Patent Description:
Conventionally, an unmanned conveyance vehicle serving as an automatic moving device for automatically moving an article has been proposed, for example, to acquire angle θ between a longitudinal direction of a step area and a route of the unmanned conveyance vehicle, travel along the route with the forming angle θ, and cancel lock of suspension of a drive wheel or to raise a position of the drive wheel when the drive wheel is present within a predetermined range with respect to the step area for each drive wheel (for example, refer to Patent Literature <NUM>). The unmanned conveyance vehicle is supposed to be capable of providing an unmanned conveyance vehicle capable of driving over a step. In addition, as a self-propelled device, there has been proposed a self-propelled vacuum cleaner having a pair of drive wheels arranged in a left-right direction and a floor distance measurement sensor, in which when approaching the step at a boundary between a first floor and a second floor located at a higher position than the first floor while traveling on the first floor, the self-propelled vacuum cleaner moves backward in a direction away from the step, and then travels toward the step at a higher speed than the speed when traveling on the first floor (for example, refer to Patent Literature <NUM>). The self-propelled device is said to be capable of improving a ride-over ability of the step. Patent Literature <NUM> relates to an autonomous moving body that controls driving wheels by allowing a trailing caster to be located on a front side with respect to a traveling direction when it is recognized that there is no step in a traveling direction and controls the driving wheels to change the orientation of a base body in which the driving wheels and the trailing caster are arranged and approach the step so that at least one of two driving wheels contacts the step before the trailing caster contacts the step when it is recognized that there is a step in the traveling direction. Patent Literature <NUM> relates to a control apparatus for a vehicle that executes a step climb over a step. The vehicle is controlled such that the front wheels contact the step simultaneously. A front sensor may detect an obstacle in front of the vehicle. Patent Literature <NUM> relates to steering of a four-wheel vehicle. In particular, when one of the two rear wheels falls into a side groove on the roadway and derails, the steering wheel may rotate the rear wheel in a direction away from the side groove and advance the vehicle back to the road.

However, as in the above Patent Literatures <NUM> and <NUM>, there has been considered a device capable of moving the step, but that is not yet sufficient and there has been obtained an automatic moving device that can more appropriately travel against obstacle of a road surface.

The present disclosure has been made to solve such problems, and a main object of the present disclosure is to provide an automatic moving device and a control method for an automatic moving device that can more appropriately travel against an obstacle of a road surface.

The present disclosure adopts the following means to achieve the main object described above.

The automatic moving device disclosed in the present specification is an automatic moving device used in a delivery system for delivering an article and automatically moving the article, the automatic moving device including:.

In this automatic moving device, when the groove is detected as the obstacle of the road surface, the automatic moving device is adjusted so as to be in the oblique direction with respect to the groove, and passes through the groove. On the other hand, in this automatic moving device, when the step is detected as the obstacle of the road surface, the automatic moving device is adjusted in the direction orthogonal to the step, and passes through the step. Therefore, the automatic moving device can more appropriately travel against the obstacle of the road surface.

<FIG> is a schematic explanatory view illustrating an example of delivery system <NUM>. <FIG> is an explanatory view illustrating an example of shop <NUM>. <FIG> is an explanatory view illustrating an example of automatic moving device <NUM>. <FIG> is an explanatory view of automatic moving device <NUM> connected to cart <NUM>. Delivery system <NUM> is a system for delivering an article to a storage chamber in which multiple carts <NUM> are disposed by using a transporter that accommodates and delivers cart <NUM> on which the article is loaded in a cargo chamber. Here, the "article" is not particularly limited as long as it is for delivery, and may include, for example, an industrial article including a machine, a device, a unit, a component, or the like of a device, a consumer article, a food, a fresh article, or the like that is generally used for daily use. Examples of the transporter include a vehicle such as a train, a ship, and an aircraft in addition to delivery vehicle <NUM>. Examples of the "storage chamber" include logistics center <NUM>, a warehouse, and shop <NUM> in which articles are accumulated. Here, for convenience of explanation, delivery system <NUM> for delivering commodities such as consumer article and fresh article by delivery vehicle <NUM> from logistics center <NUM> serving as a delivery source to shop <NUM> serving as a delivery destination will be mainly described. In the present embodiment, it is assumed that the left-right direction, the front-rear direction, and the up-down direction are as illustrated in the respective drawings.

Cart <NUM> includes loading section <NUM> and caster <NUM>. Loading section <NUM> is a plate-shaped member for loading articles. Caster <NUM> has wheels for traveling cart <NUM>, and is disposed on a lower surface side of loading section <NUM>. Cart <NUM> may be a car cart. Logistics center <NUM> is a location for accumulating articles and delivering the articles to shops <NUM> or other logistics centers <NUM> in various locations. Logistics center <NUM> includes one or more automatic moving devices <NUM> that can automatically move cart <NUM>. Logistics center <NUM> has, for example, a specific area on the floor as an accumulation area corresponding to a delivery destination. In logistics center <NUM>, an operator, an arm robot (not illustrated), or the like performs a work of placing the article on cart <NUM> corresponding to the delivery destination. Shop <NUM> displays and sells the delivered articles. Shop <NUM> has one or more automatic moving devices <NUM> that can automatically move cart <NUM>. As illustrated in <FIG>, shop <NUM> has display shelf <NUM> on which the articles are displayed, and the operator displays the articles on display shelf <NUM>.

As illustrated in <FIG>, delivery system <NUM> includes logistics PC <NUM>, shop PC <NUM>, automatic moving device <NUM>, and management server <NUM>. Logistics PC <NUM> is disposed in logistics center <NUM> and performs product management or the like in logistics center <NUM>. Logistics PC <NUM> includes control device <NUM>, storage section <NUM>, and communication section <NUM>. Control device <NUM> has a CPU, and controls the entire device. Storage section <NUM> stores various application programs and various data files. Communication section <NUM> communicates with an external device such as automatic moving device <NUM>. In addition, communication section <NUM> exchanges information with management server <NUM> and shop PC <NUM> via network <NUM>. Shop PC <NUM> is disposed in shop <NUM> and performs product management or the like in shop <NUM>. Shop PC <NUM> includes control device <NUM>, storage section <NUM>, and communication section <NUM>. Control device <NUM> has a CPU, and controls the entire device. Storage section <NUM> stores various application programs and various data files. Communication section <NUM> communicates with an external device such as automatic moving device <NUM>. In addition, communication section <NUM> exchanges information with management server <NUM> and logistics PC <NUM> via network <NUM>.

