Conveyance unit and control method for conveyance unit

Abstract

To provide a conveyance unit that is able to realize smooth traveling.SOLUTION: A conveyance unit 100 includes a first traveling dolly 1, a second traveling dolly 2, and a placement table 30 supported by the first traveling dolly 1 and the second traveling dolly 2, wherein the first traveling dolly 1 generates a first traveling route to a destination, and the second traveling dolly 2 receives the first traveling route and generates a second traveling route to the destination so that a relative positional relationship with the first traveling dolly 1 is maintained.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a transport unit and a method for controlling the transport unit. [Background technology]

[0002] A transportation technique using multiple automated guided vehicles is known. For example, Patent Document 1 describes a transportation method in which multiple automated guided vehicles transport long objects on a preset track. Each of the multiple automated guided vehicles has a vertical shaft that protrudes horizontally and rotatably from its upper surface, and a loading platform for connecting the multiple automated guided vehicles is fixed to the vertical shaft. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 60-59406 Summary of the Invention [Problem to be solved by the invention]

[0004] In the transportation technology described in Patent Document 1, the running speed of each of the multiple automated guided vehicles is controlled so that the horizontal force acting on each vertical axis is zero. However, this control may not allow the multiple automated guided vehicles to run smoothly. Therefore, the technology disclosed in Patent Document 1 has room for improvement in terms of smooth running of the multiple vehicles.

[0005] SUMMARY OF THE PRESENT EMBODIMENT In view of the above problems, an object of the present invention is to provide a transport unit capable of realizing smooth running. [Means for solving the problem]

[0006] In order to solve the above problems, a transport unit according to one embodiment of the present invention is a transport unit comprising a first traveling cart, a second traveling cart, and a platform supported by the first traveling cart and the second traveling cart, wherein the first traveling cart generates a first traveling route to a destination, and the second traveling cart accepts the first traveling route and generates a second traveling route to the destination such that a relative positional relationship with the first traveling cart is maintained.

[0007] Another aspect of the present invention is also a transport unit including a first traveling carriage, a second traveling carriage, a platform supported by the first traveling carriage and the second traveling carriage, and a host controller that controls the first traveling carriage and the second traveling carriage, in which the first traveling carriage generates a first traveling route to a destination and transmits the first traveling route to the host controller, and the host controller generates a second traveling route to the destination for the second traveling carriage so that a relative positional relationship with the first traveling carriage is maintained, and transmits the second traveling route to the second traveling carriage.

[0008] Yet another aspect of the present invention is a method for controlling a transport unit. The method includes a first traveling carriage, a second traveling carriage, and a platform supported by the first traveling carriage and the second traveling carriage, and includes the steps of generating a first traveling route to a destination for the first traveling carriage, and generating a second traveling route to the destination for the second traveling carriage by referring to the generated first traveling route. The step of generating the second traveling route generates a route such that the relative positional relationship between the second traveling carriage 2 and the first traveling carriage 1 is maintained.

[0009] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, systems, etc. are also valid aspects of the present invention. Effect of the Invention

[0010] According to the present invention, it is possible to provide a transport unit capable of realizing smooth running. [Brief description of the drawings]

[0011] [Figure 1] FIG. 2 is a perspective view illustrating an example of a transport unit according to the embodiment. [Diagram 2] FIG. 2 is a perspective view showing the traveling carriage of FIG. 1. [Diagram 3] FIG. 2 is a diagram showing the arrangement of wheels of the traveling carriage of FIG. 1. [Figure 4] FIG. 2 is a block diagram illustrating a schematic configuration of a transport unit in FIG. [Diagram 5] 6 is a flowchart showing a first operation of the transport unit according to the embodiment. [Figure 6] 10 is a flowchart showing a second operation of the transport unit according to the embodiment. [Figure 7] FIG. 11 is a perspective view showing an example of a transport unit according to a first modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modified examples, the same or equivalent components and members are given the same reference numerals, and duplicated descriptions are omitted as appropriate. The dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Some of the members that are not important for explaining the embodiments are omitted in each drawing.

