in the following description, each direction is defined as shown by the arrows "up", "down", "left", "right", "front", and "rear" in FIG. 1 and the like. These directions are defined as directions in a state in which the moving body 1 moves forward by towing the carriage 300, and are not intended to limit the direction of use of the moving body 1. In addition, the arrows indicating each direction in the drawings are merely indicated for the purpose of explanation and do not have any substance.

The mobile body 1 is a device that moves on a moving surface G1 with one or more wheels (drive wheels) 41 (see Figures 1 and 5). In this embodiment, the mobile body 1 is a device for transporting a cart 300. The mobile body 1 is introduced into facilities such as logistics centers (including distribution centers), factories, offices, stores, schools, and hospitals. The moving surface G1 is the surface on which the mobile body 1 and cart 300 move; when the mobile body 1 and cart 300 move within a facility, the floor surface of the facility or the like becomes the moving surface G1, and when the mobile body 1 and cart 300 move outdoors, the ground or the like becomes the moving surface G1. The following describes the case where the mobile body 1 is introduced into a logistics center.

As shown in Figs. 1 to 5, the mobile body 1 has a mobile body 2 that can move on a moving surface G1. The mobile body 2 has wheels 41, and moves on the moving surface G1 using the wheels 41. In this embodiment, the mobile body 2 is capable of autonomous movement.

The moving body 1 of this embodiment is used to transport a dolly 300 as shown in Figs. 1 and 2. The dolly 300 is, for example, a cage dolly used to carry and transport luggage. The dolly 300 shown in Figs. 1, 4, and 7 is a foldable dolly, and includes a dolly body 310 with wheels 330 attached to the bottom.

The trolley body 310 includes a first frame 311, a second frame 312, a bottom 320, a shelf 325, fixed fences 341-343, and movable fences 351-352.

The first frame 311 is formed in an L-shape in plan view by a long side member 313 and a short side member 314 that protrudes from one end of the long side member 313 in the longitudinal direction (the front end in FIG. 1) in a direction perpendicular to the long side member 313 (to the left in FIG. 1). The long side member 313 and the short side member 314 are each made of steel, and the long side member 313 is longer than the short side member 314. Two wheels 330 are provided at both ends (both ends in the left-right direction) of the short side member 314 at the bottom of the short side member 314 of the first frame 311. Here, the two wheels 330 provided on the short side member 314 are fixed wheels 331 that can rotate along a predetermined direction. In this embodiment, the two fixed wheels 331 are provided so as to be rotatable along a direction parallel to the longitudinal direction of the long side member 313 (the front-rear direction in FIG. 1 and FIG. 2). In addition, the short side member 314 of the first frame 311 is provided with a cylindrical pin 360 that protrudes downward from the middle of the short side member 314 in the longitudinal direction. Note that it is not essential that the pin 360 is provided integrally with the cart 300, and it may be added later.

The second frame 312 is rotatably attached to the other end of the long side member 313 in the longitudinal direction (rear end in FIG. 1) via a hinge. Here, the second frame 312 is rotatably provided between a first position (see FIG. 1) where the second frame 312 protrudes from the other end of the long side member 313 in the longitudinal direction in a direction perpendicular to the long side member 313 (left direction in FIG. 1) and a second position (see FIG. 7) where the second frame 312 is arranged side by side with the long side member 313 so as to follow the long side member 313. Two wheels 330 are provided at both ends of the second frame 312 in the longitudinal direction at the bottom of the second frame 312. Here, the two wheels 330 provided on the second frame 312 are free wheels 332 that can rotate in the entire circumferential direction on the moving surface G1. In addition, the second frame 312 is provided with a cylindrical pin 361 that protrudes downward from the middle part of the second frame 312 in the longitudinal direction. It is not essential that the pin 361 is provided integrally with the cart 300, and it may be added later. Also, the pin 360 may be provided only on the short side of the cart 300 on the side where the fixed wheels 331 are provided, and the short side on the side where the fixed wheels 331 are provided can be detected from the spacing between the wheels 330 and the presence or absence of the pin 361.

A bottom portion 320 made of a rectangular plate material for placing items is rotatably attached via a hinge to the long side member 313 of the first frame 311. The bottom portion 320 is rotatable between a deployed position that is approximately parallel to the moving plane G1 and a stored position that is approximately perpendicular to the moving plane G1.

The long side member 313 and the short side member 314 of the first frame 311, and the second frame 312 are provided with fixed fences 341, 342, and 343 that protrude upward, respectively. Here, a movable fence 351 that can rotate with respect to the fixed fence 342 is attached to the fixed fence 342 provided on the short side member 314 via a hinge provided at a portion located on the tip side of the short side member 314 (the end farther from the long side member 313, the end on the left side in FIG. 1). Also, a movable fence 352 that can rotate with respect to the fixed fence 343 is attached to the fixed fence 343 provided on the second frame 312 via a hinge provided at a portion located on the tip side of the second frame 312 (the end on the opposite side to the side connected to the first frame 311, the end on the left side in FIG. 1).

As described above, the wheels 330 of the cart 300 include fixed wheels 331 arranged at one end of the length of the bottom 320 and rotatable along a predetermined direction, and free wheels 332 arranged at the other end of the length of the bottom 320 and rotatable in the entire circumferential direction on the moving surface G1. Note that, although there are two fixed wheels 331 and two free wheels 332 in this embodiment, the numbers of fixed wheels 331 and free wheels 332 can be changed as appropriate.

The dolly 300 shown in Figures 1, 4 and 7 is a foldable dolly, and Figures 1 and 4 show the dolly 300 in a transport state when used to transport items, and Figure 7 shows the dolly 300 in a folded, stored state. When the dolly 300 is used to transport items, the second frame 312 is rotated in the direction of arrow DR1 from the stored state in Figure 7 to move the second frame 312 to a position perpendicular to the long side member 313 of the first frame 311. When the second frame 312 moves to a position perpendicular to the long side member 313, for example, a protrusion on one of the second frame 312 and the long side member 313 fits into a recess on the other of the second frame 312 and the long side member 313, thereby holding the second frame 312 in a position perpendicular to the long side member 313.

Thereafter, movable fences 351 and 352 are opened outward and bottom 320 is tilted in the direction of arrow DR3 to move bottom 320 to a position approximately parallel to moving plane G1, whereupon a lock lever on the underside of bottom 320 catches on a hook on cart body 310, holding bottom 320 in that position. In the transport state, the space above bottom 320 is surrounded on three sides by fixed fences 341-343, with one side open. Additionally, a shelf board 325 (see Figures 1 and 2) can be attached to the vertical middle of fixed fences 341-343 on cart 300 in the transport state. After placing items on the bottom 320 and the shelf 325, the movable fences 351, 352 are rotated inward to close the opening, and a binding member such as a rope is wound around the fixed fences 341-343 and the movable fences 351, 352 to secure the movable fences 351, 352 so that they do not open, and then the cart 300 is moved by the moving body 1 or by human power.

When folding the dolly 300 into the stored state, the movable fences 351, 352 are opened outward, the shelf 325 is removed, the lock lever on the bottom 320 is released, and the bottom 320 is lifted in the direction of the arrow DR4. The movable fences 351, 352 are then rotated inward to fold them, and the lock lever on the second frame 312 is released and the second frame 312 is rotated in the direction of the arrow DR2 to fold the dolly 300 into an L-shape in plan view. By arranging the dollies 300 folded into the stored state in this way, it becomes possible to store multiple dollies 300 in a compact manner.

The moving body 1 of this embodiment moves while holding the dolly 300 by getting under the bottom 320 of the dolly 300 (see Figs. 1 and 2) in the transport state and lifting the bottom 320 upward. Here, the bottom 320 of the folding dolly 300 has a lower strength than a dolly whose bottom is fixed to the dolly body. Therefore, when the moving body 1 gets under the bottom 320 from the long side portion 322 of the bottom 320 and lifts the bottom 320 while a heavy object is loaded on the dolly 300, the bottom 320 may bend and both sides of the bottom 320 in the longitudinal direction may lower, and the fixed wheels 331 may come into contact with the moving surface G1. When the moving body 1 travels with the fixed wheel 331 in contact with the moving surface G1, the fixed wheel 331 can only rotate in one direction, so the fixed wheel 331 acts as a resistance and the cart 300 cannot move smoothly, which may cause the transport state of the cart 300 to become unstable.

The mobile body 1 of this embodiment is intended to transport the cart 300 in a stable state, and includes a mobile body main body 2, a holding unit 3, a driving unit 22, and a control unit 12.

