JP7375711B2 - 自動走行カート - Google Patents
自動走行カート Download PDFInfo
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- JP7375711B2 JP7375711B2 JP2020152134A JP2020152134A JP7375711B2 JP 7375711 B2 JP7375711 B2 JP 7375711B2 JP 2020152134 A JP2020152134 A JP 2020152134A JP 2020152134 A JP2020152134 A JP 2020152134A JP 7375711 B2 JP7375711 B2 JP 7375711B2
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- 230000008034 disappearance Effects 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 23
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 10
- 230000007423 decrease Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000032258 transport Effects 0.000 description 5
- 230000015654 memory Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0881—Seat occupation; Driver or passenger presence
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
1-1.自動走行パレットの概略構造
図1は、本発明の第1実施形態に係る自動走行パレットの概略構造を示す図である。本実施の形態に係る自動走行カート2は、パレット型の車体20を有する自動走行カートである。ゆえに、以下の説明では、本実施の形態に係る自動走行カート2を自動走行パレットと称する。自動走行パレット2は、人、荷物、或いはその両方を運搬の対象とする。
次に、図3を用いて本実施形態に係る自動走行パレット2の制御系の構成について説明する。自動走行パレット2には、2種類のECU(Electronic Control Unit)、すなわち、自律走行ECU41と走行制御ECU42とが搭載されている。各ECUは、少なくとも1つのプログラムを含むメモリと、メモリと結合されたプロセッサとを備える。メモリとプロセッサの数はそれぞれ複数であってもよい。
自動走行中の自動走行パレット2の動作は制御装置としての自律走行ECU41によって制御される。自律走行ECU41は、荷重センサ33から取得される荷重データに基づいて運搬対象の消失を検知する機能を有する。運搬対象が人の場合、運搬対象の消失とは、例えば、自動走行パレット2の走行中のように降車すべきでないタイミングで乗員が降車したことを意味する。この場合の乗員の降車には、意図的な降車と意図しない偶発的な降車の両方が含まれる。運搬対象が物の場合、運搬対象の消失とは、例えば、デッキ21から物が落下したことや、取り出されるべきでないタイミングで物が取り出されたことを意味する。
次に、本発明の第2実施形態について説明する。図8は、本実施形態に係る自動走行カートの概略構造を示すである。図8において、第1実施形態と共通する部位や部品には、同一の符号が付されている。
最後に、本発明の他の実施形態をいくつか説明する。
20 車体
21 デッキ
22 支柱
31 ライダー
32 カメラ
33 荷重センサ
35 無線通信機
36 インサイドカメラ
41 自律走行ECU
42 走行制御ECU
Claims (3)
- 人及び荷物を運搬の対象に含む自動走行カートにおいて、
前記対象を載せるデッキであって、4隅に支柱を有し、前方の左右の支柱と後方の左右の支柱の間にそれぞれ腰掛として使用可能な梁が掛け渡され、左右両側の前後の支柱の間は常時開放されているデッキと、
前記デッキからの前記対象の消失を検知する検知装置と、
前記対象の消失が検知された場合、前記対象の運搬のための走行制御を停止する制御装置と、を備え、
前記検知装置は、前記4隅の支柱のそれぞれに設けられて前記デッキ上を監視する4つのカメラを含み、前記4つのカメラで得られる前記対象の監視画像に基づいて前記対象の消失を検知する
ことを特徴とする自動走行カート。 - 前記検知装置は、前記デッキの荷重を計測する荷重センサを含み、前記荷重の変化或いは前記荷重の単位時間当たりの変化と、前記4つのカメラで得られる前記対象の監視画像とに基づいて前記対象の消失を検知する
ことを特徴とする請求項1に記載の自動走行カート。 - 前記対象の消失が検知された場合、自車が走行したルートの付近に位置する他車両に対して警報する警報装置、をさらに備える
ことを特徴とする請求項1又は2に記載の自動走行カート。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020152134A JP7375711B2 (ja) | 2020-09-10 | 2020-09-10 | 自動走行カート |
US17/469,393 US20220073080A1 (en) | 2020-09-10 | 2021-09-08 | Autonomous traveling cart |
CN202111047695.5A CN114248760B (zh) | 2020-09-10 | 2021-09-08 | 自动行驶推车 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020152134A JP7375711B2 (ja) | 2020-09-10 | 2020-09-10 | 自動走行カート |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022046205A JP2022046205A (ja) | 2022-03-23 |