Automatic moving device <NUM> is a vehicle that automatically moves cart <NUM>. Automatic moving device <NUM> performs a work of accumulating, carrying-in, and carrying-out cart <NUM> for which the delivery destination is specified. Automatic moving device <NUM> enters a space between casters <NUM> on the lower surface side of loading section <NUM> of cart <NUM>, connects loading section <NUM> to cart <NUM> by the same from below with lift portion <NUM>, and moves cart <NUM>. Automatic moving device <NUM> may be an Automatic Guided Vehicle (AGV) that moves on a predetermined road, or may be an Autonomous Mobile Robot (AMR) that detects the surroundings and moves on a free route. Here, automatic moving device <NUM> having the AMR configuration will be described.

As illustrated in <FIG> and <FIG>, automatic moving device <NUM> includes control section <NUM>, storage section <NUM>, vehicle body <NUM>, lift portion <NUM>, mecanum wheel <NUM>, driving section <NUM>, detection sensor <NUM>, and communication section <NUM>. Control section <NUM> is a controller for controlling the entire device of automatic moving device <NUM>. Control section <NUM> outputs control signals and the like to lift portion <NUM>, driving section <NUM>, and communication section <NUM>, and inputs input signals from detection sensor <NUM> and communication section <NUM>. Control section <NUM> grasps a moving direction, a moving distance, a current position, and the like of automatic moving device <NUM> based on a driving state of driving section <NUM> and the like. Storage section <NUM> stores various application programs and various data files. Storage section <NUM> stores, for example, schedule information including a schedule of cart <NUM>, a usage map in the storage chamber, and the like. Vehicle body <NUM> is a main body of a vehicle, on which control section <NUM>, storage section <NUM>, lift portion <NUM>, and communication section <NUM> are installed, mecanum wheel <NUM> is disposed on a side surface, and detection sensor <NUM> is disposed on a front surface and a rear surface. Lift portion <NUM> is configured to be connected to cart <NUM> by pushing the lower surface of loading section <NUM> upward with respect to vehicle body <NUM> of automatic moving device <NUM> (refer to <FIG>). Mecanum wheel <NUM> has a structure in which multiple rollers pivotally supported so as to be freely rotatable at an inclination of <NUM>° with respect to the axle are disposed on a grounding surface side. Automatic moving device <NUM> includes four mecanum wheels <NUM>, and is configured to be capable of executing movement, super pivot turn, pivot turn, gentle turn, and the like of automatic moving device <NUM> in all directions by independently rotating each thereof in the front direction or the rear direction. Here, mecanum wheel <NUM> is also simply referred to as a wheel. Driving section <NUM> is a motor connected to each mecanum wheel <NUM> to rotationally drive connected mecanum wheel <NUM>, thereby driving automatic moving device <NUM> for traveling. Detection sensor <NUM> detects an object, an obstacle, or a distance between them that are present around automatic moving device <NUM>. Detection sensor <NUM> detects the presence or distance of the object, for example, by irradiating light such as a laser, sound waves, or the like, to the periphery, and detecting a reflected wave. Detection sensor <NUM> is configured to be able to detect the presence of the object in an area around the entire outer periphery of automatic moving device <NUM>. In addition, detection sensor <NUM> is also disposed at the lower portion of vehicle body <NUM>, so that after passing through the obstacle, the obstacle can be detected again. In addition, detection sensor <NUM> includes a gyro sensor, so that the vehicle body direction, the disposition angle, and the like can be grasped. Control section <NUM> controls the movement or stoppage of automatic moving device <NUM> based on the information from detection sensor <NUM>. Communication section <NUM> wirelessly communicates information with external devices such as logistics PC <NUM> and shop PC <NUM>. Control section <NUM> moves to the position of cart <NUM> based on a command obtained from logistics PC <NUM> via communication section <NUM>, connects to cart <NUM>, and then moves cart <NUM> to the disposition position of the moving destination along a set moving route.

Delivery vehicle <NUM> is a vehicle that loads and delivers one or more carts <NUM>. Delivery vehicle <NUM> loads cart <NUM> in cargo chamber <NUM> at logistics center <NUM>, delivers the article to shop <NUM> serving as the delivery destination, and then returns empty cart <NUM> to logistics center <NUM>. In the present embodiment, the delivery of cart <NUM> is performed by delivery vehicle <NUM> of a truck, however, the configuration is not particularly limited to this, and may be performed by a transporter such as a train, a ship, or an aircraft.

Management server <NUM> is a device that manages delivery system <NUM>. Management server <NUM> includes control device <NUM>, storage section <NUM>, and communication section <NUM>. Control device <NUM> includes CPU <NUM>, and controls the entire device. Storage section <NUM> stores various application programs and various data files. Storage section <NUM> stores layout information including layout information of each storage chamber, delivery schedule information including the type and number of articles to be delivered from the delivery source to the delivery destination, and the like. The delivery of cart <NUM> is executed based on the layout information and the delivery schedule information.

Next, in delivery system <NUM> configured as described above, a process in which automatic moving device <NUM> automatically moves cart <NUM> in logistics center <NUM> or shop <NUM> will be described. Here, a case where automatic moving device <NUM> moves cart <NUM> in shop <NUM> will be mainly described. <FIG> is a flowchart illustrating an example of an automatic moving process routine executed by control section <NUM> of automatic moving device <NUM>. This routine is stored in storage section <NUM>, executed after receiving an automatic moving instruction from shop PC <NUM>. When this routine is started, control section <NUM> acquires, from shop PC <NUM>, a moving route from a departure point to the target point (S100). Control section <NUM> acquires, for example, a moving route from a standby position of automatic moving device <NUM> to a receiving position of cart <NUM>, a moving route from the receiving position to the disposition position of display shelf <NUM>, and the like.