The mobile body 2 is capable of moving on the moving surface G1.

The holding unit 3 holds the dolly 300 by lifting at least a part of the dolly 300 with at least a part of the mobile body 2 inserted under the dolly 300. The dolly 300 is movable by wheels 330 provided on the lower part of the dolly body 310. The dolly body 310 has a bottom 320. In this embodiment, the shape of the bottom 320 in a plan view is rectangular.

The drive unit 22 moves the mobile body 2.

The control unit 12 controls the drive unit 22. The control unit 12 controls the drive unit 22 so that at least a part of the mobile body 2 enters the underside of the bottom 320 of the dolly 300 from the short side portion 321 of the bottom 320. The control unit 12 transports the dolly 300 by controlling the drive unit 22 to move the mobile body 2 while the holding unit 3 holds the dolly 300.

Here, the holding unit 3 holds the trolley 300 by getting under the trolley 300 and lifting up at least a part of the trolley 300. Note that holding by the holding unit 3 may include holding at least a part of the trolley 300 by, for example, hooking or fitting.

In the mobile body 1 of this embodiment, the drive unit 22 is controlled so that at least a part of the mobile body main body 2 enters the underside of the bottom 320 from the short side portion 321 of the bottom 320 of the dolly 300, and the holding unit 3 holds the mobile body main body 2 in a state where at least a part of the mobile body main body 2 enters the underside of the bottom 320. If the holding unit 3 lifts the bottom 320 in a state where the mobile body main body 2 enters the underside of the bottom 320 from the long side portion 322 of the bottom 320, the bottom 320 will bend, causing both sides of the long side portion 322 of the bottom 320 to lower, and there is a possibility that the wheels 330 of the dolly 300 will touch the ground. In contrast, in the moving body 1 of this embodiment, the moving body main body 2 is inserted under the bottom 320 from the short side portion 321 of the bottom 320, and the holding unit 3 holds the dolly 300 by lifting at least a part of the dolly 300, so that the deflection on both sides of the short side portion 321 can be reduced, and the possibility of the wheels 330 touching the ground can be reduced. In addition, when the holding unit 3 lifts the dolly 300, the short side member 314 of the first frame 311 can be lifted, so that even if the bottom 320 is a flip-up type, the bottom 320 is less likely to be released from the locked state, and the possibility of the dolly 300 being transported in an unstable state can be reduced. Therefore, when the moving body 1 transports the dolly 300, the possibility that the wheels 330 will hit the moving surface G1 and cause resistance can be reduced, and the dolly 300 can be transported in a stable state.

When the mobile body 1 transports the cart 300 with the holding unit 3 holding the cart 300, there are two types of running modes: the mobile body 1 is at the front and tows the cart 300, and the mobile body 1 is at the front and pushes the cart 300. In general, the running mode in which the cart 300 is towed is more stable than the running mode in which the cart 300 is pushed from the rear, so the mobile body 1 usually moves by towing the cart 300.

(2) Details Hereinafter, the configuration of the moving object 1 according to this embodiment and the moving object control system 100 including the moving object 1 will be described in detail with reference to FIGS.

1 to 6, the mobile body 1 includes a mobile body main body 2, a holding unit 3, a drive unit 22, and a processing unit 10 including a control unit 12. The mobile body 1 further includes a state detection unit 21, a lifting mechanism 23, an opening/closing mechanism 24, a holding detection unit 25, a communication unit 26, and a memory unit 27. The holding unit 3, the processing unit 10, the state detection unit 21, the drive unit 22, the lifting mechanism 23, the opening/closing mechanism 24, the holding detection unit 25, the communication unit 26, and the memory unit 27 are all mounted on the mobile body 2.

The mobile unit 1 travels autonomously on a flat moving surface G1 consisting of, for example, the floor surface of a facility. As an example, the mobile unit 1 is equipped with a storage battery and operates using electrical energy stored in the storage battery. The mobile unit 1 travels on the moving surface G1 with the holding unit 3 holding the cart 300, thereby being able to transport the cart 300 placed at one location within the facility to another location within the facility.

The mobile body 2 is a rectangular parallelepiped that is longer in the front-rear direction than in the left-right direction and has smaller dimensions in the up-down direction than in the left-right and front-rear directions. As will be described in detail later, in this embodiment, the mobile body 2 is loaded onto the mobile body 2 with at least a part of the mobile body 2 slipping under the dolly 300, the holding unit 3 lifting at least a part of the dolly 300, and at least the fixed wheels 331 floating above the moving surface G1. Hereinafter, the state in which the dolly 300 is held with the two free wheels 332 in contact with the moving surface G1 and the two fixed wheels 331 floating above the moving surface G1 is also referred to as the first holding state.

The mobile body 2 is provided with a plurality of lifting plates 31, 32, a pin chuck portion 33, and a pair of steering assist portions 37. In this embodiment, the mobile body 2 is made of metal. However, the mobile body 2 is not limited to being made of metal, and may be made of, for example, resin.

The mobile body 2 is supported on the moving surface G1 by a plurality of wheels 41 (here, two) and a plurality of auxiliary wheels 42 (here, two) (see FIG. 5).

The multiple wheels 41 are arranged at intervals in the width direction (left and right direction) of the mobile body 2 in the center of the longitudinal direction (front and back direction) of the mobile body 2. Each of the multiple wheels 41 can rotate individually by receiving a driving force from the drive unit 22.

The multiple auxiliary wheels 42 are arranged at intervals in the longitudinal direction (front-rear direction) of the mobile body 2 at the center in the width direction (left-right direction) of the mobile body 2. Each of the multiple auxiliary wheels 42 can rotate individually without receiving a driving force from the drive unit 22.

In this embodiment, all of the multiple wheels 41 are drive wheels driven by the drive unit 22. These multiple wheels 41 are driven individually by the drive unit 22, which allows the mobile body 2 to move in all directions. That is, the multiple wheels 41 rotate at different angular velocities to turn in either the left or right direction, and rotate at the same angular velocity to travel in a straight line (forward travel or backward travel). Therefore, the mobile body 2 can move forward, backward, and turn left or right (including pivot turns and super pivot turns). The mobile body 2 can also move in a curved trajectory (i.e., a curve).

In this embodiment, the holding unit 3 that holds the cart 300 includes a plurality of lifting plates 31, 32 that hold the cart 300 by lifting the cart 300, and a pin chuck unit 33 that holds the cart 300 by holding a pin 360 or 361 of the cart 300. In other words, the holding unit 3 includes a pin chuck unit 33 that holds a pin 360 or 361 provided at at least one end of the cart 300 in the longitudinal direction.

Each of the multiple lifting plates 31, 32 is disposed above the mobile body 2 so as to cover at least a portion of the upper surface of the mobile body 2. The two front lifting plates 31 are provided so as to cover the left and right corners of the front portion on the upper surface of the mobile body 2. The two rear lifting plates 32 are provided so as to cover the left and right corners of the rear portion on the upper surface of the mobile body 2. Each lifting plate 31, 32 can be raised and lowered relative to the mobile body 2 by the processing unit 10 operating the lifting mechanism 23 (see FIG. 6) that raises and lowers each lifting plate 31, 32.

Figures 11 and 14E show a state in which the mobile body 1 transports a cart 300 having four wheels 330, two of which are fixed wheels 331 and are provided with pins 360, 361. In this case, the mobile body 1 holds the cart 300 by lifting the front part of the cart 300 with the two front lift plates 31, thereby raising the two fixed wheels 331 above the moving surface G1, and by holding the pin chuck portion 33 and holding the pin 360. In this case, the upper surfaces of the two front lift plates 31 become the loading surface on which the cart 300 is loaded.

Also, FIG. 16E shows a state in which the mobile body 1 transports a dolly 300A in which two of the four wheels 330 are fixed wheels 331 and no pins 360, 361 are provided. The mobile body 1 lifts the dolly 300A with the front and rear lifting plates 31, 32, and holds the dolly 300A in a state in which all four wheels 330 are raised above the moving surface G1. In this case, the upper surfaces of the front and rear lifting plates 31, 32 become the loading surface on which the dolly 300A is loaded. Hereinafter, the state in which the mobile body main body 2 holds the dolly 300 in a state in which the two fixed wheels 331 and the two free wheels 332 are all raised above the moving surface G1 is also referred to as the second holding state.