JP7375711B2 true JP7375711B2 (ja) | 2023-11-08 |
Family
ID=80470215
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020152134A Active JP7375711B2 (ja) | 2020-09-10 | 2020-09-10 | 自動走行カート |
Country Status (3)
Country | Link |
---|---|
US (1) | US20220073080A1 (ja) |
JP (1) | JP7375711B2 (ja) |
CN (1) | CN114248760B (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5241651B2 (ja) | 2008-08-29 | 2013-07-17 | キヤノン株式会社 | 画像形成装置 |
JP2014186693A (ja) | 2013-03-25 | 2014-10-02 | Murata Mach Ltd | 自律移動式無人搬送車 |
JP2019162893A (ja) | 2018-03-19 | 2019-09-26 | 株式会社デンソー | 制御装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3054488B2 (ja) * | 1992-02-28 | 2000-06-19 | 三洋電機株式会社 | 乗用型ゴルフカート |
JP4340991B2 (ja) * | 1999-11-25 | 2009-10-07 | マツダ株式会社 | 車両用操舵支援装置 |
US9150231B2 (en) * | 2011-04-28 | 2015-10-06 | Ideal Warehouse Innovations, Inc. | Maintenance and retrieval cart |
US9390451B1 (en) * | 2014-01-24 | 2016-07-12 | Allstate Insurance Company | Insurance system related to a vehicle-to-vehicle communication system |
JP6420981B2 (ja) * | 2014-07-01 | 2018-11-07 | 株式会社豊田自動織機 | 搬送車、及び搬送システム |
JP6267090B2 (ja) * | 2014-09-29 | 2018-01-24 | 日立建機株式会社 | 運搬車両の走行停止制御装置およびそれを備えた運搬車両 |
JP2018162031A (ja) * | 2017-03-27 | 2018-10-18 | 三菱自動車工業株式会社 | 自動走行システム |
JP6815973B2 (ja) * | 2017-11-17 | 2021-01-20 | 株式会社日立製作所 | 移動装置システム |
JP6538812B2 (ja) * | 2017-12-05 | 2019-07-03 | 東芝デジタルソリューションズ株式会社 | 輸送サービス方法および車両隊列運行方法、車両グループ運行システム、連携走行可能な自走式車両、グループ車両誘導機 |
WO2019241565A1 (en) * | 2018-06-13 | 2019-12-19 | Skip Transport, Inc. | System and method for vehicle operation control |
DK201870683A1 (en) * | 2018-07-05 | 2020-05-25 | Aptiv Technologies Limited | IDENTIFYING AND AUTHENTICATING AUTONOMOUS VEHICLES AND PASSENGERS |
US11247691B2 (en) * | 2019-01-31 | 2022-02-15 | Toyota Motor Engineering & Manufacturing North America, Inc. | Truck load monitoring system with performance adaptation |
-
2020
- 2020-09-10 JP JP2020152134A patent/JP7375711B2/ja active Active
-
2021
- 2021-09-08 CN CN202111047695.5A patent/CN114248760B/zh active Active
- 2021-09-08 US US17/469,393 patent/US20220073080A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5241651B2 (ja) | 2008-08-29 | 2013-07-17 | キヤノン株式会社 | 画像形成装置 |
JP2014186693A (ja) | 2013-03-25 | 2014-10-02 | Murata Mach Ltd | 自律移動式無人搬送車 |
JP2019162893A (ja) | 2018-03-19 | 2019-09-26 | 株式会社デンソー | 制御装置 |
Also Published As
Publication number | Publication date |
---|---|
JP2022046205A (ja) | 2022-03-23 |
CN114248760B (zh) | 2024-07-05 |
CN114248760A (zh) | 2022-03-29 |
US20220073080A1 (en) | 2022-03-10 |
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