Transport vehicle
A transport vehicle includes at least one antenna, at least one satellite positioning receiver configured to receive positional information via the antenna, at least one antenna support member including an antenna attachment portion with the antenna attached thereto and a vehicle body connector connected to the vehicle body, and a vehicle position estimator configured to estimate a vehicle position of the transport vehicle using the positional information received by the satellite positioning receiver. The antenna support member is configured to move between at least one use state, in which the antenna is disposed at at least one use position at a predetermined distance above a loading surface of the cargo bed, and a stored state in which the antenna is disposed below the use position.
1. A transport vehicle comprising:
a vehicle body comprising a cargo bed;
at least one antenna configured to receive positional information from a satellite positioning system;
at least one satellite positioning receiver configured to receive the positional information via the antenna;
at least one antenna support member being a physical member comprising an antenna attachment portion with the antenna attached thereto and a vehicle body connector connected to the vehicle body;
an automatic driving control apparatus comprising a processor including a vehicle position estimator configured to estimate a vehicle position of the transport vehicle using the positional information received by the satellite positioning receiver;
an antenna actuator configured to cause the antenna support member to move; and
an antenna position controller configured to control the antenna actuator, wherein
the antenna position controller is configured to
control the antenna actuator so that the antenna moves to at least one use state, in which the antenna is disposed at at least one use position at a predetermined distance above a loading surface of the cargo bed when a transported object is loaded on the cargo bed, and
control the antenna actuator so that the antenna moves to a stored state in which the antenna is disposed below the use position when a transported object is not loaded on the cargo bed.
2. The transport vehicle according to claim 1 , wherein the antenna support member is configured so that when the antenna support member is in the stored state, the antenna support member and the antenna are entirely positioned below the loading surface of the cargo bed.
3. The transport vehicle according to claim 1 , further comprising:
an antenna control apparatus comprising a processor including a loading detector configured to detect whether the cargo bed is in a loaded state with a transported object loaded thereon or an empty state without a transported object loaded thereon, wherein
the antenna position controller is configured to
control the antenna actuator so that the antenna support member moves to the use state when the loading detector detects that the cargo bed is in the loaded state, and
control the antenna actuator so that the antenna support member moves to the stored state when the loading detector detects that the cargo bed is in the empty state.
4. The transport vehicle according to claim 1 , wherein the processor of the antenna control apparatus further comprises:
a transported object information acquirer configured to acquire information on a transported object to be loaded on the cargo bed,
the at least one use position comprises a first use position in which the antenna is a first distance from the loading surface and a second use position in which the antenna is a second distance from the loading surface, the second distance being different from the first distance,
the at least one use state comprises a first use state in which the antenna is disposed at the first use position and a second use state in which the antenna is disposed at the second use position, and
the antenna position controller is configured to control the antenna actuator to change a position of the antenna according to the information acquired by the transported object information acquirer.
5. The transport vehicle according to claim 1 , wherein
the at least one antenna support member includes a first antenna support member connected to one end of the vehicle body and a second antenna support member connected to another end of the vehicle body,
the at least one antenna includes a first antenna attached to the first antenna support member and a second antenna attached to the second antenna support member,
the at least one satellite positioning receiver includes a first satellite positioning receiver connected to the first antenna and a second satellite positioning receiver connected to the second antenna, and
the vehicle position estimator is configured to estimate the vehicle position using the corresponding positional information received by the first satellite positioning receiver and the second satellite positioning receiver respectively via the first antenna and the second antenna.
6. The transport vehicle according to claim 1 , further comprising:
a reception status determiner configured to determine a reception status of the antenna,
wherein the antenna position controller is configured to:
control the antenna actuator so that the antenna moves when the reception status determined by the reception status determiner is poor; and
control the antenna actuator so that the antenna support member stops when the reception status determined by the reception status determiner is good.
7. A transport vehicle comprising:
a vehicle body comprising a cargo bed;
at least one antenna configured to receive positional information from a satellite positioning system;
at least one satellite positioning receiver configured to receive the positional information via the antenna;
at least one antenna support member being a physical member comprising an antenna attachment portion with the antenna attached thereto and a vehicle body connector connected to the vehicle body;
an automatic driving control apparatus comprising a processor including a vehicle position estimator configured to estimate a vehicle position of the transport vehicle using the positional information received by the satellite positioning receiver;
an antenna actuator configured to cause the antenna support member to move;
an antenna position controller configured to control the antenna actuator;
a cargo bed actuator configured to raise and lower the cargo bed between a predetermined upper position and a predetermined lower position; and
an antenna control apparatus comprising a processor including a cargo bed height detector configured to detect whether the cargo bed is in the upper position or the lower position,
wherein
the antenna position controller is configured to
control the antenna actuator so that the antenna support member moves to the use state when the cargo bed height detector detects that the cargo bed is in the upper position, and
control the antenna actuator so that the antenna support member moves to the stored state when the cargo bed height detector detects that the cargo bed is in the lower position.