The upper surfaces of the lifting plates 31, 32, which serve as the loading surfaces, are preferably provided with a non-slip treatment, for example, so that they have a larger coefficient of friction than the upper surface of the mobile body 2. This makes it difficult for the object (cart 300 or 300A) loaded on each lifting plate 31, 32 to slip on each lifting plate 31, 32.

In addition, on the upper surface of the mobile body 2, one steering assist section 37 is arranged on each side of the two front lift plates 31. Each pair of steering assist sections 37 is made of a metal plate material. One longitudinal end (front end in FIG. 1) of each steering assist section 37 is attached to the upper surface of the mobile body 2 in a state in which it can be raised and lowered, and the other longitudinal end (rear end in FIG. 1) of each steering assist section 37 protrudes toward the rear. A pair of steering assist sections 37 is provided on both the left and right sides of the pair of lift plates 31. When the adjacent lift plates 31 are lowered, each steering assist section 37 is pressed down by the adjacent lift plates 31. When the adjacent lift plates 31 are raised, the pressure from the adjacent lift plates 31 is removed, and the other longitudinal end of each steering assist section 37 is raised up. Here, when the lift plate 31 is raised, the other end of each steering assist part 37 in the longitudinal direction protrudes above the lift plate 31, so that the other end of each steering assist part 37 in the longitudinal direction can abut against the carriage body 310 of the carriage 300 placed on the lift plate 31. In this embodiment, at least one holding part 3 (lift plate 31, 32) is provided on both sides in the front-rear direction of the moving body body 2, and the steering assist part 37 is disposed on the holding part 3 (lift plate 31) on the front side of the moving body body 2. Therefore, when the moving body 1 holds the carriage 300 with the fixed wheel 331 of the carriage 300 raised and moves backward, the steering assist part 37 abuts against the carriage body 310, so that the moving direction of the carriage 300 can follow the moving direction of the moving body 1.

When the moving body 1 tries to turn while holding the dolly 300, one of the pair of steering assist parts 37 pushes the dolly body 310 in response to the turning operation of the moving body main body 2, so that the steering assist part 37 can change the direction of the dolly body 310. For example, FIG. 5 is a plan view showing a state in which the moving body 1 is transported with the front side of the dolly 300 lifted up, and in this transport state, the free wheel 332 of the dolly 300 is in contact with the moving surface G1. In this transport state, if the moving body 1 tries to turn left while traveling forward, the left steering assist part 37 can push the left part of the dolly body 310, so that the moving direction of the dolly 300 can follow the moving body 1. Also, in the transport state of FIG. 5, if the moving body 1 tries to turn left while traveling backward, the right steering assist part 37 can push the right part of the dolly body 310, so that the moving direction of the dolly 300 can follow the moving body 1. In this way, the moving body 1 is equipped with a steering assist unit 37 that makes the moving direction of the cart 300 follow the moving direction of the moving body 2 by abutting against the cart body 310. When the moving body 1 holding the cart 300 tries to turn, the steering assist unit 37 pushes the cart body 310, so that the moving direction of the cart 300 can follow the moving direction of the moving body 1.

As shown in Figures 3, 8, and 9, the pin chuck portion 33 includes a holding plate 34 attached to the upper surface of the movable body 2, and two levers 36, 36. The holding plate 34 is disposed midway between the two lifting plates 31 on the upper surface of the movable body 2. A U-shaped holding groove 35 is provided in the middle of the rear edge of the holding plate 34 in the left-right direction. Fan-shaped levers 36, 36 are rotatably attached to both left-right sides of the opening of the holding groove 35.

The holding plate 34, like the front lift plate 31, is provided so that it can be raised and lowered by the lift mechanism 23. In other words, the holding plate 34 does not have an independent drive structure, but is attached to the lift plate 31, and rises and falls together with the lift plate 31. When the lift mechanism 23 raises the lift plate 31, the holding plate 34 also rises with the lift plate 31. When the holding plate 34 is in the lowermost position, the holding plate 34 is located below the lower ends of the pins 360, 361 of the carriage 300. When the holding plate 34 is raised by the lift mechanism 23, the holding plate 34 is located above the lower ends of the pins 360, 361 of the carriage 300, and the pin chuck portion 33 can hold the pins 360, 361. When the pin 360 is inserted into the holding groove 35 from the rear side of the holding plate 34 while the holding plate 34 is raised, the levers 36, 36 are pushed by the pin 360 and rotate in the opening direction (direction of arrow DR5) that opens the opening of the holding groove 35. Then, when the pin 360 is inserted into the innermost part of the holding groove 35, the levers 36, 36 rotate in the closing direction (opposite the direction of arrow DR5) that closes the opening of the holding groove 35, and the pin 360 is held in the pin chuck portion 33 while surrounded by the holding plate 34 and the levers 36, 36.

Here, each lever 36 can be moved in an open or closed direction by the processing unit 10 operating the opening/closing mechanism 24 that rotates each lever 36.

The holding detection unit 25 detects whether the pin 360 or 361 is present at the holding position, which is the innermost part of the holding groove 35, thereby detecting whether the pin 360 or 361 is being held. In other words, the holding detection unit 25 detects whether the pin chuck unit 33 is holding the pin 360 or 361 provided on the cart 300. The holding detection unit 25 is composed of an object detection sensor that uses laser light or ultrasonic waves to detect whether the pin 360 or 361 is present at the holding position. The holding detection unit 25 outputs the detection result to the processing unit 10.

When the moving body 1 holds the cart 300 having two fixed wheels 331 and pins 360, 361, the front part of the cart 300 is lifted by the lift plate 31 and the pin chuck portion 33 holds the pin 360 or 361, thereby holding the cart 300 on the moving body 1. When releasing the hold of the cart 300, while the moving body 1 is holding the cart 300, each lift plate 31 is lowered, thereby releasing the hold of the cart 300 by the moving body 1.

When the moving body 1 holds the dolly 300A that does not have pins 360, 361, the dolly 300 is raised by the lifting plates 31, 32 and all four wheels 330 are lifted, so that the dolly 300A is held by the moving body 1. When releasing the hold of the dolly 300A, while the moving body 1 is holding the dolly 300A, the lifting plates 31, 32 are lowered, so that the holding of the dolly 300A by the moving body 1 is released.

The state detection unit 21 detects the surrounding conditions of the mobile body 2, the position where the mobile body 2 is present, and the behavior of the mobile body 2. The "surrounding conditions" in this disclosure may include the conditions of the dolly 300 present around the mobile body 2. The conditions of the dolly 300 include information on the presence or absence of the dolly 300, and when the presence of the dolly 300 is detected, may include information on the spacing between the multiple wheels 330 of the dolly 300 and information on the presence or absence of the pins 360, 361. In other words, the state detection unit 21 has the function of a pin detection unit that detects whether the pins 360, 361 are present on the dolly 300. In this disclosure, "behavior" means an operation and a state. In other words, the behavior of the mobile body 2 includes the operating state of the mobile body 2, which indicates whether the mobile body 2 is moving or stopped, the speed (and speed change) of the mobile body 2, the acceleration acting on the mobile body 2, and the attitude of the mobile body 2.

Specifically, the state detection unit 21 includes sensors 21A and 21B (see FIG. 5) such as LiDAR (Light Detection and Ranging) or RADAR (Radio Detection and Ranging). The sensors 21A and 21B are provided on both sides (i.e., the front and rear) of the mobile body 2 in the longitudinal direction, respectively, and detect the surrounding conditions in the detection areas A1 and A2 in front and rear of the mobile body 2, respectively. The LiDAR is a sensor that uses light (laser light) to measure the distance to an object and the direction of the object based on the reflected light from an object present in the vicinity of the mobile body 2. The radar is a sensor that uses electromagnetic waves (radio waves) such as microwaves to measure the distance to an object and the direction of the object based on the reflected wave from an object present in the vicinity of the mobile body 2. That is, the detection results of the sensors 21A and 21B (output of the state detection unit 21) include at least information related to the distance between the mobile body 1 (mobile body 2) and the object, and information related to the direction in which the object exists. The state detection unit 21 also includes sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the behavior of the mobile body 2 using these sensors. The state detection unit 21 also obtains information related to the location of the mobile body 2 using information related to the distance to surrounding objects detected using the sensors 21A and 21B, information related to the direction of the objects, and electronic map information within the facility that has been previously acquired.

The drive unit 22 directly or indirectly applies a driving force to the two wheels 41, which are driving wheels. The drive unit 22 is built into the mobile body 2. The drive unit 22 includes, for example, an electric motor, and indirectly applies the driving force generated by the electric motor to each wheel 41 via a gear box, a belt, or the like. The drive unit 22 may also be configured to directly apply a driving force to each wheel 41, such as an in-wheel motor. Based on a control signal input from the processing unit 10, the drive unit 22 drives each of the multiple wheels 41 in a rotation direction and at a rotation speed according to the control signal.

