To provide an unmanned carrier and control method capable of automatically tracking a tracked body more simply and accurately.SOLUTION: A predicted movement position Pof a tracked body Pafter a predetermined time is obtained based on positions of tracked bodies P, P, Pin the past including the current time (step S200), among the objects detected by the sensor after the predetermined time, an object closest to the predicted movement position Pis determined as the tracked body P(steps S202 to S212), and a drive unit is controlled to be directed to the tracked body P. By controlling the drive unit to be directed in the direction to which combined force RF of virtual attraction G that is received by an unmanned carrier from the tracked body Pand virtual repulsion R that is received by the unmanned carrier from an object Nob closest to the unmanned carrier is directed (steps S214 to S218), the tracked body can be automatically tracked accurately even if the transmitter is not attached to the tracked body.SELECTED DRAWING: Figure 7
【課題】より簡易かつ精度良く被追尾体を自動追尾することができる無人搬送車および制御方法を提供する。【解決手段】現時点を含む過去の被追尾体Pk,Pk-1,Pk-2の位置に基づいて被追尾体Pkの所定時間後の移動予測位置Pfを求めると共に(ステップS200)、所定時間後にセンサによって検出された物体のうち当該移動予測位置Pfに最も近い物体を被追尾体Pkに決定し(ステップS202〜S212)、当該被追尾体Pkに向かうように駆動ユニットを制御する。このとき、無人搬送車が被追尾体Pkから受ける仮想引力Gと、無人搬送車に最も近い距離にある物体Nobから無人搬送車が受ける仮想斥力Rと、の合力RFが向く方向に駆動ユニットが向かうように制御する(ステップS214〜S218)。これにより、被追尾体に発信器を取り付けなくても当該被追尾体を精度よく自動追尾することができる。【選択図】図7
UNMANNED CARRIER
無人搬送車
2019-07-25
Patent
Elektronische Ressource
Japanisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |