Moving body
A moving body of the present disclosure is a moving body for placing a loading object on a loading platform and transporting the loading object, and the moving body includes a driving device configured to move the moving body, and a control device configured to set at least one of speed and acceleration/deceleration of the moving body based on a parameter related to at least one of a mass, a size, a shape, and a center of gravity of the loading object, and control the driving device based on at least one of the set speed and acceleration/deceleration.
1 . A moving body for placing a loading object on a loading platform and transporting the loading object, the moving body comprising:
a driving device configured to move the moving body; and
a control device including a processor configured to
set at least one of speed and acceleration/deceleration of the moving body based on a parameter related to at least one of a mass, a size, a shape, and a center of gravity of the loading object based on a predetermined relationship,
derive a movement path based on an initial position of the moving body and a target position of the moving body, and
control the driving device based on at least one of the set speed and the set acceleration/deceleration to move the moving body along the derived movement path.
2 . The moving body according to claim 1 ,
wherein the parameter includes the mass of the loading object, and
the control device controls the driving device such that at least one of the speed and the acceleration/deceleration of the moving body decreases as the mass of the loading object increases.
3 . The moving body according to claim 1 ,
wherein the parameter includes a stability of the loading object, and
the control device controls the driving device such that at least one of the speed and the acceleration/deceleration of the moving body decreases as the stability of the loading object decreases.
4 . The moving body according to claim 3 , wherein the control device determines the stability of the loading object based on vibration data when a dummy operation is performed on the moving body in which the loading object is placed on the loading platform, and controls the driving device such that at least one of the speed and the acceleration/deceleration of the moving body decreases as the stability of the determined loading object decreases.
5 . The moving body according to claim 3 , wherein the control device determines the stability of the loading object for each direction based on vibration data when a dummy operation is performed in at least two different directions on the moving body in which the loading object is placed on the loading platform and controls the driving device based on the stability of the loading object in a direction coinciding with a traveling direction of the moving body.
6 . A moving body for placing a loading object on a loading platform and transporting the loading object, the moving body comprising:
a driving device configured to move the moving body;
a loading platform lifting and lowering device configured to lift and lower the loading platform; and
a control device including a processor configured to
control the loading platform lifting and lowering device to lift the loading platform on which the loading object is placed,
acquire a parameter related to at least one of a mass, a size, a shape, and a center of gravity of the loading object when the loading platform lifting and lowering device lifts the loading platform on which the loading object is placed,
set at least one of speed and acceleration/deceleration of the moving body based on the acquired parameter based on a predetermined relationship,
derive a movement path based on an initial position of the moving body and a target position of the moving body, and
control the driving device based on at least one of the set speed and the set acceleration/deceleration to move the moving body along the derived movement path.
7 . The moving body according to claim 6 , wherein the control device determines whether the parameter falls within a predetermined appropriate range, and controls the loading platform lifting and lowering device such that the loading platform becomes low when the parameter does not fall within the appropriate range.
8 . The moving body according to claim 6 , wherein the control device determines whether the parameter falls within a predetermined appropriate range, and when the parameter does not fall within the appropriate range, lowers the loading object from the loading platform, moves the moving body to a position where the parameter falls within the appropriate range, and then places the loading object on the loading platform again.
9 . The moving body according to claim 8 , wherein the control device determines whether the parameter falls within the predetermined appropriate range during movement of the moving body.
10 . The moving body according to claim 9 , wherein in the determination performed during the movement of the moving body, when the parameter does not fall within the predetermined appropriate range, the control device lowers the loading object from the loading platform and causes the moving body to wait for a predetermined time, and then places the loading object on the loading platform again to perform the determination.