The lifting mechanism 23 is a mechanism that receives a control command from the processing unit 10 and raises and lowers the two front lifting plates 31 and the two rear lifting plates 32 individually. The lifting mechanism 23 raises or lowers the upper surfaces (loading surfaces) of the lifting plates 31, 32 by moving each of the lifting plates 31, 32 in the vertical direction relative to the mobile body 2. The lifting mechanism 23 moves each of the lifting plates 31, 32 between the lower limit position and the upper limit position of the movable range of each of the lifting plates 31, 32.

When the moving body 1 holds the dolly 300 provided with the pins 360 and 361, the lifting mechanism 23 raises the front lifting plate 31 to lift the front part of the dolly 300 while the moving body main body 2 is under the bottom 320 from the short side part 321 of the bottom 320. This allows the moving body 1 to hold the dolly 300 with the fixed wheel 331 floating. Also, when the moving body 1 holds the dolly 300A without the pins 360 and 361, the lifting mechanism 23 raises all the lifting plates 31 and 32 to lift the entire dolly 300A while the moving body main body 2 is under the bottom 320 from the short side part 321 of the bottom 320. This allows the moving body 1 to hold the dolly 300A with all four wheels 330 floating.

The opening/closing mechanism 24 has an actuator such as an electric motor, and rotates the levers 36, 36 in the open or closed direction upon receiving a control command from the processing unit 10. A spring may be provided to push the levers 36, 36 in the closed direction, and if the force pushing the levers 36, 36 in the open direction is not applied by the opening/closing mechanism 24, the force of the spring may be used to move the levers 36, 36 in the closed direction.

The processing unit 10 has an acquisition unit 11 and a control unit 12. The acquisition unit 11 and the control unit 12 are realized as one function of the processing unit 10.

The processing unit 10 is mainly composed of a computer system having one or more processors and a memory. The functions of the processing unit 10 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

The acquisition unit 11 executes an acquisition process. The acquisition process is a process for acquiring the detection results of the state detection unit 21 and the holding detection unit 25 in the moving body 1. As already mentioned, the detection results of the state detection unit 21 include information on the distance to objects present around the moving body 1 and information on the direction of the objects. The acquisition unit 11 acquires the detection results from the state detection unit 21 and the holding detection unit 25 at any time.

The control unit 12 controls the operation of the mobile body 2, for example, by controlling the operation of the drive unit 22, the lifting mechanism 23, and the opening/closing mechanism 24, based on the information acquired by the acquisition unit 11 and the control commands received by the communication unit 26 from the higher-level system 200.

When the control unit 12 receives an instruction to transport the trolley 300 from the upper system 200 via the communication unit 26, it moves the mobile body 2 to the position where the trolley 300 to be transported is located. Then, based on the detection result of the status detection unit 21, the control unit 12 determines the spacing between the wheels 330 of the trolley 300, and identifies the short side portion 321 of the bottom 320 of the trolley 300 from the spacing between the wheels 330. In addition, the status detection unit 21, which serves as a pin detection unit, detects whether or not a pin 360 or 361 is provided on the trolley 300.

When the state detection unit 21 detects the presence of the pins 360, 361, the control unit 12 controls the drive unit 22 to move the moving body 2 to a position where almost the entire moving body 2 enters under the bottom 320 from the short side portion 321 of the bottom 320 of the dolly 300 and the pin 360 of the dolly 300 is inserted into the holding groove 35 of the pin chuck unit 33. The control unit 12 controls the opening and closing mechanism 24 to hold the pin 360 in the pin chuck unit 33, and raises the front lift plate 31 to lift the front side of the dolly 300, thereby holding the dolly 300 on the moving body 1 with the fixed wheel 331 floating above the moving surface G1. In other words, the holding unit 3 holds the dolly 300 with the free wheel 332 in contact with the moving surface G1 and the fixed wheel 331 floating above the moving surface G1. Furthermore, the holding unit 3 holds the cart 300 in a state where at least one free wheel 332 is in contact with the moving surface G1 and all of the multiple (e.g., two) fixed wheels 331 are floating above the moving surface G1. Then, while the holding unit 3 is holding the cart 300, the control unit 12 controls the drive unit 22 to move the moving body 2, thereby moving the cart 300.

When the state detection unit 21 detects the absence of the pins 360, 361, the control unit 12 controls the drive unit 22 to move the mobile body 2 from the short side portion 321 of the bottom 320 of the dolly 300 to a position where almost the entire mobile body 2 is inserted under the bottom 320. Then, the control unit 12 raises the lifting plates 31, 32, respectively, to lift the entire dolly 300A, thereby holding the dolly 300 on the mobile body 1 with the multiple fixed wheels 331 and the multiple free wheels 332 floating above the moving surface G1. In other words, when the pin detection unit (state detection unit 21) detects the absence of the pins 360, 361, the holding unit 3 holds the dolly 300A with all the free wheels 332 and fixed wheels 331 floating above the moving surface G1.

The communication unit 26 communicates with the host system 200 directly or indirectly via a network or a repeater. An appropriate communication method such as wireless communication or wired communication is adopted as the communication method between the communication unit 26 and the host system 200. As an example in this embodiment, the communication unit 26 adopts wireless communication that uses radio waves as a communication medium and conforms to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or unlicensed low-power radio (specified low-power radio).

The storage unit 27 includes a rewritable non-volatile memory such as an EEPROM (Electrically Erasable and Programmable Read-Only Memory). The storage unit 27 prestores information such as an electronic map of the facility in which the mobile object 1 moves, and information on the spacing between the wheels 330 of the carts 300 and 300A.

In addition, the mobile unit 1 may be provided with other configurations as appropriate, such as a charging circuit for a storage battery.

(2.2) Mobile Object Control System The mobile object control system 100 includes at least one mobile object 1 and a host system 200. The host system 200 is a system that controls the mobile object 1.

The host system 200 and the mobile body 1 are configured to be able to communicate with each other. In this disclosure, "able to communicate" means that information can be exchanged directly or indirectly via a network or a repeater, etc., by an appropriate communication method such as wired communication or wireless communication. In other words, the host system 200 and the mobile body 1 can exchange information with each other. In this embodiment, the host system 200 and the mobile body 1 can communicate with each other in both directions, and it is possible to both transmit information from the host system 200 to the mobile body 1 and transmit information from the mobile body 1 to the host system 200.

The host system 200 remotely controls at least one mobile body 1 (multiple mobile bodies in this embodiment). Specifically, the host system 200 controls the mobile body 1 by communicating with the mobile body 1. That is, the host system 200 controls the mobile body 1, for example, by transmitting a transport command input by a user to the mobile body 1. The host system 200 transmits, for example, the transport command and data such as an electronic map to the mobile body 1.

In this embodiment, the upper system 200 is, for example, a server, and is primarily composed of a computer system having one or more processors and memory. The functions of the upper system 200 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

The host system 200 estimates at least the current position of the mobile body 1 based on the detection results of the state detection unit 21 of the mobile body 1, and determines the movement path of the mobile body 1 to the dolly 300 to be transported (route planning). The host system 200 issues a command to the mobile body 1 so that the mobile body 1 moves along this movement path. This realizes remote control of the mobile body 1.

(2.3) Description of Operation The operation of the moving body 1 of this embodiment to transport the dolly 300 will be described with reference to FIG. 10 and FIGS. 12 to 17C.

Here, we will explain the operation of the mobile body 1 transporting the cart 300 upon receiving a control command from the upper system 200.

The host system 200 issues a control command to the mobile body 1 to move the cart 300 from one location in the facility to another location, for example, according to instructions from a user or a preset transport schedule. Here, the control command includes information such as the position of the cart 300 to be transported and the orientation of the cart 300. The host system 200 acquires information such as the type and orientation of the cart 300 from, for example, images captured by a camera capturing images inside the facility. When the control unit 12 of the mobile body 1 receives a control command from the host system 200, it controls the drive unit 22 to move the mobile body 1 to the position of the cart 300 to be transported.

