| CPC B62B 5/0073 (2013.01) [B62B 5/0033 (2013.01); B62B 5/06 (2013.01)] | 10 Claims |
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1. A cart, comprising:
a vehicle body;
at least one omnidirectional wheel provided at the vehicle body and configured to move the vehicle body in all directions along a floor;
a drive unit configured to drive each omnidirectional wheel;
a handle provided at the vehicle body and configured to accept an operation by a user;
a load sensor configured to detect a front and rear load and a lateral load applied to the handle; and
a control unit configured to control the drive unit based on the front and rear load and the lateral load detected by the load sensor,
wherein the control unit is configured to
set a provisional target front and rear velocity of the vehicle body based on the front and rear load, and set a provisional target lateral velocity of the vehicle body based on the lateral load,
multiply the provisional target front and rear velocity by a correction coefficient thereby setting a target front and rear velocity, and multiply the provisional target lateral velocity by the correction coefficient thereby setting a target lateral velocity in a case where the provisional target front and rear velocity is equal to or higher than a front and rear velocity upper limit or in a case where the provisional target lateral velocity is equal to or higher than a lateral velocity upper limit, the correction coefficient being set to be greater than zero and equal to or smaller than one,
set the provisional target front and rear velocity to the target front and rear velocity, and set the provisional target lateral velocity to the target lateral velocity in a case where the provisional target front and rear velocity is lower than the front and rear velocity upper limit and the provisional target lateral velocity is lower than the lateral velocity upper limit, and
control the drive unit based on the target front and rear velocity and the target lateral velocity.
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