[0013] In addition, terms including ordinal numbers such as first, second, etc. are used to describe various components, but these terms are used only for the purpose of distinguishing one component from another component, and the components are not limited by these terms.

[0014] [Embodiment] The configuration of the transport unit 100 according to the embodiment will be described with reference to Figs. 1 to 4. Fig. 1 is a perspective view showing an example of the transport unit 100. Fig. 2 is a perspective view showing the traveling carriages 1 and 2. Fig. 3 is a view showing the arrangement of wheels of the traveling carriages 1 and 2. Fig. 4 is a block diagram showing a schematic configuration of the transport unit 100. The transport unit 100 is a transport unit that includes a first traveling carriage 1, a second traveling carriage 2, and a platform 30 supported by the first traveling carriage 1 and the second traveling carriage 2, and can place an object (not shown) on the platform 30 and transport it to a destination. In Fig. 1, the platform 30 before mounting is indicated by a solid line, and the platform 30 after mounting is indicated by a dashed line.

[0015] The first traveling vehicle 1 and the second traveling vehicle 2 are collectively referred to as traveling vehicles 1 and 2. The traveling vehicles 1 and 2 are a type of unmanned guided vehicle, and can generate a travel route from a starting point to a destination and travel autonomously along the generated route. The starting point may be the current location or a separately set location.

[0016] The traveling carts 1 and 2 have a connecting portion 22 that is connected to connected portions 31 and 32 provided on the mounting platform 30. The connected portions 31 and 32 include a first connected portion 31 and a second connected portion 32 that are arranged apart from each other. The first connected portion 31 is connected to the connecting portion 22 of the first traveling cart 1, and the second connected portion 32 is connected to the connecting portion 22 of the second traveling cart 2. With this configuration, the traveling carts 1 and 2 support the mounting platform 30.

[0017] As an example, the traveling carts 1 and 2 may be AMR (autonomous mobile robot) that is an autonomous mobile robot that moves autonomously to a destination. The traveling carts 1 and 2 of the embodiment can generate a travel route from a starting point to a destination and travel autonomously along the generated route. The autonomous travel of the traveling carts 1 and 2 can be realized by using an autonomous travel technology based on a known principle. As an example, the traveling carts 1 and 2 of the embodiment travel autonomously using a control technology called SLAM (Simultaneous Localization and Mapping).

[0018] Since SLAM is a well-known technology, a detailed description will be omitted. SLAM can simultaneously perform the self-location function of the traveling vehicles 1 and 2 and the map creation function. The map creation function is a function that acquires surrounding information about what is around through imaging means and mounted sensors, and creates map information, which is a map of the surrounding area, based on this surrounding information. The self-location function is a function that compares the map information with stored data about previously stored locations, and identifies the self-location and self-direction on the map if the stored data and map information match. The traveling vehicles 1 and 2 can use SLAM to calculate the distance between themselves and obstacles, landmarks, etc. in the vicinity, and control their travel so as to avoid obstacles based on the calculation results.

[0019] The traveling carts 1 and 2 of the embodiment include a car body 12, a plurality of wheels 14A to 14D, a wheel drive unit 16, an operation unit 17, a battery 18, a top plate 20, an object detection sensor 24, an obstacle sensor 26, an image sensor 28, a connecting unit 22, and an information processing unit 40. The object detection sensor 24, the obstacle sensor 26, and the image sensor 28 are collectively referred to as on-board sensors.

[0020] The operation unit 17 accepts input information based on the user's operation and provides the input information to the information processing unit 40. The information processing unit 40 turns the power on / off and switches the operation mode between master mode and slave mode based on the input information of the operation unit 17. The master mode is a mode in which the vehicle operates as a first traveling vehicle, and the slave mode is a mode in which the vehicle operates as a second traveling vehicle. The traveling vehicles 1 and 2 have both of these modes and can switch between the modes. Below, an example will be described in which the first traveling vehicle 1 operates in the master mode and the second traveling vehicle 2 operates in the slave mode. In addition, the operation unit 17 accepts input of information related to the user's traveling, such as a destination, and provides the information to the information processing unit 40.