First, the operation of transporting the dolly 300 provided with the pins 360, 361 will be described with reference to FIG. 10 and FIG. 14A to FIG. 15C. As shown in FIG. 14A, when the moving body 1 approaches the dolly 300, the state detection unit 21 detects the interval between the multiple wheels 330, and the control unit 12 detects the short side portion of the dolly 300 based on the detection result of the state detection unit 21 (ST1 in FIG. 10). The control unit 12 controls the drive unit 22 so that at least a part of the moving body main body 2 enters under the bottom 320 from the short side portion 321 on one end side of the bottom 320 in the longitudinal direction (ST2 in FIG. 10). In this embodiment, the multiple wheels 330 include two fixed wheels 331, and the control unit 12 controls the drive unit 22 so that at least a part of the moving body main body 2 enters between the two fixed wheels 331. Here, the control unit 12 controls the drive unit 22 to enter under the bottom 320, starting from the rear side where the lift plate 32 is provided. Also, if the state detection unit 21, which is a pin detection unit, detects the presence of the pins 360, 361 (ST3 in FIG. 10: Yes), the control unit 12 performs a first lift process (ST4 in FIG. 10) in which the opening and closing mechanism 24 raises the lift plate 31 and the holding plate 34 to a height at which the pin chuck unit 33 can hold the pin 360 (see FIG. 14B).

When the first lift process is completed, the control unit 12 causes the movable body 2 to enter the underside of the bottom 320 from the short side portion 321 of the bottom 320 (see FIG. 14C). When the movable body 1 moves to a position where the pin 360 is held by the pin chuck unit 33, the holding detection unit 25 detects that the pin 360 is being held (ST5 in FIG. 10: Yes).

When the holding detection unit 25 detects that the pin 360 is being held, the control unit 12 performs a second lift process (ST6 in FIG. 10) in which the opening and closing mechanism 24 raises the lift plate 31 to the upper limit position, and holds the cart 300 with the free wheels 332 touching the ground and the fixed wheels 331 floating (FIG. 14E). When the holding of the cart 300 is completed and the holding detection unit 25 detects that the pin chuck unit 33 is holding the pin 360, the control unit 12 controls the drive unit 22 to move the mobile body 2, thereby transporting the cart 300.

If the pin chuck unit 33 has moved to a position where it can hold the pin 360, but the holding detection unit 25 does not detect that the pin 360 is being held, the control unit 12 determines that some abnormality has occurred and stops the moving body 1 (ST7 in FIG. 10). At this time, the control unit 12 may notify the abnormality using an alarm unit (such as a lamp or buzzer) provided in the moving body 2, or may cause the communication unit 26 to send a signal to notify the upper system 200 of the occurrence of the abnormality.

When the moving body 1 transports the cart 300 to the target value (see FIG. 15A), the control unit 12 controls the lifting mechanism 23 to lower the lifting plate 31 and the holding plate 34 to the lowest position (see FIG. 15B), and releases the holding unit 3 from the cart 300. When the moving body 1 separates from the cart 300, the control unit 12 controls the drive unit 22 to move the moving body main body 2 forward (or backward) (see FIG. 15C), and places the cart 300 on the spot. This allows the moving body 1 to transport the cart 300A to the target value.

Next, the operation when transporting the dolly 300A without the pins 360, 361 will be described with reference to FIG. 10 and FIG. 16A to FIG. 17C. As shown in FIG. 16A, when the moving body 1 approaches the dolly 300A, the state detection unit 21 detects the interval between the wheels 330, and the control unit 12 detects the short side of the dolly 300A based on the detection result of the state detection unit 21 (ST1 in FIG. 10). The control unit 12 controls the drive unit 22 so that at least a part of the moving body main body 2 enters under the bottom 320 from the short side portion 321 on one end side of the bottom 320 in the longitudinal direction (ST2 in FIG. 10). Here, the control unit 12 controls the drive unit 22 so that the rear side where the lift plate 32 is provided enters under the bottom 320 (see FIG. 16B). Also, when the state detection unit 21, which is the pin detection unit, detects the absence of the pins 360, 361 (ST3 in FIG. 10: No), the control unit 12 moves the moving body 1 to a position where the lift plates 31, 32 are below the bottom 320, and stops the moving body 1 (see FIG. 16C). The control unit 12 performs a lift process (ST7 in FIG. 10) to raise the lift plates 31, 32 by the opening and closing mechanism 24 (see FIG. 16D), and raises the lift plates 31, 32 to a position where the fixed wheels 331 and the free wheels 332 are above the moving surface G1 (see FIG. 16E). When the control unit 12 has completed holding the dolly 300A, it controls the drive unit 22 to move the moving body main body 2, thereby transporting the dolly 300A.

When the moving body 1 transports the cart 300A to the target value (see FIG. 17A), the control unit 12 controls the lifting mechanism 23 to lower the lifting plates 31, 32 to the lowest position (see FIG. 17B), and releases the holding unit 3 from the holding of the cart 300A. When the moving body 1 separates from the cart 300A, the control unit 12 controls the drive unit 22 to move the moving body main body 2 forward (or backward) (see FIG. 17C), and places the cart 300A on the spot. This allows the moving body 1 to transport the cart 300A to the target value.

The transport mode in which the mobile body 1 transports the dolly 300 includes a transport mode in which the mobile body 1 tows the dolly 300 (also called a first transport mode), and a transport mode in which the mobile body 1 pushes the dolly 300 from behind (also called a second transport mode). Generally, the transport mode in which the dolly 300 is towed provides more stable transport, so it is preferable that the control unit 12 controls the drive unit so that the mobile body 2 travels forward in a transport mode in which the mobile body 2 is at the front and tows the dolly 300, with the holding unit 3 holding the dolly 300.

On the other hand, as shown in Figures 12 and 13, when the mobile body 1 transports the carts 300 to a storage location where multiple carts 300 are arranged in multiple rows, it is preferable to transport the carts 300 in both the first transport form and the second transport form described above.

First, as shown in FIG. 12, the control unit 12 controls the drive unit 22 to move the mobile body 2 forward to the first position P1 in a first transport mode in which the mobile body 2 is at the front and pulls the cart 300 while the holding unit 3 is holding the cart 300. The control unit 12 controls the drive unit 22 to rotate the mobile body 2 at the first position P1 to move the mobile body 2 backward to the second position P2 in the second transport mode. As shown in FIG. 13, the control unit 12 controls the drive unit 22 to move the mobile body 2 backward to the second position P2 in the second transport mode. After the control unit 12 separates the cart 300 from the holding unit 3 at the second position P2, the control unit 12 controls the drive unit to move the mobile body 2 forward. As a result, the mobile body 1 can arrange the carts 300 in multiple rows, and multiple carts 300 can be arranged compactly.

When the mobile body 2 moves backwards while transporting the cart 300 in the second transport mode, the cart 300 moves with the free wheel 332 at the front. At this time, a pair of steering assist parts 37 push the left and right sides of the cart body 310, respectively, so that the direction of travel of the cart 300 is prevented from wobbling, and the cart 300 can travel stably. It is preferable that the mobile body 1 is sufficiently heavy relative to the cart 300, which is the transported item, and that the wheels 41 have sufficient gripping force to ensure traction.

The moving body 1 of this embodiment also includes a moving body main body 2, a holding unit 3, and a steering assist unit 37. At least one holding unit 3 is provided on each side of the moving body main body 2 in the front-rear direction, and the steering assist unit 37 is disposed in the holding unit 3 on the front side of the moving body main body 2. The holding unit 3 holds the dolly 300 in a state in which the free wheel 332 of the dolly 300 is in contact with the moving surface G1 and the fixed wheel 331 of the dolly 300 is floating above the moving surface G1. In this way, when the moving body 1 holds the dolly 300 in a state in which the fixed wheel 331 of the dolly 300 is floating and moves backward, the steering assist unit 37 comes into contact with the dolly main body 310, so that the moving direction of the dolly 300 can follow the moving direction of the moving body 1.

(3) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. In addition, the same function as the moving body 1 may be embodied in a moving body control method for controlling the moving body 1, a computer program, or a non-transitory recording medium on which a program is recorded. The moving body control method according to one aspect is a method for controlling the moving body 1. The moving body 1 includes a moving body main body 2, a holding unit 3, and a driving unit 22. The moving body main body 2 is movable on the moving surface G1. The holding unit 3 holds the dolly 300 by lifting at least a part of the dolly 300 with at least a part of the moving body main body 2 inserted under the dolly 300. The dolly 300 is movable on the moving surface G1 with wheels 330 provided at the bottom of the dolly main body 310 having a bottom 320. The shape of the bottom 320 in a plan view is rectangular. The driving unit 22 moves the movable body main body 2 on the moving surface G1. The movable body control method includes a first step and a second step. In the first step, the driving unit 22 is controlled so that at least a part of the movable body main body 2 enters under the bottom 320 of the dolly 300 from the short side portion 321 of the bottom 320. In the second step, while the holding unit 3 holds the dolly 300, the driving unit 22 is controlled to run the movable body main body 2, thereby transporting the dolly 300.

