To provide an object moving apparatus adapted to objects such as vehicles with different sizes and different ground point numbers without increasing kinds of devices, and capable of reliably and more stably moving an object such as a vehicle, and reducing a moving path and a storage space without worrying about the fall or damage of the object such as a vehicle unlike a cooperative carriage adopting real-time information exchange between trucks through only radio communication.
This object moving apparatus comprises a leader truck A capable of lifting up one wheel 4a of a vehicle 4 and moving along a given target track, and a plurality of follower trucks B capable of lifting up one wheel 4a other than the wheel 4a lifted up by the leader truck A. What each follower truck B combines the leader truck A with the trucks other than its own truck is estimated as one virtual truck, and the vehicle 4 is moved in cooperation with the virtual leader truck by estimating the move of the virtual leader truck and following the virtual leader truck.
HIRATA YASUHISA
ENDO HIROSHI
SUZUKI KIMIMOTO
KANBAYASHI TAKASHI
OMOTO ATSUICHI
AKUNE KEI
ARAI HIROYUKI
SHINOZUKA HIROYUKI
UNIV TOHOKU
| JP2004169451A | 2004-06-17 |