[0021] The vehicle body 12 functions as an outer shell that surrounds the components housed inside. The vehicle body 12 in this example has a substantially rectangular parallelepiped shape. The straight-ahead direction of the vehicle body 12 is referred to as "front" and "forward," the opposite direction is referred to as "rear" and "rearward," the right direction of the straight-ahead direction is referred to as "right" and "right side," and the opposite direction is referred to as "left" and "left side."

[0022] As shown in FIG. 2, the wheels 14A to 14D are attached inside the vehicle body 12 so that a part of the wheel protrudes downward from the vehicle body 12. The wheels 14A to 14D are not limited in configuration, but in the embodiment, as shown in FIG. 3, the wheels 14A to 14D include two first wheels 14A, two second wheels 14B, two third wheels 14C, and two fourth wheels 14D. The two first wheels 14A are driving wheels driven by the wheel driving unit 16, and are arranged at a distance from each other on the left and right near the front-rear center. The two second wheels 14B are driven wheels, and are arranged at a distance from each other on the left and right in front of the first wheel 14A. The two third wheels 14C are driven wheels, and are arranged at a distance from each other on the left and right in front of the second wheel 14B. The two fourth wheels 14D are driven wheels, and are arranged at a distance from each other on the left and right behind the first wheel 14A.

[0023] The wheel drive unit 16 drives and rotates the two first wheels 14A based on the control of the information processing unit 40. The wheel drive unit 16 of this embodiment includes two gear motors (not shown) corresponding to the two first wheels 14A, respectively. The wheel drive unit 16 may include a known drive device such as a motor or an engine instead of the gear motor. The traveling carts 1 and 2 move forward or backward when the two first wheels 14A are driven and rotated at the same speed, and turn right or left when a speed difference is generated between the two first wheels 14A.

[0024] The battery 18 supplies power to the wheel drive unit 16, the object detection sensor 24, the obstacle sensor 26, the image sensor 28, and the information processing unit 40. The battery 18 in this embodiment is a lithium ion battery. Instead of a lithium ion battery, the battery 18 may include a secondary battery based on a known principle.

[0025] The top plate 20 is a plate-like member that is attached to the top of the vehicle body 12 so as to cover the upper side of the vehicle body 12. In the embodiment, the top plate 20 has a substantially rectangular outer shape in a plan view that is substantially the same as the outer shape of the vehicle body 12. A mounting stand 30 is placed on the upper surface of the top plate 20.

[0026] The object detection sensor 24 detects objects outside the vehicle body 12 and provides the detection results to the information processing unit 40. When creating a map, the information processing unit 40 creates a map based on the detection results of the object detection sensor 24. When autonomous driving is performed, the information processing unit 40 identifies the vehicle's own position on the map based on the detection results of the object detection sensor 24. In the embodiment, the object detection sensor 24 is provided on each of the front, rear, left and right surfaces of the vehicle body 12. In FIG. 2, only the object detection sensors 24 arranged on the front and left surfaces are shown.

[0027] The object detection sensor 24 is a sensor capable of detecting an object within a detection range by receiving reflected light of detection light projected by the object detection sensor 24 toward the outside of the vehicle body. As an example, the object detection sensor 24 projects detection light in a range that spreads radially from the object detection sensor 24 as a center between the vehicle body 12 and the top plate 20. As an example, the object detection sensor 24 of the embodiment is a LiDAR (Light Detection And Ranging).

[0028] The obstacle sensor 26 detects obstacles outside the vehicle body 12 and provides the detection results to the information processing unit 40. During autonomous driving, the information processing unit 40 controls the traveling of the traveling carriages 1, 2 so as to avoid the obstacles based on the detection results of the object detection sensor 24 and the obstacle sensor 26. In the embodiment, three obstacle sensors 26 are arranged on the front of the vehicle body 12, one on each of the left and right sides. In FIG. 2, only the obstacle sensor 26 arranged on the front is shown. For example, the obstacle sensor 26 is an optical sensor, and the optical axis of the detection light is oriented 5 degrees upward from the horizontal plane.