The mobile body control method of this embodiment also includes a holding step and a transport step. In the holding step, the mobile body 2 holds the dolly 300 in either a first holding state or a second holding state. The dolly 300 is movable by two fixed wheels 331 that can rotate along a predetermined direction and a free wheel 332 that can rotate in an all-circumferential direction. In the transport step, the mobile body 2 transports the dolly 300 while holding the dolly 300. The first holding state is a state in which the free wheel 332 is in contact with the moving surface G1 and the dolly 300 is held in a state in which the two fixed wheels 331 are floating above the moving surface G1. The second holding state is a state in which the two fixed wheels 331 and the free wheel 332 are all floating above the moving surface G1. In the holding step, the mobile body 2 holds the dolly 300 in the first holding state when it enters the underside of the dolly 300 between the two fixed wheels 331. In addition, in the holding step, even if the mobile body 2 enters the underside of the dolly 300 between the two fixed wheels 331, if the dolly 300 does not have the pin 361, the mobile body 2 may hold the dolly 300 in the second holding state. In other words, in the holding step, if the mobile body 2 enters the underside of the dolly 300 between the two fixed wheels 331 and the dolly 300 has the pin 361, the mobile body 2 may hold the dolly 300 in the first holding state. In addition, if the pin 361 is always provided on the dolly 300 to be transported, the mobile body 2 may hold the dolly 300 in the first holding state without determining whether the pin 361 is present or not when the mobile body 2 enters the underside of the dolly 300 between the two fixed wheels 331.

The mobile body control method of this embodiment further includes a steering assist step. In the steering assist step, while the mobile body 2 holds the carriage 300 in the first holding state, the steering assist part 37 provided on the mobile body 2 is brought into contact with the carriage 300, thereby causing the moving direction of the carriage 300 to follow the moving direction of the mobile body 2.

A (computer) program according to one embodiment is a program for causing a computer system to execute the above-mentioned mobile object control method.

Below, we will list some variations of the above embodiment. The variations described below can be applied in appropriate combinations.

The mobile body 1 and the upper system 200 in the present disclosure include a computer system. The computer system is mainly composed of a processor and a memory as hardware. The functions of the mobile body 1 and the upper system 200 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided through an electric communication line, or recorded and provided in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI referred to here are called differently depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of the LSI, or a logic device that can reconfigure the connection relationship inside the LSI or reconfigure the circuit partition inside the LSI, can also be adopted as a processor. The multiple electronic circuits may be integrated into one chip, or may be distributed across multiple chips. The multiple chips may be integrated into one device, or may be distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

In addition, it is not essential for the mobile object control system 100 that multiple functions are concentrated in one housing, and the components of the mobile object control system 100 (e.g., the control unit 12 of the mobile object 1) may be distributed across multiple housings. Furthermore, at least some of the functions of the mobile object control system 100 (e.g., the control unit 12 of the mobile object 1) may be realized by the cloud (cloud computing) or the like.

Conversely, in embodiment 1, at least some of the functions of the mobile object control system 100 that are distributed among multiple devices may be consolidated within a single housing. For example, some of the functions of the mobile object control system 100 that are distributed between the mobile object 1 and the upper system 200 may be consolidated within a single housing.

In the above embodiment, when comparing two values such as measurement data, "greater than" may be "greater than or equal to." In other words, when comparing two values, whether or not the two values are equal can be arbitrarily changed depending on the setting of the reference value, etc., so there is no technical difference between "greater than" and "greater than or equal to." Similarly, "less than or equal to" may be "less than."

(summary)
As described above, the moving body (1) of the first aspect includes a moving body main body (2), a holding unit (3), a driving unit (22), and a control unit (12). The holding unit (3) holds the dolly (300) by lifting at least a part of the dolly (300) in a state where at least a part of the moving body main body (2) is inserted under the dolly (300). The dolly (300) is movable by a plurality of wheels (330) provided on the lower part of the dolly main body (310) having a bottom (320). The driving unit (22) moves the moving body main body (2). The control unit (12) controls the driving unit (22). The control unit (12) controls the driving unit (22) so that at least a part of the moving body main body (2) is inserted under the bottom (320) of the dolly (300) from the short side part (321) of the bottom (320). The control unit (12) transports the cart (300) by controlling the drive unit (22) to move the mobile body (2) while the holding unit (3) is holding the cart (300).

According to this aspect, the moving body (1) holds the cart (300) by the holding part (3) lifting at least a part of the cart (300) while the moving body main body (2) is inserted under the bottom part (320) from the short side part (321) of the bottom part (320), so that the bending of both sides of the short side part (321) is reduced and the possibility of the wheels (330) of the cart (300) touching the ground can be reduced. Therefore, when the moving body (1) transports the cart (300), the possibility of the wheels (330) hitting the moving surface (G1) and causing resistance can be reduced, and the cart (300) can be transported in a stable state.

In the second aspect of the moving body (1), the multiple wheels (330) of the dolly (300) in the first aspect include a fixed wheel (331) and a free wheel (332). The fixed wheel (331) is disposed on one end side of the longitudinal direction of the bottom (320) and is rotatable along a predetermined direction. The multiple free wheels (332) are disposed on the other end side of the longitudinal direction of the bottom (320) and are rotatable in the entire circumferential direction on the moving surface (G1). The control unit (12) controls the drive unit (22) so that at least a part of the moving body main body (2) enters the underside of the bottom (320) from the short side portion (321) on one end side of the longitudinal direction of the bottom (320).

According to this aspect, the holding unit (3) can lift at least the fixed wheel (331) by lifting the cart (300). Therefore, when the moving body (1) transports the cart (300), the possibility that the fixed wheel (331) will hit the moving surface (G1) and cause resistance can be reduced, and the cart (300) can be transported in a stable state.

In the third embodiment of the moving body (1), in the second embodiment, the wheels (330) include two fixed wheels (331), and the control unit (12) controls the drive unit (22) so that at least a part of the moving body main body (2) enters between the two fixed wheels (331).

According to this embodiment, the holding portion (3) lifts the portion between two adjacent fixed wheels (331) on the trolley body (310), thereby reducing the possibility that the two adjacent fixed wheels (331) will come into contact with the moving surface (G1).

In the fourth aspect of the moving body (1), in the second or third aspect, the holding part (3) holds the cart (300) with the free wheel (332) in contact with the moving surface (G1) and the fixed wheel (331) floating above the moving surface (G1).

According to this embodiment, the cart (300) can be transported with only the free wheels (332) in contact with the moving surface (G1).

In the fifth aspect of the moving body (1), in any of the second to fourth aspects, the holding portion (3) includes a pin chuck portion (33) that holds a pin (360, 361) provided at at least one end of the carriage (300) in the longitudinal direction.

According to this aspect, the moving body (1) can hold the cart (300) by the holding section (3) lifting the cart (300) and holding the pins (360, 361) with the pin chuck section (33).

In the sixth aspect of the moving body (1), in the fifth aspect, a pin detection unit (21) is further provided that detects whether or not the pins (360, 361) are present on the dolly (300A). When the pin detection unit (21) detects the absence of the pins (360, 361), the holding unit (3) holds the dolly (300) with the free wheels (332) and the fixed wheels (331) all floating above the moving surface (G1).

According to this aspect, the cart (300A) that does not have pins (360, 361) can hold all of the multiple free wheels (332) and multiple fixed wheels (331) in a state where they are raised above the moving surface (G1).

In the seventh aspect of the moving body (1), in the fifth or sixth aspect, a holding detection unit (25) is further provided that detects whether the pin chuck unit (33) holds the pin (360, 361) provided on the cart (300).

According to this embodiment, the holding detection unit (25) can detect whether the pins (360, 361) are being held by the pin chuck unit (33).

In the eighth aspect of the moving body (1), in the seventh aspect, when the holding detection unit (25) detects that the pin chuck unit (33) is holding the pins (360, 361), the control unit (12) controls the drive unit (22) to move the moving body main body (2), thereby transporting the cart (300).

According to this embodiment, the cart (300) can be transported with the pins (360, 361) held by the pin chuck portion (33).

