Autonomous travel cart
An autonomous travel cart includes a control device controlling the autonomous travel cart to travel autonomously based on detection information from an obstacle detection device. The control device includes a wall length detection unit that detects wall lengths of wall portions from the autonomous travel cart to an exit end of the narrow path, a wall length determination unit that determines whether or not the wall lengths are greater than a predetermined wall length threshold, and a narrow path travel control unit that controls the autonomous travel cart to travel at a normal speed when the wall lengths are greater than the predetermined wall length threshold, and to decelerate and travel at a predetermined reduced speed when at least one of the wall lengths detected by the wall length detection unit is equal to or less than the predetermined wall length threshold.
1. An autonomous travel cart travelling autonomously in accordance with a travel route, the autonomous travel cart comprising:
an obstacle detection device having a two-dimensional planer obstacle detection flat region where a laser beam is scanned, and outputting a detection information including an obstacle position which is a position of an obstacle in the obstacle detection flat region; and
a control device controlling the autonomous travel cart to travel autonomously based on the detection information from the obstacle detection device, wherein
the control device includes:
a surroundings information acquisition unit that acquires a surroundings information around the autonomous travel cart in the front thereof based on the detection information input from the obstacle detection device;
an entrance determination unit that determines whether or not the autonomous travel cart has entered a narrow path in which fixed obstacles are disposed on both sides of the autonomous travel cart in the width direction thereof based on the surrounding information acquired by the surrounding information acquisition unit;
a wall length detection unit that detects wall lengths of wall portions from the autonomous travel cart to an exit end of the narrow path, the wall portions being formed by the fixed obstacles disposed on both sides of the autonomous travel cart in the width direction thereof, when the entrance determination unit determines that the autonomous travel cart has entered the narrow path;
a wall length determination unit that determines whether or not the respective wall lengths detected by the wall length detection unit are greater than a predetermined wall length threshold; and
a narrow path travel control unit that controls the autonomous travel cart to travel at a normal speed when the wall length determination unit determines that the wall lengths detected by the wall length detection unit are greater than the predetermined wall length threshold, and controls the autonomous travel cart to decelerate and travel at a predetermined reduced speed when the wall length determination unit determines that at least one of the wall lengths detected by the wall length detection unit is equal to or less than the predetermined wall length threshold.
2. The autonomous travel cart according to claim 1 , wherein
the control device includes:
a moving obstacle determination unit that determines whether or not a moving obstacle including a person is around an exit of the narrow path based on the surroundings information acquired by the surroundings information acquisition unit; and
an avoidance travel control unit that controls the autonomous travel cart to stop when the moving obstacle determination unit that determines that the moving obstacle is around the exit of the narrow path while the autonomous travel cart is controlled to travel at the predetermined reduced speed by the narrow path travel control unit, and controls the autonomous travel cart to restart and travel at the predetermined reduced speed when the moving obstacle determination unit determines that the moving obstacle does not exist around the exit of the narrow path.
3. The autonomous travel cart according to claim 1 , wherein
the control device includes:
a narrow path passing determination unit that determines whether or not the autonomous travel cart has passed the narrow path; and
a narrow path passed travel control unit that controls the autonomous travel cart to travel at the normal speed when the narrow path passing determination unit that determines that the autonomous travel cart has passed the narrow path.
4. The autonomous travel cart according to claim 1 , wherein
the autonomous travel cart includes an audio output device that provides an audio guidance,
the control device includes a notification control unit that controls the audio output device to provide the audio guidance notifying that the autonomous travel cart is travelling towards an exit of the narrow path until the autonomous travel cart passes the exit of the narrow path when the wall length determination unit determines that at least one of the wall lengths detected by the wall length detection unit is equal to or less than the predetermined wall length threshold.