Next, control section <NUM> sets a first mode (normal mode) to the traveling mode (S110), and determines whether an obstacle of a road surface is detected based on a detection result of detection sensor <NUM> (S120). Examples of the obstacle of the road surface include a groove and a step. Here, the term "groove" means an obstacle in which a part of a certain road surface is located below, and the term "step" means an obstacle in which the road surface changes upward or downward. When no obstacle is detected on the road surface, control section <NUM> executes normal traveling process (S130). In the normal traveling process, control section <NUM> controls driving section <NUM> to rotationally drive mecanum wheel <NUM> in the first mode. The first mode is a driving condition of driving section <NUM> on the road surface without obstacle. In the first mode, the driving condition of driving section <NUM> capable of securing a relatively high acceleration and moving speed while suppressing an increase in power consumption is empirically obtained, and is set to the obtained driving condition. In addition, in the traveling drive process, control section <NUM> executes lateral movement for reversing the front-rear wheels, oblique movement for rotating the diagonal wheels in the same direction, or the like while giving higher priority to moving forward and rearward for rotating all the wheels in the same direction in consideration of the current vehicle body direction and the direction to the target point. Next, control section <NUM> determines whether the vehicle has arrived at the destination (S180), and executes the process in and after S120 when the vehicle has not arrived at the destination.

On the other hand, when the obstacle of the road surface is detected in S120, control section <NUM> acquires the current vehicle body direction from an output value of the sensor (S140), and determines whether the obstacle of the road surface is the groove or the step (S150). For example, when a part of the road surface is missing and is below, control section <NUM> determines that the obstacle of the road surface is the groove, and determines that the obstacle of the road surface is the step when the road surface changes upward or downward from a certain edge area and holds a constant height. Control section <NUM> executes predetermined groove passing process when the obstacle of the road surface is the groove (S160), and executes predetermined step passing process when the obstacle of the road surface is the step (S170). The groove passing process and the step passing process will be described in detail later. After S160 or S170, control section <NUM> determines whether it has arrived at the destination in S180, and executes the process in and after S120 when it has not arrived at the destination.

On the other hand, when arriving at the destination in S180, control section <NUM> executes a predetermined work (S190). The predetermined work includes, for example, a work of entering below cart <NUM> and lifting and connecting cart <NUM> with lift portion <NUM>, a work of lowering lift portion <NUM> and separating automatic moving device <NUM> from cart <NUM>, or the like. After S190, control section <NUM> determines whether all the processes including all the movements and the works has been completed (S200), and when all the processes have not been completed, executes the process in and after S100. On the other hand, when all the processes have been completed in S200, control section <NUM> terminates the process.

Next, the groove passing process in S160 will be described. <FIG> is a flowchart illustrating an example of the groove passing process routine. This routine is stored in storage section <NUM>, and is executed in step S160 after the groove is detected as the obstacle of the road surface. <FIG> is an explanatory view illustrating an example of an angle adjustment of automatic moving device <NUM>, in which <FIG> is an explanatory view illustrating when groove <NUM> is detected, <FIG> is an explanatory view illustrating the direction change, <FIG> is an explanatory view illustrating the groove passing of a first groove, <FIG> is an explanatory view illustrating the groove passing of a second groove, <FIG> is an explanatory view illustrating the groove passing of a third groove, and <FIG> is an explanatory view illustrating the groove passing of a fourth groove. <FIG> is a view illustrating a direction change at the time of groove entry, <FIG> is a view illustrating a direction readjustment, and <FIG> is a view illustrating a movement after readjustment. When the groove passing process routine is started, control section <NUM> sets the second mode (high torque mode) to the traveling mode (S300). The second mode is a driving condition of driving section <NUM> on the road surface with the obstacle. In the second mode, in order to secure passing of the obstacle, the driving condition of driving section <NUM> having a higher torque than the first mode is empirically obtained, and is set to the obtained driving condition.

Next, control section <NUM> detects gap distance X of groove <NUM> (refer to <FIG>) and acquires travelable distance Aa (S310). Gap distance X of the groove can be calculated by using the detected value from detection sensor <NUM>. Travelable distance Aa corresponds to a maximum value of gap distance X of the groove <NUM> across which automatic moving device <NUM> can travel by relying on only one wheel entering groove <NUM>. Travelable distance Aa is determined to be the maximum distance by which only one wheel can enter groove <NUM> when the moving direction of vehicle body <NUM> is inclined with respect to groove <NUM>. This travelable distance Aa can be determined based on the front-rear and left-right wheel intervals of automatic moving device <NUM>, and corresponds to the maximum value of traveling distance A. Traveling distance A is a distance obtained based on distance L of a diagonal line between a front wheel of one wheel that first enters groove <NUM> and a rear wheel of the diagonal, and angle θ formed by an edge straight line and a diagonal line of groove <NUM> (refer to <FIG>). The diagonal line between the front wheel and the rear wheel is hereinafter simply referred to as a diagonal line, and the edge straight line of groove <NUM> is hereinafter simply referred to as groove <NUM>. Here, a value ((L·sinθ)/<NUM>) obtained by multiplying distance L of the diagonal line by sinθ and dividing by <NUM> will be described as traveling distance A. At traveling distance A, the distance of each wheel in a direction orthogonal to groove <NUM> (traveling distance A) can be easily obtained. Control section <NUM> may obtain traveling distance A without using this equation (A = (L·sinθ)/<NUM>). Here, the positions of the wheels are obtained with reference to the center point of the grounding area of the wheels, and distances and the like. In addition, the diagonal line is a line connecting the front wheel that first reaches groove <NUM> and the rear wheel of the diagonal. In addition, angle θ uses a value on an acute angle side formed by groove <NUM> and the diagonal line of the wheel.