The ninth aspect of the moving body (1) is any one of the second to eighth aspects, and further includes a steering assist unit (37). The steering assist unit (37) is provided on the moving body main body (2) and abuts against the carriage main body (310) to make the moving direction of the carriage (300) follow the moving direction of the moving body main body (2).

According to this embodiment, when the moving body (1) holding the cart (300) is about to turn, the steering assist unit (37) pushes the moving body (2), so that the moving direction of the cart (300) can be made to follow the moving direction of the moving body (1).

In the tenth aspect of the moving body (1), in the ninth aspect, there is at least one holding part (3) on each side in the fore-and-aft direction of the moving body main body (2), and the steering assist part (37) is disposed in the holding part (3) on the front side of the moving body main body (2).

According to this embodiment, the steering assist unit (37) pushes the moving body (2), so that the moving direction of the cart (300) can follow the moving direction of the moving body (1).

In the eleventh aspect of the mobile body (1), in any of the first to tenth aspects, the control unit (12) controls the drive unit (22) to move the mobile body main body (2) forward in a transport mode in which the mobile body main body (2) leads the mobile body (300) while the holding unit (3) holds the mobile body (300).

According to this embodiment, the moving body (1) can move the cart (300) by towing it.

In the twelfth aspect of the mobile body (1), in any of the first to eleventh aspects, the control unit (12) controls the drive unit (22) to move the mobile body (2) forward to a first position in a first transport mode in which the mobile body (2) leads the cart (300) while the holding unit (3) holds the cart (300). The control unit (12) controls the drive unit (22) to rotate the mobile body (2) at the first position to move to a second transport mode in which the mobile body (2) pushes the cart (300) from behind. The control unit (12) controls the drive unit (22) to move the mobile body (2) backward to a second position in the second transport mode. The control unit (12) controls the drive unit (22) to separate the cart (300) from the holding unit (3) at the second position and then move the mobile body (2) forward.

According to this aspect, the moving body (1) can move the cart (300) from the first position to the second position.

The mobile body (1) of the thirteenth aspect includes a mobile body main body (2), a holding section (3), and a steering assist section (37). The holding section (3) holds the bogie (300) by lifting at least a part of the bogie (300) with at least a part of the mobile body main body (2) inserted under the bogie (300). The bogie (300) is movable by a plurality of wheels (330) provided on the lower part of the bogie main body (310) having a bottom (320). The plurality of wheels (330) include a fixed wheel (331) arranged on one end side of the longitudinal direction of the bottom (320) and rotatable along a predetermined direction, and a free wheel (332) arranged on the other end side of the longitudinal direction of the bottom (320) and rotatable in an all-around direction. The steering assist unit (37) is provided on the moving body (2) and makes the moving direction of the dolly (300) follow the moving direction of the moving body (2) by abutting against the dolly body (310). There is at least one holding unit (3) on each side of the moving body (2) in the front-rear direction, and the steering assist unit (37) is disposed on the holding unit (3) on the front side of the moving body (2). The holding unit (3) holds the dolly (300) with the free wheel (332) of the dolly (300) in contact with the moving surface (G1) and the fixed wheel (331) of the dolly (300) floating above the moving surface (G1).

According to this embodiment, the steering assist unit (37) makes the moving direction of the cart (300) follow the moving direction of the mobile body (2), so that the cart (300) can be transported in a stable state.

The mobile body control method of the fourteenth aspect is a mobile body control method for controlling a mobile body (1). The mobile body (1) comprises a mobile body main body (2), a holding unit (3), and a drive unit (22). The hold unit (3) holds the cart (300) by lifting at least a part of the cart (300) with at least a part of the mobile body main body (2) inserted under the cart (300). The cart (300) is movable by wheels (330) provided at the bottom of the cart main body (310) having a bottom (320). The drive unit (22) moves the mobile body main body (2). The mobile body control method includes a first step and a second step. In the first step, the drive unit (22) is controlled so that at least a part of the mobile body (2) enters the underside of the bottom (320) of the dolly (300) from the short side portion (321) of the bottom (320). In the second step, while the holder (3) is holding the dolly (300), the drive unit (22) is controlled to run the mobile body (2), thereby transporting the dolly (300).

According to this aspect, the moving body (1) holds the cart (300) by the holding part (3) lifting at least a part of the cart (300) while the moving body main body (2) is inserted under the bottom part (320) from the short side part (321) of the bottom part (320), so that the deflection on both sides of the short side part (321) is small and the possibility of the wheels (330) of the cart (300) touching the ground can be reduced. Therefore, when the moving body (1) transports the cart (300), the possibility of the wheels (330) hitting the moving surface (G1) and causing resistance can be reduced, and the cart (300) can be transported in a stable state.

The mobile body control method of the fifteenth aspect includes a holding step and a transport step. In the holding step, the mobile body (2) holds the cart (300) in either a first holding state or a second holding state. The cart (300) is movable by two fixed wheels (331) that can each rotate along a predetermined direction and a free wheel (332) that can rotate in an omnidirectional direction. In the transport step, the moving body (2) transports the dolly (3009) while holding the dolly (300). The first holding state is a state in which the free wheels (332) are in contact with the moving surface (G1) and the two fixed wheels (331) are floating above the moving surface (G1) while holding the dolly (300). The second holding state is a state in which the two fixed wheels (331) and the free wheels (332) are all floating above the moving surface (G1) while holding the dolly (300). In the holding step, when the moving body (2) enters between the two fixed wheels (331) and under the dolly (300), it holds the dolly (300) in the first holding state.

According to this aspect, when the mobile body (2) enters between the two fixed wheels (331) and under the dolly (300), the dolly (300) is held in the first holding state, so the possibility that the fixed wheels (331) will hit the moving surface (G1) and cause resistance can be reduced. Therefore, according to this aspect, the dolly (300) can be transported in a stable state.

The 16th aspect of the mobile body control method is the 15th aspect, and further includes a steering assist step. In the steering assist step, while the mobile body (2) holds the dolly (300) in the first holding state, the steering assist part (37) provided on the mobile body (2) is brought into contact with the dolly (300), thereby making the moving direction of the dolly (300) follow the moving direction of the mobile body (2).

According to this embodiment, the cart (300) can be transported in a stable state.

Not limited to the above aspects, various configurations (including modified examples) of the moving body (1) according to the above embodiment can be embodied as a moving body control method, a (computer) program, or a non-transitory recording medium on which a program is recorded, etc.

The configurations according to the second to twelfth aspects are not essential for the moving body (1) and may be omitted as appropriate. The configuration according to the sixteenth aspect is not essential for the moving body control method and may be omitted as appropriate.

REFERENCE SIGNS LIST 1 Mobile body 2 Mobile body main body 3 Holding unit 12 Control unit 21 State detection unit (pin detection unit)
22 Drive section 25 Holding detection section 33 Pin chuck section 37 Steering assist section 300 Cart 310 Cart body 320 Bottom section 321 Short side section 330 Wheel 331 Fixed wheel 332 Free wheel 360, 361 Pin G1 Moving surface

Claims (15)