[0029] The image sensor 28 detects guide marks attached to fixtures, equipment, etc., such as floors, ceilings, walls, and shelves, and provides the detection results to the information processing unit 40. The guide marks in the embodiment include lines formed on the floor surface and two-dimensional markers such as two-dimensional codes. The image sensor 28 in the embodiment is a camera having a lens (not shown) and an image sensor (not shown), and is attached to the front of the vehicle body 12. When creating a map, the information processing unit 40 stores the detection results of the image sensor 28 as reference data corresponding to the map. During autonomous driving, the information processing unit 40 compares the detection results of the image sensor 28 with the stored reference data, and uses the comparison results to identify the vehicle's own position on the map. Note that the information processing unit 40 may compare the detection results of the object detection sensor 24 with the stored reference data, and use the comparison results to identify the vehicle's own position on the map, during autonomous driving.

[0030] The connecting part 22 and the connected parts 31, 32 will be described. By providing the connecting part 22 and the connected parts 31, 32, the first traveling cart 1 and the platform 30, and the second traveling cart 2 and the platform 30 are connected so as to be rotatable relative to each other. In this case, the transport unit 100 can travel smoothly when traveling around a curve, and excessive force is unlikely to be applied to the connecting part 22 and the connected parts 31, 32.

[0031] The connecting part 22 in the embodiment is a rod-like part that protrudes upward from the top plate 20, and has, for example, a cylindrical shape. The connected parts 31, 32 in the embodiment are holes through which the connecting part 22 can pass vertically. The clearance between the connected parts 31, 32 and the connecting part 22 is set so that the mounting table 30 can rotate in the horizontal direction around the connecting part 22. In addition, this clearance is set so that the mounting table 30 can be tilted within a predetermined range with respect to the upper surface of the top plate 20.

[0032] The information processing unit 40 will now be described. When making a distinction hereinafter, the information processing unit 40 mounted on the first traveling vehicle 1 will be referred to as an information processing unit 40A, and the information processing unit 40 mounted on the second traveling vehicle 2 will be referred to as an information processing unit 40B.

[0033] 4 can be realized in hardware by elements such as a computer processor, CPU, and memory, electronic circuits, and mechanical devices, and in software by a computer program, etc., but here, functional blocks realized by cooperation between them are depicted. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various forms by combining hardware and software.

[0034] The information processing unit 40 includes an input unit 41, a route generating unit 42, a map generating unit 44, a self-location identifying unit 45, a driving control unit 46, a storage unit 47, and a communication unit 48. These functional blocks can exchange information with each other via an information transmission path 43 such as a data bus.

[0035] The input unit 41 acquires the detection results of the mounted sensors and the input information of the operation unit 17. The route generation unit 42 generates a travel route to the destination. The starting point of the travel route may be the current location or a separately set location. The starting point and the destination may be input by the user via the operation unit 17, or may be input from the upper controller 60 via the communication unit 48. In this specification, the upper controller 60 includes a computer system and a mobile information terminal such as a smartphone or a tablet terminal.

[0036] When creating a map, the map generation unit 44 creates a map based on the detection results of the mounted sensors acquired by the input unit 41. During autonomous driving, the map generation unit 44 corrects the map based on the detection results of the mounted sensors acquired by the input unit 41.

[0037] The self-position identifying unit 45 identifies the self-position on the map based on the detection result of the mounted sensor during autonomous driving. The driving control unit 46 controls the wheel drive unit 16 so as to travel on the generated route based on the identified self-position during autonomous driving. The storage unit 47 stores the information inputted by the input unit 41, the map generated by the map generating unit 44, the route generated by the route generating unit 42, the identified self-position, etc. The communication unit 48 transmits and receives information to and from external devices such as the communication units 48 of other traveling vehicles and the upper controller 60 via wireless or wired communication lines.

[0038] The operation of the transport unit 100 thus configured will be described.

[0039] (1st action) The first operation S110 of the transport unit 100 will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the first operation S110. As an example, the first operation S110 is started by the transport unit 100 receiving a command to start the operation. This operation is mainly controlled by the information processing unit 40A of the first traveling cart 1 and the information processing unit 40B of the second traveling cart 2.