Next, control section <NUM> determines whether automatic moving device <NUM> is able to travel across groove <NUM> based on whether gap distance X of the groove <NUM> is shorter than travelable distance Aa (S320). When automatic moving device <NUM> is not able to travel across groove <NUM>, that is, when the maximum value of traveling distance A is not larger than gap X, control section <NUM> stops the moving to groove <NUM>, outputs the change of the moving route to shop PC <NUM> (S440), and terminates this routine. When traveling distance A is not larger than gap X, two or more wheels simultaneously enter groove <NUM>, and the driving force is further reduced, so that control section <NUM> stops the movement of automatic moving device <NUM> entering groove <NUM> from the viewpoint of preventing stacking in groove <NUM>. Shop PC <NUM> newly searches for a moving route that avoids groove <NUM> and transmits the same to the automatic moving device <NUM>. Control section <NUM> that has received the same executes the process in and after S100 of the automatic moving process routine based on the new moving route.

On the other hand, when it is possible to travel across groove <NUM>, control section <NUM> determines whether any wheel other than the wheel that first reaches groove <NUM> when the vehicle is advanced in the direction of the current wheel enters groove <NUM> (S330). Control section <NUM> can obtain the distance in the vertical direction with respect to groove <NUM>, which is the distance between the wheel that first reaches groove <NUM> and the wheel that next reaches groove <NUM>, as traveling distance A, and perform this determination based on whether traveling distance A is larger than gap distance X (refer to <FIG>). When multiple wheels enter groove <NUM> in the current vehicle body direction, control section <NUM> moves the vehicle body direction of automatic moving device <NUM> so that automatic moving device <NUM> enters in the oblique direction with respect to groove <NUM>. That is, control section <NUM> sets angle θ at which traveling distance A is larger than gap distance X of the groove <NUM> (S340), and changes the vehicle body direction of automatic moving device <NUM> so that the angle formed by the diagonal line and groove <NUM> is equal to angle θ (S350, <FIG>). Here, control section <NUM> sets angle θ such that traveling distance A > gap distance X, that is, (L·sinθ)/<NUM>) > X. When obtaining angle θ, control section <NUM> may obtain angle θ at which traveling distance A is a value obtained by adding a predetermined margin to gap distance X. The margin may be set to a value at which multiple wheels do not reliably enter groove <NUM>. As described above, when moving automatic moving device <NUM> in the oblique direction with respect to groove <NUM>, control section <NUM> moves automatic moving device <NUM> at an angle at which multiple wheels do not enter groove <NUM>. In addition, when changing the vehicle body direction, for example, it is preferable that control section <NUM> rotates the left front wheel and the left rear wheel in a first direction, rotates the right front wheel and the right rear wheel in a second direction opposite to the first direction, and causes the super pivot turn. By the super pivot turn, control section <NUM> can prevent the wheels from entering groove <NUM> erroneously when the vehicle body direction is changed.

After S350 or in S330, when multiple wheels do not enter groove <NUM> when the vehicle is advanced in the current wheel direction, control section <NUM> drives driving section <NUM> to move vehicle body <NUM> so as to pass through groove <NUM> (S360). At this time, control section <NUM> does not perform the oblique movement, a lateral movement, the pivot turn, or the like, but rotationally drives mecanum wheel <NUM> forward and moves vehicle body <NUM> forward (<FIG>). Next, control section <NUM> determines whether the wheel has entered groove <NUM> (S370), and when the wheel has not entered groove <NUM>, the process for moving vehicle body <NUM> in S360 is continued. Control section <NUM> can determine whether the wheel has entered groove <NUM> based on a relationship between the current position of the vehicle moved by the moving process and the position of groove <NUM>.

On the other hand, when the wheel enters groove <NUM> in S370, control section <NUM> detects the direction of vehicle body <NUM> (S380), and determines whether the vehicle body direction is changed (S390). Control section <NUM> can detect an amount of change in the vehicle body direction from a sensor value of the gyro sensor or the like. When the wheel enters groove <NUM>, the direction of the vehicle body may change due to a height difference, but control section <NUM> detects the amount of change in the vehicle body direction. When the direction of vehicle body <NUM> changes in S390 (<FIG>), control section <NUM> readjusts the vehicle body direction so that the angle formed by the diagonal line and groove <NUM> is equal to set angle θ (S400, <FIG>). Similar to S350, control section <NUM> changes the direction of the vehicle body by, for example, the super pivot turn.

After S400 or in S390, when the direction of vehicle body <NUM> has not changed, control section <NUM> controls driving section <NUM> to move vehicle body <NUM> in the direction passing through groove <NUM> (S410). Similar to S360, control section <NUM> does not perform the oblique movement, the lateral movement, the pivot turn, or the like, but rotationally drives the mecanum wheel <NUM> forward and moves vehicle body <NUM> forward (<FIG>). Subsequently, control section <NUM> determines whether all the wheels have passed through groove <NUM> (S420). When all the wheels have not passed through groove <NUM>, control section <NUM> executes the process in and after S360. That is, control section <NUM> moves vehicle body <NUM> in the direction passing through groove <NUM>, determines whether the vehicle body direction changes each time the next wheel enters groove <NUM>, and controls driving section <NUM> so that the wheel passes through groove <NUM> while readjusting the vehicle body direction as required (<FIG>). On the other hand, when all the wheels have passed through groove <NUM> in S470, control section <NUM> sets the first mode to the traveling mode (S430), and terminates this routine. As described above, in automatic moving device <NUM>, when groove <NUM> is detected as the obstacle of the road surface, the direction of vehicle body <NUM> (wheel) is the oblique direction with respect to groove <NUM>, whereby two or more wheels are prevented from entering groove <NUM> as much as possible so as to pass through groove <NUM> in a state where the driving force is further secured.

