Position controlling device

A position controlling device configured to control a position of a loading platform provided in a mobile object, wherein

• the loading platform includes:
• a loading portion that includes a portion capable of being loaded with a loaded object;
• a base portion that is provided below the loading portion in a manner of supporting the loading portion;
• and
• a coupling portion that includes a restoring member, the restoring member generating a restoring force for restoring the coupling portion to its original length when the coupling portion is extended, the coupling portion coupling the base portion and the loading portion to each other with the restoring member between the base portion and the loading portion,
• the loading portion and the base portion are provided such that a lower part of the loading portion and an upper part of the base portion face each other, and
• one of the upper part of the base portion and the lower part of the loading portion includes a spherical surface that is convex downward, and the other one of the upper part of the base portion and the lower part of the loading portion includes a guide portion, the guide portion guiding the base portion and the loading portion such that the base portion and the loading portion are movable relative to each other in a direction along the spherical surface, wherein
• the position controlling device further comprises:
• an acquisition unit that is configured to acquire information regarding a moving state of the mobile object;
• a relative position changing mechanism that is, when a direction in which the base portion and the loading portion are arranged is defined as a first direction, provided to form a middle part of the coupling portion in the first direction, and configured to operate to displace a part closer to the base portion and a part closer to the loading portion from each other in a second direction that intersects the first direction;
• a drive unit that is coupled to the relative position changing mechanism and is configured to drive the relative position changing mechanism;
• and
• a control unit that is configured to control an operation of the drive unit based on the information acquired by the acquisition unit,
• the base portion includes a coupling recess having a bottom wall,
• the relative position changing mechanism includes a guide rail and a guide table,
• the guide rail is provided on the bottom wall of the coupling recess so as to extend in the second direction, and
• the guide table is attached to the bottom wall with the guide rail between the bottom wall and the guide table.

A position controlling device configured to control a position of a loading platform provided in a mobile object, wherein

• the loading platform includes:
• a loading portion that includes a portion capable of being loaded with a loaded object;
• a base portion that is provided below the loading portion in a manner of supporting the loading portion;
• and
• a coupling portion that includes a restoring member, the restoring member generating a restoring force for restoring the coupling portion to its original length when the coupling portion is extended, the coupling portion coupling the base portion and the loading portion to each other with the restoring member between the base portion and the loading portion,
• the loading portion and the base portion are provided such that a lower part of the loading portion and an upper part of the base portion face each other, and
• one of the upper part of the base portion and the lower part of the loading portion includes a spherical surface that is convex downward, and the other one of the upper part of the base portion and the lower part of the loading portion includes a guide portion, the guide portion guiding the base portion and the loading portion such that the base portion and the loading portion are movable relative to each other in a direction along the spherical surface, wherein
• the position controlling device further comprises a rotational position changing mechanism that is configured to cause the loading portion, the base portion and the coupling portion to integrally rotate relative to a main body of the mobile object about a rotation axis extending in a first direction in which the base portion and the loading portion are arranged.