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热词
    • 88. 发明授权
    • Auto guide vehicle
    • US11452256B2
    • 2022-09-27
    • US16608559
    • 2018-04-27
    • Meidensha Corporation
    • Yasuhiro NishizawaToshiyuki UenoYuya Matsushita
    • B61D47/00A01D34/00B60P1/02F15B13/042
    • An auto guide vehicle (20) that conveys a cart (10), wherein the auto guide vehicle (20) is provided with: a fluid pressure cylinder (22) that is able to be extended and retracted vertically, and that applies an upward pressing force to the floor surface of the cart (10); a fluid pressure supply device (70) that supplies a fluid to the fluid pressure cylinder (22); pressure regulating means (50) that regulates the fluid pressure of the fluid supplied from the fluid pressure supply device (70) to the fluid pressure cylinder (22); a control board (40) that outputs a fluid pressure command value to the pressure regulating means (50); and a pressure sensor (100) that detects the fluid pressure of the fluid supplied to the fluid pressure cylinder (22); wherein the control board (40) computes derivatives of the fluid pressure detected by the pressure sensor (100), estimates a timing at which the cart begins to leave the ground based on a pattern of the computed derivatives, and computes the command value by multiplying a coefficient less than one by the fluid pressure detected by the pressure sensor (100) at the estimated timing.