Next, the step passing process in S170 will be described. <FIG> is a flowchart illustrating an example of the step passing process routine. This routine is stored in storage section <NUM>, and is executed in step S170 after the step is detected as the obstacle of the road surface. <FIG> is an explanatory view illustrating an example of step height H. <FIG> is an explanatory view illustrating an example of process for passing through the step of automatic moving device <NUM>, in which <FIG> is a view illustrating when step <NUM> is detected, <FIG> is a view illustrating the direction change, <FIG> is a view illustrating the step passing of the front wheel, <FIG> is a view in which the vehicle body direction is changed when entering the step, <FIG> is a view illustrating readjustment of the vehicle body direction, and <FIG> is a view illustrating the step passing of the rear wheel. When the step passing process routine is started, control section <NUM> acquires height H of step <NUM> and execution height range Ha requiring the step passing process based on the detected value of detection sensor <NUM> (S500, <FIG>). As illustrated in <FIG>, for example, execution height range Ha is set between maximum height H1 of step <NUM> that does not obstruct the movement of automatic moving device <NUM> and minimum height H2 of step <NUM> at which the movement of automatic moving device <NUM> is disabled. Here, height H1 may be empirically set to a height that adversely affects the traveling, for example, such as being unable to cross step <NUM> or being repelled by step <NUM> when vehicle body <NUM> enters in the oblique direction. In addition, height H1 may be set in consideration of the presence or absence of the loading deviation of cart <NUM> when automatic moving device <NUM> rides on step <NUM>. In addition, height H2 may be set in consideration of the presence or absence of contact with step <NUM> of the loaded cart <NUM>.

Next, control section <NUM> examines a relationship between height H of step <NUM> and execution height range Ha (S510), and when height H is less than execution height range Ha, determines that the step passing process is unnecessary, executes the normal traveling process in the same manner as in S130, and terminates this routine. On the other hand, when height H is more than execution height range Ha in S510, control section <NUM> determines to be unable to pass through step <NUM> in the step passing process, stops passing step <NUM>, outputs the change of the moving route to shop PC <NUM> (S530), and terminates the routine. Shop PC <NUM> newly searches for a moving route that avoids step <NUM> and transmits the same to the automatic moving device <NUM>. Control section <NUM> that has received the same executes the process in and after S100 of the automatic moving process routine based on the new moving route.

On the other hand, when height H of step <NUM> is within execution height range Ha, control section <NUM> sets the second mode (high torque mode) to the traveling mode (S540), and moves vehicle body <NUM> in the direction in which the wheel direction is orthogonal to the edge straight line of step <NUM> (S550, <FIG>). Here, control section <NUM> moves vehicle body <NUM> so that mecanum wheel <NUM> faces step <NUM>. The edge straight line of step <NUM> will be simply referred to as step <NUM> hereinafter. When changing the vehicle body direction, for example, it is preferable that control section <NUM> rotates the left front wheel and the left rear wheel in the first direction, rotates the right front wheel and the right rear wheel in the second direction opposite to the first direction, and causes the super pivot turn. By the super pivot turn, control section <NUM> can prevent the wheel from erroneously hitting step <NUM> when the vehicle body direction is changed (refer to <FIG>). In a case where vehicle body <NUM> is already orthogonal to step <NUM> when step <NUM> is detected, the process of S550 can be omitted.

Next, control section <NUM> drives driving section <NUM> to move vehicle body <NUM> so as to pass through step <NUM> (S560). At this time, control section <NUM> does not perform the oblique movement, the lateral movement, the pivot turn, or the like, rotationally drives mecanum wheel <NUM> forward, and moves vehicle body <NUM> forward (<FIG>). Next, control section <NUM> determines whether the two wheels of the front wheel have passed through step <NUM> (S570), and when the wheel has not entered groove <NUM>, the process of moving vehicle body <NUM> in S560 is continued. Control section <NUM> can determine whether the wheel has passed through step <NUM> based on the relationship between the current position of the vehicle moved by the moving process and the position of step <NUM>.

On the other hand, when the front wheel has passed through step <NUM> in S570, control section <NUM> detects the direction of vehicle body <NUM> (S580), and determines whether the vehicle body direction has changed (S590). Control section <NUM> can detect a change in the vehicle body direction from the sensor value of the gyro sensor or the like. When the wheel enters step <NUM>, the height difference or the shock may cause the vehicle body direction to change, but control section <NUM> detects the change in the vehicle body direction. When the vehicle body direction changes in S590 (<FIG>), control section <NUM> readjusts the vehicle body direction so that vehicle body <NUM> (wheel) is orthogonal to step <NUM> (S600, <FIG>). After S600 or in S590, when the vehicle body direction has not changed, control section <NUM> controls driving section <NUM> to move vehicle body <NUM> in a direction passing through step <NUM> (S610). Similar to S550, control section <NUM> changes the direction of the vehicle body by, for example, the super pivot turn. Similarly to S560, control section <NUM> does not perform the oblique movement, the lateral movement, the pivot turn, or the like, rotationally drives mecanum wheel <NUM> forward, and moves vehicle body <NUM> forward (refer to <FIG>). Control section <NUM> continues the process of S610 until the two wheels of the rear wheel pass through step <NUM>.

After S610, control section <NUM> sets the first mode to the driving mode (S620), and terminates this routine. As described above, in automatic moving device <NUM>, when step <NUM> is detected as the obstacle of the road surface, the direction of vehicle body <NUM> (wheel) is caused to be orthogonal to step <NUM>, so that the generation of a moment in the lateral direction is further suppressed when crossing step <NUM>, and an unexpected change in the vehicle body direction is suppressed so as to pass through step <NUM>.

Here, correspondences between the constituent elements of the present embodiment and constituent elements of the present disclosure will be clarified. Driving section <NUM> of the present embodiment corresponds to the driving section of the present disclosure, detection sensor <NUM> corresponds to the detection section, control section <NUM> corresponds to the control section, automatic moving device <NUM> corresponds to the automatic moving device, and the mecanum wheel <NUM> corresponds to the wheel and the mecanum wheel. In the present embodiment, an example of the control method for the present disclosure is also clarified by describing the operation of automatic moving device <NUM>.

