CART TRANSPORT APPARATUS
A cart transport apparatus according to an embodiment includes: a driving part including a plurality of omnidirectional wheels; a driven part including a fixing part configured to fix a cart, the driven part being coupled to the driving part; an information acquisition part configured to read information regarding the cart from an information storage part provided in the cart; and a controller configured to calculate, from the information regarding the cart read by the information acquisition part, a turning center of the cart transport apparatus in a state in which the cart is fixed.
1 . A cart transport apparatus comprising:
a driving part including a plurality of omnidirectional wheels;
a driven part including a fixing part configured to fix a cart, the driven part being coupled to the driving part;
an information acquisition part configured to read information regarding the cart from an information storage part provided in the cart; and
a controller configured to calculate, from the information regarding the cart read by the information acquisition part, a turning center of the cart transport apparatus in a state in which the cart is fixed.
2 . The cart transport apparatus according to claim 1 , wherein the cart includes a rotating body configured to make the cart movable, and in a state in which the cart is fixed to the fixing part, the rotating body is in contact with a traveling surface with which the omnidirectional wheels are in contact.
3 . The cart transport apparatus according to claim 1 , wherein the fixing part includes a swing arm configured to press the cart toward the driving part.
4 . The cart transport apparatus according to claim 3 , wherein
the driven part further includes a moving part configured to move a position of the swing arm,
the information regarding the cart includes information regarding a length of the cart, and
the controller is configured to control the moving part, based on the read information regarding the length of the cart, to move the swing arm to a position corresponding to the length of the cart.
5 . The cart transport apparatus according to claim 1 , wherein
the information regarding the cart includes information regarding a type of a wheel provided to the cart and an arrangement of the wheel, and
when the cart includes four swivel wheels,
the controller is configured to set a center position of the four swivel wheels when viewed from a direction perpendicular to a plane including ground contact positions of the four swivel wheels, as the turning center in a state in which the cart is fixed.
6 . The cart transport apparatus according to claim 1 , wherein
the information regarding the cart includes information regarding a type of a wheel provided to the cart and an arrangement of the wheel, and
when the cart includes a pair of fixed wheels and a pair of swivel wheels,
the controller is configured to set a center position of the pair of fixed wheels when viewed from a direction perpendicular to a plane including ground contact positions of the pair of fixed wheels and the pair of swivel wheels, as the turning center in a state in which the cart is fixed.
7 . The cart transport apparatus according to claim 1 , wherein
the driving part is an automated traveling vehicle, and
the driven part includes a movable loading platform.
8 . The cart transport apparatus according to claim 1 , wherein the driving part is an AMR (Autonomous Mobile Robot) or an AGV (Automatic Guided Vehicle).
9 . The cart transport apparatus according to claim 1 , wherein
the omnidirectional wheels include a wheel and an actuator configured to drive the wheel, and
the wheel is a mecanum wheel or an omni wheel.
10 . The cart transport apparatus according to claim 9 , wherein the controller is configured to further control the actuator provided in each of the plurality of omnidirectional wheels to drive each of the plurality of omnidirectional wheels.
11 . The cart transport apparatus according to claim 1 , further comprising:
a first detector configured to measure a surrounding environment, wherein
the controller is configured to further perform at least any of creation of a surrounding environment map and estimation of a position of the cart transport apparatus, based on information from the first detector.
12 . The cart transport apparatus according to claim 11 , wherein the controller is configured to further search for a transport route to a destination, based on the created surrounding environment map and the estimated position of the cart transport apparatus.
13 . The cart transport apparatus according to claim 6 , wherein a distance between a floor and a surface of the loading platform opposite to the floor is smaller than a distance between the floor and a surface of the cart facing the floor.
14 . The cart transport apparatus according to claim 6 , wherein a length of the loading platform is longer than a length of the cart.
15 . The cart transport apparatus according to claim 6 , wherein in a direction orthogonal to a direction from the driving part toward the driven part, a size of the loading platform is shorter than a size between wheels of the cart.
16 . The cart transport apparatus according to claim 6 , further comprising:
a second detector provided at an end portion of the loading platform opposite to the driving part, wherein
the second detector is configured to detect a position of the cart and a position of a wheel of the cart.
17 . The cart transport apparatus according to claim 6 , wherein
when the loading platform is moved into a space between the cart and a floor, a distal end of the swing arm is positioned between the floor and a surface of the loading platform opposite to the floor, and
when the cart is fixed, the swing arm rotates to press the cart toward the driving part.
18 . The cart transport apparatus according to claim 2 , wherein the cart is fixed between the swing arm and an end portion of the loading platform adjacent to the driving part.
19 . The cart transport apparatus according to claim 18 , wherein the fixed cart is self-standing on a wheel of the cart.
20 . The cart transport apparatus according to claim 1 , wherein
the information regarding the cart includes ID information of the cart, and
the ID information is associated with at least any of information regarding a length of the cart, information regarding a type of a wheel provided to the cart, and information regarding an arrangement of the wheel.