A mobile body,
a holding section that holds the dolly by lifting up at least a part of the dolly in a state where at least a part of the movable body is inserted under the dolly that is movable by a plurality of wheels provided at a lower part of the dolly body having a bottom;
A drive unit for moving the movable body;
A control unit that controls the drive unit,
the control unit controls the drive unit so that at least a portion of the movable body enters under the bottom from a short side portion of the bottom of the dolly;
the control unit, while the holding unit is holding the dolly, controls the drive unit to move the movable body, thereby transporting the dolly ;
The plurality of wheels of the cart include a fixed wheel that is arranged on one end side of the bottom in the longitudinal direction and is rotatable along a predetermined direction, and a free wheel that is arranged on the other end side of the bottom in the longitudinal direction and is rotatable in an all-circumferential direction,
the control unit controls the drive unit so that at least a portion of the movable body enters under the bottom portion from a short side portion on one end side of the bottom portion in the longitudinal direction;
the holding portion includes a pin chuck portion that holds a pin provided at at least one end portion in the longitudinal direction of the carriage,
A pin detection unit that detects whether the pin is present on the carriage,
When the pin detection unit detects the absence of the pin, the holding unit holds the cart in a state in which the free wheels and the fixed wheels are all floating above a moving surface.
Mobile body. A mobile body,
a holding section that holds the dolly by lifting up at least a part of the dolly in a state where at least a part of the movable body is inserted under the dolly that is movable by a plurality of wheels provided at a lower part of the dolly body having a bottom;
A drive unit for moving the movable body;
A control unit that controls the drive unit,
the control unit controls the drive unit so that at least a portion of the movable body enters under the bottom from a short side portion of the bottom of the dolly;
the control unit controls the drive unit to move the movable body while the holding unit is holding the dolly, thereby transporting the dolly;
The plurality of wheels of the cart include a fixed wheel arranged on one end side of the bottom in the longitudinal direction and rotatable along a predetermined direction, and a free wheel arranged on the other end side of the bottom in the longitudinal direction and rotatable in an all-circumferential direction,
the control unit controls the drive unit so that at least a portion of the movable body enters under the bottom portion from a short side portion on one end side of the bottom portion in the longitudinal direction;
A steering assist unit is provided on the moving body and contacts the carriage body to cause the moving direction of the carriage to follow the moving direction of the moving body,
At least one of the holding portions is provided on each side of the movable body in the front-rear direction,
The steering assist unit is disposed in the holding unit on the front side of the moving body.
Mobile body. A mobile body,
a holding section that holds the dolly by lifting up at least a part of the dolly in a state where at least a part of the movable body is inserted under the dolly that is movable by a plurality of wheels provided at a lower part of the dolly body having a bottom;
A drive unit for moving the movable body;
A control unit that controls the drive unit,
the control unit controls the drive unit so that at least a portion of the movable body enters under the bottom from a short side portion of the bottom of the dolly;
the control unit controls the drive unit to move the movable body while the holding unit is holding the dolly, thereby transporting the dolly;
the control unit controls the drive unit to move the movable body forward to a first position in a first conveying mode in which the movable body leads the carriage and tows the carriage while the holding unit holds the carriage,
the control unit controls the drive unit to rotate the movable body at the first position to assume a second transport form in which the movable body pushes the carriage from behind;
the control unit controls the drive unit to move the movable body backward to a second position in the second transport form;
The control unit controls the drive unit to move the movable body forward after separating the carriage from the holding unit at the second position.
Mobile body. The plurality of wheels of the cart include a fixed wheel arranged on one end side of the bottom in the longitudinal direction and rotatable along a predetermined direction, and a free wheel arranged on the other end side of the bottom in the longitudinal direction and rotatable in an all-circumferential direction,
the control unit controls the drive unit so that at least a portion of the movable body enters under the bottom portion from a short side portion on one end side of the bottom portion in the longitudinal direction.
The moving body according to claim 3. The plurality of wheels includes two of the fixed wheels,
The control unit controls the drive unit so that at least a part of the movable body enters between the two fixed wheels.
5. A moving body according to claim 1, 2 or 4. The holding unit holds the cart in a state in which the free wheels are in contact with a moving surface and the fixed wheels are floating above the moving surface.
6. A moving body according to claim 1, 2, 4 or 5. The pin chuck further includes a holding detection unit that detects whether the pin chuck unit holds the pin provided on the carriage.
The moving body according to claim 1 . When the hold detection unit detects that the pin chuck unit is holding the pin, the control unit controls the drive unit to move the movable body, thereby transporting the carriage.
The moving body according to claim 7. the control unit controls the drive unit to move the movable body forward in a transport mode in which the movable body leads the dolly while the holding unit holds the dolly,
3. A moving body according to claim 1 or 2. A mobile body,
a holding section that holds the dolly by lifting up at least a part of the dolly when at least a part of the movable body main body is inserted under a dolly that is movable by a plurality of wheels, the wheels including a fixed wheel that is arranged at one end of the bottom in the longitudinal direction and that can rotate along a predetermined direction, and a free wheel that is arranged at the other end of the bottom in the longitudinal direction and that can rotate in an all-circumferential direction, the holding section being provided at a lower part of the dolly main body and that holds the dolly by lifting up at least a part of the dolly when at least a part of the movable body main body is inserted under the dolly;
a steering assist unit provided on the moving body and contacting the carriage body to cause the moving direction of the carriage to follow the moving direction of the moving body;
At least one of the holding portions is provided on each side of the movable body in the front-rear direction,
The steering assist unit is disposed in the holding unit on the front side of the moving body,
the holding unit holds the cart in a state in which the free wheels of the cart are in contact with a moving surface and the fixed wheels of the cart are floating above the moving surface.
Mobile body. A mobile body,
a holding section that holds the dolly by lifting up at least a part of the dolly in a state where at least a part of the movable body is inserted under the dolly that is movable by a plurality of wheels provided at a lower part of the dolly body having a bottom;
A drive unit for moving the movable body,
the holding portion includes a pin chuck portion that holds a pin provided at at least one end portion in a longitudinal direction of the carriage,
A mobile object control method for controlling a mobile object further including a pin detection unit that detects whether the pin is present on the carriage,
a first step of controlling the drive unit so that at least a portion of the movable body enters under the bottom from a short side portion of the bottom of the dolly;
a second step of transporting the carriage by controlling the drive unit to move the movable body while the holder is holding the carriage,
The plurality of wheels of the cart include a fixed wheel that is arranged on one end side of the bottom in the longitudinal direction and is rotatable along a predetermined direction, and a free wheel that is arranged on the other end side of the bottom in the longitudinal direction and is rotatable in an all-circumferential direction,
In the first step, the drive unit is controlled so that at least a part of the movable body enters under the bottom portion from a short side portion on one end side of the bottom portion in the longitudinal direction;
The holding step further includes, when the pin detection unit detects the absence of the pin, the holding unit holds the cart in a state in which the free wheels and the fixed wheels are all floating above a moving surface.
A mobile object control method. A mobile body,
a holding section that holds the dolly by lifting up at least a part of the dolly in a state where at least a part of the movable body is inserted under the dolly that is movable by a plurality of wheels provided at a lower part of the dolly body having a bottom;
A drive unit for moving the movable body;
A steering assist unit that causes the moving direction of the carriage to follow the moving direction of the moving body by contacting the carriage body,
At least one of the holding portions is provided on each side of the movable body in the front-rear direction,
A method for controlling a moving body, the steering assist unit controlling a moving body arranged on the holding unit on the front side of the moving body main body,
a first step of controlling the drive unit so that at least a portion of the movable body enters under the bottom from a short side portion of the bottom of the dolly;
a second step of transporting the carriage by controlling the drive unit to move the movable body while the holder is holding the carriage,
The plurality of wheels of the cart include a fixed wheel that is arranged on one end side of the bottom in the longitudinal direction and is rotatable along a predetermined direction, and a free wheel that is arranged on the other end side of the bottom in the longitudinal direction and is rotatable in an all-circumferential direction,
In the first step, the drive unit is controlled so that at least a part of the movable body enters under the bottom portion from a short side portion on one end side of the bottom portion in the longitudinal direction.
A mobile object control method. A mobile body,
a holding section that holds the dolly by lifting up at least a part of the dolly in a state where at least a part of the movable body is inserted under the dolly that is movable by a plurality of wheels provided at a lower part of the dolly body having a bottom;
A method for controlling a moving body including a driving unit for moving the moving body, comprising:
a first step of controlling the drive unit so that at least a portion of the movable body enters under the bottom from a short side portion of the bottom of the dolly;
a second step of transporting the carriage by controlling the drive unit to move the movable body while the holder is holding the carriage,
In the second step,
controlling the drive unit to move the movable body forward to a first position in a first conveying mode in which the movable body leads the carriage while the holding unit holds the carriage;
controlling the driving unit to rotate the movable body at the first position to assume a second conveying form in which the movable body pushes the carriage from behind;
controlling the drive unit to move the movable body backward to a second position in the second transport form;
and controlling the driving unit to move the movable body forward after separating the carriage from the holding unit at the second position.
A mobile object control method. a holding step in which the movable body holds the movable carriage, which is movable by two fixed wheels each rotatable along a predetermined direction and a free wheel rotatable in an all-circumferential direction, in either a first holding state or a second holding state;
a transport step of transporting the dolly while the movable body holds the dolly,
The first holding state is a state in which the free wheels are in contact with a moving surface and the two fixed wheels are suspended above the moving surface to hold the carriage,
The second holding state is a state in which the carriage is held in a state in which the two fixed wheels and the free wheel are all floating above the moving surface,
In the holding step, when the movable body enters under the dolly from between the two fixed wheels, the dolly is held in the first holding state.
A mobile object control method. The steering assist step further includes a steering assist step of making a steering assist unit provided on the moving body come into contact with the bogie while the moving body holds the bogie in the first holding state, thereby making the moving direction of the bogie follow the moving direction of the moving body.
The moving object control method according to claim 14.

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