In automatic moving device <NUM> according to the present embodiment described above, when groove <NUM> is detected as the obstacle of the road surface, automatic moving device <NUM> is adjusted so as to be the oblique direction with respect to groove <NUM>, so that the number of wheel derailments in groove <NUM> is further reduced so as to pass through groove <NUM>. On the other hand, in automatic moving device <NUM>, when step <NUM> is detected as the obstacle of the road surface, automatic moving device <NUM> is adjusted in a direction orthogonal to step <NUM>, and both wheels simultaneously hit step <NUM> and pass through step <NUM>. Therefore, in automatic moving device <NUM>, since the vehicle moves in a more appropriate vehicle body direction in accordance with the unevenness of the road surface, it is possible to more appropriately travel against the obstacle of the road surface. In addition, when moving automatic moving device <NUM> in the oblique direction with respect to groove <NUM>, control section <NUM> moves automatic moving device <NUM> at an angle at which multiple wheels do not enter groove <NUM>.

In addition, when groove <NUM> is detected on the road surface, control section <NUM> detects gap X of groove <NUM>, and sets the angle of the vehicle at which traveling distance A obtained based on distance L of the diagonal line between the front wheel and the diagonal rear wheel and angle θ formed by the diagonal line with groove <NUM> is larger than gap X. In automatic moving device <NUM>, it is possible to travel groove <NUM> more appropriately using traveling distance A and gap X. In particular, in automatic moving device <NUM>, by using distance L of the diagonal line of the wheel, it is possible to consider the wheels entering groove <NUM> simultaneously in consideration of the positions of the left-right and front-rear wheels when the vehicle is tilted, so that the vehicle direction can be more appropriately set. Further, when traveling distance A is not larger than gap X, control section <NUM> stops moving to groove <NUM> and performs the route change. In automatic moving device <NUM>, when multiple wheels enter groove <NUM>, the movement of vehicle body <NUM> can be secured by not causing vehicle body <NUM> to enter groove <NUM>.

Further, control section <NUM> controls driving section <NUM> to change the vehicle body direction of automatic moving device <NUM> when passing through groove <NUM> of the road surface, when one wheel crosses groove <NUM>, and when another wheel enters groove <NUM>. In the automatic moving device <NUM>, when multiple wheels simultaneously enter groove <NUM> in the current moving direction, the traveling can be continued by changing the vehicle body direction so that multiple wheels do not enter groove <NUM>. In addition, control section <NUM> moves automatic moving device <NUM> in a direction orthogonal to step <NUM> when step <NUM> is equal to or larger than predetermined height H1. In automatic moving device <NUM>, it is easy to cross step <NUM> having predetermined height H1 or more. In addition, in step <NUM> having a height less than predetermined height H1, it is possible to quickly move without changing the vehicle body direction.

Furthermore, when detecting the obstacle of the road surface, control section <NUM> controls driving section <NUM> in the high torque mode in which the torque of driving section <NUM> is further increased. In automatic moving device <NUM>, since the vehicle enters the obstacle of the road surface in a state of high torque, it is easy to cross the obstacle such as step <NUM> or groove <NUM>. In addition, when the vehicle body direction of automatic moving device <NUM> changes when passing through the obstacle of the road surface, control section <NUM> readjusts the vehicle body direction using the detection result of detection sensor <NUM>. In automatic moving device <NUM>, it is possible to more appropriately pass through the obstacle by readjusting the vehicle body direction while passing through the obstacle of the road surface. In addition, detection sensor <NUM> is capable of detecting the obstacle during vehicle body <NUM> passes therethrough, control section <NUM> is capable of detecting a change amount in the vehicle body direction, and readjusts the vehicle body direction based on the change amount in the vehicle body direction and the direction of the obstacle. In addition, after at least one wheel of the front wheels passes through the obstacle, control section <NUM> detects the position of the obstacle, and determines whether the vehicle body direction has changed before passing through the obstacle. In automatic moving device <NUM>, even if the vehicle body direction changes when passing through the obstacle of the road surface, a more appropriate vehicle body direction can be maintained.

In addition, automatic moving device <NUM> includes at least four mecanum wheels <NUM> having a structure in which multiple rollers inclined with respect to the axle and pivotally supported so as to be freely rotatable as wheels are disposed on the grounding surface side, and driving section <NUM> drives each of the mecanum wheels. In automatic moving device <NUM>, by having mecanum wheel <NUM>, it is possible to freely move in the front-rear direction, the left-right direction, or the like. In addition, when groove <NUM> is detected on the road surface, control section <NUM> adjusts the moving direction so that the wheel enters in the oblique direction with respect to groove <NUM>, whereas when step <NUM> is detected on the road surface, adjusts the moving direction so that the wheel is facing step <NUM>. In automatic moving device <NUM>, even in a case where the vehicle moves in a direction different from the vehicle body direction by mecanum wheel <NUM>, the vehicle body direction is determined with reference to the direction of the wheel, so that the vehicle can travel more appropriately against obstacles on the road surface.

It is to be understood that the present disclosure is not limited to the embodiments described above in any way, and may be executed in various forms as long as the embodiments belong to the technical scope of the present disclosure.

For example, in the above embodiments, when groove <NUM> is detected on the road surface, gap X of groove <NUM> is detected, and the angle of the vehicle in which traveling distance A obtained based on distance L of the diagonal line between the front wheel and the diagonal rear wheel, and angle θ formed by groove <NUM> and the diagonal line is larger than gap X is set, however, the configuration is not limited to this, and the angle of the vehicle may be set without using distance L of the diagonal line, traveling distance A. Control section <NUM> may obtain the angle of the vehicle where multiple wheels do not enter groove <NUM>.

In the above embodiments, control section <NUM> requests shop PC <NUM> of the external device to change the route when traveling distance A is not larger than gap distance X of grooves <NUM>, but the device for setting the route is not particularly limited to this as long as the route can be changed, and control section <NUM> may set a new traveling route using layout information of shop <NUM> or the like. Alternatively, management server <NUM> or the like may set a new traveling route. Also in automatic moving device <NUM>, the movement of cart <NUM> can be performed with higher reliability.