[0040] When the first operation S110 is started, the information processing unit 40A generates a first traveling route to the destination of the first traveling cart 1 (step S112). In this step, the information processing unit 40A receives information on the starting point and destination and related information via the communication unit 48. Information on the destination, etc. may be transmitted from the upper controller 60. The information processing unit 40A generates the first traveling route based on the information on the destination, etc. The operation of generating the first traveling route can be realized by the above-mentioned SLAM technology. The generated first traveling route is stored in the memory unit 47 of the information processing unit 40A.

[0041] Next, the second traveling vehicle 2 receives the generated first traveling route (step S114). In this step, the information processing unit 40B receives the generated first traveling route from the information processing unit 40A. The first traveling route may be received directly from the information processing unit 40A, or may be received by the upper controller 60 and then received via the upper controller 60.

[0042] Next, the information processing unit 40B generates a second traveling route to the destination of the second traveling cart 2 with reference to the received first traveling route (step S116). In this step, the information processing unit 40B generates a route so that the relative positional relationship between the second traveling cart 2 and the first traveling cart 1 is maintained. In the embodiment, maintaining the relative positional relationship between the carts means maintaining the distance between the coupling portion 22A of the first traveling cart 1 and the coupling portion 22B of the second traveling cart 2 within a certain range. The generated second traveling route is stored in the storage unit 47 of the information processing unit 40B.

[0043] Next, when the generation of the second traveling route is completed, the information processing units 40A and 40B make the first traveling vehicle 1 and the second traveling vehicle 2 travel (step S118). In this step, the information processing unit 40A makes the first traveling vehicle 1 travel along the first traveling route, and the information processing unit 40B makes the second traveling vehicle 2 travel along the second traveling route. The information processing unit 40B may fine-tune the traveling speed and traveling direction of the second traveling vehicle 2 in order to maintain the relative positional relationship between the vehicles. The operation of this step can be realized by the above-mentioned SLAM technology.

[0044] While traveling along the theoretical second traveling route, the error in the self-position information of the second traveling vehicle 2 held by the information processing unit 40B may become large, resulting in a state in which the second traveling vehicle 2 deviates from the actual second traveling route. Therefore, in the embodiment, the second traveling vehicle 2 determines whether its own position has been erroneously detected based on the distance to the first traveling vehicle 1, and performs a self-position information correction operation to correct the self-position information.

[0045] Specifically, the information processing unit 40B detects the distance between the second traveling bogie 2 and the first traveling bogie 1, and judges whether or not the detection result exceeds a predetermined reference range (step S120). In this step, the distance between the second traveling bogie 2 and the first traveling bogie 1 can be specified using the state of the gap between the coupling part 22B and the coupled part 32 and the load that the coupling part 22B receives from the coupled part 32. In this example, the information processing unit 40B judges that the distance between the first traveling bogie 1 and the second traveling bogie 2 exceeds the predetermined reference range when the load that the coupling part 22B receives exceeds a threshold value.

[0046] If the distance between the second traveling vehicle 2 and the first traveling vehicle 1 exceeds a predetermined reference range (Y in step S120), the information processing unit 40B corrects the self-position information based on the detection result of the mounted sensor (step S122). The correction of the self-position information may be to correct the self-position on the map, and can be realized by correcting the identification result of the self-position identification unit 45 or by correcting the map information, for example. After executing step S122, the process returns to the beginning of step S120.

[0047] If the distance between the second traveling vehicle 2 and the first traveling vehicle 1 is within a predetermined reference range (N in step S120), the information processing units 40A, 40B determine whether the first traveling vehicle 1 and the second traveling vehicle 2 have arrived at the destination (step S124).

[0048] If the vehicle has not arrived at the destination (N in step S124), the process returns to the beginning of step S118. If the vehicle has arrived at the destination (Y in step S124), the information processing units 40A and 40B stop the traveling of the first traveling vehicle 1 and the second traveling vehicle 2 (step S126).

[0049] When the vehicle stops traveling, the first operation S110 ends. The above steps are merely examples, and various modifications are possible.

