Title:
CARGO VEHICLE SYSTEM AND IN-VEHICLE CONTROLLER
Document Type and Number:
WIPO Patent Application WO/2023/007878
Kind Code:
A1
Abstract:
The present invention addresses the problem of generating a traveling route that ensures high safety and conveyance efficiency while the weight of cargos and the gravity center position thereof are taken into account. The present invention comprises: an operation management unit that transmits conveyance destinations of cargos; a cargo shape calculation unit that calculates the shapes of the cargos; a cargo gravity center calculation unit that calculates the gravity center position of the cargos; a cargo weight calculation unit that calculates the weight of the cargos; and an environment map storage unit that transmits a two-dimensional map in a warehouse. The present invention further comprises: a traveling speed upper limit calculation unit for calculating a speed upper limit value at which a vehicle can travel while maintaining traveling stability, on the basis of a traveling route candidate, the gravity center position of the cargos, and a cargo bed movement amount candidate; an obstacle avoidance determination unit for executing determination of interference between a cargo vehicle at the time of traveling and a fixed obstacle, on the basis of the traveling route candidate, the shapes of the cargos, the two-dimensional map, and the cargo bed movement amount candidate; and a traveling command decision unit for deciding, on the basis of the calculation result of the traveling speed upper limit calculation unit and the determination result of the obstacle avoidance determination unit, a cargo bed movement amount and a traveling route on which the cargo vehicle can avoid the fixed obstacle and in which the time of arrival at the conveyance destination is short.
Inventors:
EISAKI YURI (JP)
ITOH MASAYA (JP)
ONO TATSUYA (JP)
KOBA AYAMI (JP)
ITOH MASAYA (JP)
ONO TATSUYA (JP)
KOBA AYAMI (JP)
Application Number:
PCT/JP2022/017862
Publication Date:
February 02, 2023
Filing Date:
April 14, 2022
Export Citation:
Assignee:
HITACHI LTD (JP)
International Classes:
G05D1/02; B60W30/09; G01C21/00
Foreign References:
| JP2019144841A | 2019-08-29 | |||
| US20200238980A1 | 2020-07-30 | |||
| JP2010152834A | 2010-07-08 | |||
| JP6793273B1 | 2020-12-02 |
Attorney, Agent or Firm:
POLAIRE I.P.C. (JP)
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