In the above embodiments, control section <NUM> requests shop PC <NUM> of the external device to change the route when step <NUM> has a height exceeding execution height range Ha, but the device for setting the route is not particularly limited to this as long as the route can be changed, and control section <NUM> may set a new traveling route using layout information of shop <NUM> or the like. Alternatively, management server <NUM> or the like may set a new traveling route. Also in automatic moving device <NUM>, the movement of cart <NUM> can be performed with higher reliability.

In the above embodiments, when vehicle body <NUM> is caused to enter the obstacle after detecting the obstacle of the road surface, control section <NUM> controls driving section <NUM> in the second mode (high torque mode) in which the torque of driving section <NUM> is further increased, however, the configuration is not particularly limited to this, and the shift to the high torque mode may be omitted. Also by automatic moving device <NUM>, since the vehicle body direction is adjusted with respect to the obstacle of the road surface and passes through the obstacle, it is possible to travel more appropriately against the obstacle of the road surface. When automatic moving device <NUM> passes through the obstacle of the road surface, it is preferable to move in the high torque mode because it is easier to pass through the obstacle of the road surface.

In the above embodiments, although control section <NUM> has been described as readjusting the vehicle body direction in a case where the vehicle body direction changes using the detected value of detection sensor <NUM> in S380 to S400 after the wheel enters groove <NUM>, however, the configuration is not particularly limited to this, and may perform processing for detecting the change in the vehicle body direction or may not readjust the vehicle body direction changed at the time of entering groove <NUM>. Also in automatic moving device <NUM>, since vehicle body <NUM> is adjusted so as to be the oblique direction with respect to groove <NUM> after groove <NUM> is detected, the number of wheel derailments in groove <NUM> is further reduced and the vehicle passes through groove <NUM>, it is possible to travel more appropriately against the obstacle of the road surface. In a case where the vehicle body direction is not detected and readjusted after the wheel enters groove <NUM>, automatic moving device <NUM> may omit detection sensor <NUM> provided below vehicle body <NUM>.

In the above embodiments, although control section <NUM> has been described as readjusting the vehicle body direction in a case where the vehicle body direction changes using the detected value of detection sensor <NUM> in S580 to <NUM> after the wheel enters step <NUM>, however, the configuration is not limited to this, and may perform processing for detecting the change in the vehicle body direction or may not readjust the vehicle body direction changed when entering step <NUM>. Also in automatic moving device <NUM>, since vehicle body <NUM> is adjusted so as to be orthogonal to step <NUM> after step <NUM> is detected, it is possible to travel more appropriately against the obstacle of the road surface. In a case where the vehicle body direction is not detected and readjusted after the wheel enters step <NUM>, automatic moving device <NUM> may omit detection sensor <NUM> provided below vehicle body <NUM>.

In the above embodiments, automatic moving device <NUM> is described as if the wheel is mecanum wheel <NUM>, however, the configuration is not particularly limited to this. <FIG> is an explanatory view illustrating an example of another automatic moving device 40B. Automatic moving device 40B includes ordinary wheels 45B on which tires are mounted. In automatic moving device 40B, although it is impossible to freely move in the front-rear and left-right directions such as lateral movement or oblique movement, it is possible to automatically move cart <NUM>. In automatic moving device 40B, driving section <NUM> may be configured to be able to independently drive each of wheels 45B. In automatic moving device 40B, the super pivot turn or the pivot turn can be executed. In addition, in automatic moving device 40B including ordinary wheels 45B, driving section <NUM> may be configured to be able to drive front wheels and/or rear wheels, and to be able to change the direction of wheels 45B by using one or more of the wheels as steering wheels. The automatic moving device may include five or more wheels, four or three wheels, or two main wheels and one or more sub-wheels. In this automatic moving device, in a case where vehicle body <NUM> or the wheel comes into contact with the obstacle of the road surface when changing the vehicle body direction, vehicle body <NUM> may be temporarily set back.

<FIG> is a flowchart illustrating an example of a modified example of the groove passing process routine. In <FIG>, after setting angle θ of traveling distance A in S340 of the groove passing process routine described above, control section <NUM> detects the distance between vehicle body <NUM> and groove <NUM> (S450), determines whether wheel 45B enters groove <NUM> at the time of the direction change (S460), and causes the vehicle to set back as adjusting the angle when wheel 45B enters groove <NUM> at the time of the direction change (S470). In this automatic moving device, in a case where the vehicle is steered and moved by ordinary wheels, it is possible to prevent the wheels from entering groove <NUM> when changing the vehicle body direction.

<FIG> is a flowchart illustrating an example of a modified example of the step passing process routine. In <FIG>, after setting the torque mode in S520 of the step passing process routine described above, control section <NUM> detects the distance between vehicle body <NUM> and step <NUM> after setting angle θ of the traveling distance A (S630), determines whether wheel 45B enters step <NUM> at the time of the direction change (S640), and causes the vehicle to set back as adjusting the angle when wheel 45B enters step <NUM> at the time of the direction change (S650). In this automatic moving device, in a case where the vehicle is steered and moved by ordinary wheels, it is possible to prevent the wheel from entering step <NUM> when changing the vehicle body direction.

In the above embodiments, the present disclosure has been described as delivery system <NUM>, however, the configuration is not particularly limited to this, and may be automatic moving device <NUM> or a control method for automatic moving device <NUM>.