[0050] (2nd action) The second operation S210 of the transport unit 100 will be described with reference to FIG. 6. FIG. 6 is a flowchart showing the second operation S210. As an example, the second operation S210 is started by the transport unit 100 receiving a command to start the operation. This operation is mainly controlled by the information processing unit 40A of the first traveling cart 1, the information processing unit 40B of the second traveling cart 2, and the upper controller 60. The contents described in the first operation S110 can be applied to the second operation S210 as long as there is no contradiction. Also, explanations that overlap with the first operation S110 will be omitted.

[0051] When the second operation S210 is started, the information processing unit 40A generates a first traveling route to the destination of the first traveling vehicle 1 (step S212). This step is similar to step S112 of the first operation.

[0052] Next, the information processing unit 40A transmits the generated first traveling route to the upper controller 60 (step S214).

[0053] Next, the upper controller 60 generates a second traveling route to the destination of the second traveling vehicle 2 with reference to the received first traveling route (step S216). In this step, the upper controller 60 generates a route so that the relative positional relationship between the second traveling vehicle 2 and the first traveling vehicle 1 is maintained.

[0054] Next, the upper controller 60 transmits the generated second traveling route to the second traveling vehicle 2 (step S218).

[0055] Next, the information processing units 40A and 40B cause the first traveling vehicle 1 and the second traveling vehicle 2 to travel (step S220). In this step, the information processing unit 40A causes the first traveling vehicle 1 to travel along the first traveling route, and the information processing unit 40B causes the second traveling vehicle 2 to travel along the second traveling route.

[0056] Next, the information processing units 40A and 40B judge whether or not the first traveling vehicle 1 and the second traveling vehicle 2 have arrived at the destination (step S222).

[0057] If the vehicle has not arrived at the destination (N in step S222), the process returns to the beginning of step S220. If the vehicle has arrived at the destination (Y in step S222), the information processing units 40A and 40B stop the traveling of the first traveling vehicle 1 and the second traveling vehicle 2 (step S224).

[0058] When the vehicle stops moving, the second operation S210 ends. The above steps are merely examples, and various modifications are possible. For example, the second operation S210 may include a step of performing the self-location information correction operation described in the first operation S110.

[0059] The following describes the features of the transport unit 100 according to this embodiment. The transport unit 100 is a transport unit including a first traveling carriage 1, a second traveling carriage 2, and a platform 30 supported by the first traveling carriage 1 and the second traveling carriage 2. The first traveling carriage 1 generates a first travel route to a destination, and the second traveling carriage 2 receives the first travel route and generates a second travel route to the destination such that the relative positional relationship with the first traveling carriage 1 is maintained.

[0060] According to this configuration, the second traveling vehicle 2 can generate a second traveling route by referring to the first traveling route of the first traveling vehicle 1 so that the relative positional relationship with the first traveling vehicle 1 is maintained. Compared to a case where the first traveling route is not referred to, the second traveling route can be generated in a shorter time, and the following delay of the second traveling vehicle 2 can be reduced. As a result, smooth traveling of the transport unit 100 can be realized. The load applied to the connection mechanism between the traveling vehicles 1, 2 and the mounting table 30 is reduced, and the durability of the connection mechanism is improved. Since smooth traveling is possible, the traveling speed can be increased and transport efficiency can be improved.

[0061] Above, examples of the embodiments of the present invention have been described in detail. All of the above-mentioned embodiments merely show specific examples of implementing the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changing, adding, and deleting components are possible within the scope of the invention as defined in the claims. In the above-mentioned embodiments, the contents for which such design changes are possible are described with the notation "of the embodiment" or "in the embodiment", but design changes may also be permitted for contents without such notation.

[0062] [Variations] The following describes the modified examples. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Descriptions that overlap with the embodiment will be omitted as appropriate, and the description will focus on configurations that differ from the embodiment.

[0063] (First Modification) In the above description, an example in which the transport unit 100 includes a single second traveling carriage 2 has been described, but the present invention is not limited to this. The transport unit may include multiple second traveling carriages. By including multiple second traveling carriages, it is possible to transport objects with a larger mass. FIG. 7 is a perspective view showing the transport unit 100 according to the first modified example. In this figure, the mounting table 30 is shown as transparent for ease of understanding.

