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1. (WO2018199272) AUTO GUIDE VEHICLE

Pub. No.:    WO/2018/199272    International Application No.:    PCT/JP2018/017112
Publication Date: Fri Nov 02 00:59:59 CET 2018 International Filing Date: Sat Apr 28 01:59:59 CEST 2018
IPC: B61D 47/00
B60P 1/02
B61B 13/00
株式会社 明電舎
Inventors: NISHIZAWA, Yasuhiro
西澤 康裕
UENO, Toshiyuki
上野 俊幸
松下 祐也
In the present invention, an auto guide vehicle (20) for transporting a cart (10) is characterized by being provided with:  vertically extendable/retractable hydraulic cylinders (22) for causing exerting an upwardly thrusting push-up force to act upward on a floorthe bottom surface of the cart (10); ), a hydraulic pressure supply device (70) for supplying a fluid to the hydraulic cylinders (22),; pressure adjustment means (50) for adjusting the hydraulic pressures of the fluid supplied from the hydraulic pressure supply device (70) to the hydraulic cylinders (22),; a control board (40) for outputting a hydraulic pressure command values to the pressure adjustment means (50),; and a pressure sensors (100) for detecting the hydraulic pressures of the fluid supplied to the hydraulic cylinders (22), wherein the control board (40) calculates the command values by calculating a differential valuethe derivatives of the hydraulic pressures detected by the pressure sensors (100), estimating a point in time point at which the cart begins to lift on the basis of a pattern of in the calculated differential valuederivatives, and multiplying the hydraulic pressures detected by the pressure sensors (100) at the estimated point in time point by a coefficient smaller than 1.