Here, the present disclosure may be configured as follows. For example, in the automatic moving device according to the present disclosure, when the groove is detected on the road surface, the control section may detect gap X of the groove, and may set an angle of a vehicle for which traveling distance A obtained based on distance L of the diagonal line between the front wheel and the diagonal rear wheel, and angle θ formed by the groove and the diagonal line is larger than gap X. In this automatic moving device, it is possible to travel the groove more appropriately by using traveling distance A and gap X. In particular, in this automatic moving device, when distance L of the diagonal line of the wheel is used, it is possible to consider the wheels entering the groove simultaneously in consideration of the positions of the left-right and front-rear wheels when the vehicle is tilted, so that the vehicle direction can be more appropriately determined. In the automatic moving device, the control section may stop moving to the groove and change the route when traveling distance A is not larger than gap X. In this automatic moving device, when multiple wheels simultaneously enter the groove, it is possible to secure the movement of the vehicle body by not causing the vehicle body to enter the groove.

In the automatic moving device according to the present disclosure, the control section may control the driving section so that the direction of the vehicle body of the automatic moving device is changed when passing through the groove of the road surface and another wheel enters the groove when the one wheel crosses the groove. In this automatic moving device, when multiple wheels simultaneously enter the groove in the current moving direction, the traveling can be continued by changing the direction of the vehicle body so that the multiple wheels do not enter the groove.

In the automatic moving device according to the present disclosure, the control section may move the automatic moving device in the direction orthogonal to the step when the step is a predetermined height or more. In this automatic moving device, it is easy to cross the step of the predetermined height or more. In addition, in the step having a height less than the predetermined height, the vehicle body can be quickly moved without changing the direction of the vehicle body. Here, the "predetermined height" may be empirically set to a height that adversely affects the traveling, for example, such as being unable to cross the step or being repelled by the step when the vehicle body enters in the oblique direction.

In the automatic moving device according to the present disclosure, the control section may control the driving section in the high torque mode in which the torque of the driving section is further increased when detecting the obstacle of the road surface. In this automatic moving device, since it enters the obstacle of the road surface in a state of high torque, it is easy to cross the obstacle such as the step or the groove.

In the automatic moving device according to the present disclosure, the control section may readjust the direction of the vehicle body using the detection result of the detection section when the direction of the vehicle body of the automatic moving device changes when passing through the obstacle of the road surface. In this automatic moving device, it is possible to more appropriately pass through the obstacle by readjusting the direction of the vehicle body while passing through the obstacle of the road surface. In the automatic moving device, the detection section may be capable of detecting the obstacle where the vehicle body is passing by, the control section may be capable of detecting the change amount of the vehicle body, and readjusting the direction of the vehicle body based on the change amount of the vehicle body and the direction of the obstacle. In addition, the control section may detect the position of the obstacle after at least one of the front wheels passes through the obstacle, and determine whether the direction of the vehicle body has changed with respect to before passing through the obstacle.

The automatic moving device according to the present disclosure may include at least four wheels of the mecanum wheel having a structure in which multiple rollers inclined with respect to the axle and pivotally supported so as to be freely rotatable are disposed on the grounding surface side as the wheels, and the driving section may drive the mecanum wheel. In this automatic moving device, by having a mecanum wheel, it is possible to freely move in the front-rear direction, the left-right direction, or the like. In the automatic moving device, the control section may adjust the moving direction so that the wheel enters in the oblique direction with respect to the groove when the groove is detected on the road surface, and may adjust the moving direction so that the wheel faces the step when the step is detected on the road surface. In this automatic moving device, even in a case where the vehicle body is moved in a direction different from the direction of the vehicle body by the mecanum wheel, it is possible to more appropriately travel against the obstacle of the road surface by determining the direction of the vehicle body with reference to the direction of the wheels.

A control method for an automatic moving device according to the present disclosure including a driving section configured to drive a wheel and a detection section configured to detect an obstacle of a road surface, is used in a delivery system for delivering an article, and automatically moves the article, the control method for an automatic moving device including (a) a step of controlling the driving section for moving the automatic moving device in an oblique direction with respect to a groove when the groove is detected as an obstacle of the road surface; and (b) a step of controlling the driving section for moving the automatic moving device in a direction orthogonal to a step when the step is detected as an obstacle of the road surface.

In the control method for an automatic moving device, similarly to the automatic moving device described above, since the vehicle moves in a more appropriate vehicle body direction in accordance with the unevenness of the road surface, it is possible to more appropriately travel against the obstacle of the road surface. In the control method for an automatic moving device, various modes of the automatic moving device described above may be adopted, or a step for realizing each function of the automatic moving device described above may be added.

Still further, the automatic moving device according to the present disclosure may be an automatic moving device for automatically moving an article used in a delivery system for delivering the article, the automatic moving device that includes a driving section configured to drive a wheel; a detection section configured to detect an obstacle of a road surface; and a control section for controlling the driving section to move the automatic moving device in an oblique direction with respect to a groove when the groove is detected as an obstacle of the road surface.

Still further, the automatic moving device according to the present disclosure may be an automatic moving device used in a delivery system for delivering an article and automatically moving the article, the automatic moving device that includes a driving section configured to drive a wheel; a detection section configured to detect an obstacle of a road surface; and a control section for controlling the driving section for moving the automatic moving device in a direction orthogonal to a step when the step is detected as an obstacle of the road surface.

The automatic moving device and the control method for an automatic moving device of the present disclosure can be used in the technical field of a commodity distribution system for delivering commodities.

Claim 1:
An automatic moving device (<NUM>) for a delivery system (<NUM>) for delivering an article and automatically moving the article, the automatic moving device (<NUM>) comprising:
a driving section (<NUM>) configured to drive at least a right wheel and a left wheel;
a detection section (<NUM>) configured to detect an obstacle of a road surface; and
a control section (<NUM>) configured to
when a step (<NUM>) is detected as the obstacle of the road surface, control the driving section (<NUM>) so that the automatic moving device (<NUM>) is moved against the step (<NUM>) in a direction orthogonal to the step (<NUM>) to cross the step (<NUM>),
the automatic moving device (<NUM>) being characterised in that the control section (<NUM>) is further configured to:
when a groove (<NUM>) is detected as the obstacle of the road surface, control the driving section (<NUM>) so that the automatic moving device (<NUM>) is moved in an oblique direction against the groove (<NUM>) to cross the groove (<NUM>).