[0064] The transport unit 100 of the first modified example includes a single first traveling cart 1, three second traveling carts 2, 3, and 4, and a mounting table 30. The mounting table 30 is supported at its four corners by the first traveling cart 1 and the three second traveling carts 2, 3, and 4, respectively.

[0065] The first traveling vehicle 1 generates a first traveling route to the destination. The three second traveling vehicles 2, 3, and 4 each receive the generated first traveling route and generate a second traveling route to the destination so that the relative positional relationship with the first traveling vehicle 1 is maintained. The first traveling vehicle 1 travels along the first traveling route, and the three second traveling vehicles 2, 3, and 4 travel along their respective second traveling routes. The matters described in the embodiment are also applied to the first modified example unless contradictory.

[0066] (Other variations) In the above description, an example was shown in which the connecting part 22 is fitted into the connected parts 31 and 32, but the present invention is not limited to this. Bearing means such as a rolling bearing or a sliding bearing may be disposed between the connecting part and the connected parts. In this case, smoother curve running is possible.

[0067] In the above description, an example was shown in which the connecting portion 22 is a protruding member and the connected portions 31, 32 are holes, but the present invention is not limited to this. For example, the connected portion may be a protruding member and the connecting portion may be a hole that fits into the protruding member.

[0068] In the above description, an example has been shown in which the route generating unit 42 generates a single travel route, but the present invention is not limited to this. For example, the route generating unit may generate a plurality of travel routes. The transport unit may select a route that satisfies a predetermined condition from the plurality of generated travel routes and travel along that route. The predetermined condition may include the shortest travel distance, the smallest number of curves to be passed, the largest radius of the curve with the smallest radius among the curves in the route, and the like.

[0069] In the above description, an example was shown in which the detection information of the on-board sensors mounted on the traveling bogies 1 and 2 is used within the traveling bogie on which the sensors are mounted, but the present invention is not limited to this. For example, the detection information of the on-board sensor mounted on one of the traveling bogies 1 and 2 may be transmitted to and used by the other bogie. In this case, the blind spot of the on-board sensor can be compensated for.

[0070] Each of these modified examples provides the same functions and effects as the embodiment.

[0071] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the respective embodiments and modifications. [Explanation of symbols]

[0072] 1 first traveling cart, 2 second traveling cart, 12 car body, 22 coupling section, 30 mounting base, 31 first coupled section, 32 second coupled section, 42 route generating section, 44 map generating section, 100 transport unit.

Claims

1. A transport unit including a first traveling carriage, a second traveling carriage, and a platform supported by the first traveling carriage and the second traveling carriage, The first traveling vehicle generates a first traveling route to a destination; The second traveling vehicle is a transport unit that receives the first traveling route and generates a second traveling route to a destination such that a relative positional relationship with the first traveling vehicle is maintained.

2. A transport unit including a first traveling carriage, a second traveling carriage, a platform supported by the first traveling carriage and the second traveling carriage, and a host controller that controls the first traveling carriage and the second traveling carriage, the first traveling vehicle generates a first traveling route to a destination and transmits the first traveling route to the upper controller; The host controller is a transport unit that generates a second travel route to a destination of the second traveling vehicle so that a relative positional relationship with the first traveling vehicle is maintained, and transmits the second travel route to the second traveling vehicle.

3. 3. The transport unit according to claim 1, wherein the first traveling carriage and the stage, and the second traveling carriage and the stage are connected to each other so as to be rotatable relative to each other.

4. The transport unit according to claim 1 or 2, wherein the second traveling vehicle determines whether its own position has been erroneously detected based on a distance between the second traveling vehicle and the first traveling vehicle, and corrects its own position information.

5. A control method for a transport unit including a first traveling carriage, a second traveling carriage, and a platform supported by the first traveling carriage and the second traveling carriage, comprising: generating a first travel route to a destination of the first traveling vehicle; generating a second travel route to a destination of the second traveling vehicle by referring to the generated first travel route; Including, A method for controlling a transport unit, wherein the step of generating the second travel route generates a route such that a relative positional relationship between the second traveling vehicle and the first traveling vehicle is maintained.

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