An autonomous traveling device (1) configured to tow a cart (2) including a caster (23), which swivels around an axis (CP) perpendicular to a rotation axis (SP) of a wheel (23a), includes a drive wheel (71); a self-position detection unit (111) to detect a position of the autonomous traveling device (1); a forward travel control unit (112) to drive the drive wheel (71) to move the autonomous traveling device (1) forward; a backward travel control unit (115) to drive the drive wheel (71) to move the autonomous traveling device (1) backward; and a turning control unit (113) to drive the drive wheel (71) to turn the autonomous traveling device (1). In response to a detection that the autonomous traveling device (1) towing the cart (2) is at a turning position, the forward travel control unit (112) and the turning control unit (113) drive the drive wheel (71) so that the autonomous traveling device (1) turns by a predetermined angle while moving forward or backward. Based on a determination that the autonomous traveling device (1) towing the cart (2) is at a moving-back position, the backward travel control unit (115) drive the drive wheel (71) to move the autonomous traveling device (1) backward to a target position.
AUTONOMOUS TRAVELING DEVICE AND AUTONOMOUS TRAVELING CONTROL METHOD
AUTONOME FAHRVORRICHTUNG UND VERFAHREN ZUR STEUERUNG VON AUTONOMER FAHRT
DISPOSITIF DE DÉPLACEMENT AUTONOME ET PROCÉDÉ DE COMMANDE DE DÉPLACEMENT AUTONOME
2023-02-08
Patent
Electronic Resource
English
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