Mobile robot and assembly cart

Abstract

This invention provides a mobile robot and assembly cart that can be configured in various shapes and sizes, have a simplified control structure, and can move with high precision through simple control. [Solution] The system comprises a travel unit 11 having a wheel 22 and a drive unit 24, a connecting unit 12 connecting a plurality of travel units 11 together, a connecting state recognition unit 13 that recognizes the connection information of a slave unit 11b to a master unit 11a, a self-information acquisition unit 15 that acquires the self-information of the master unit 11a, and a master unit control unit 16 that generates a master unit control signal based on travel instruction information for the master unit 11a and the self-information, wherein the master unit control unit 16 generates a slave unit control signal based on the connection information.

Claims

1. A plurality of travel units having a wheel and a drive unit that drives the wheel, A connecting section that physically connects the plurality of travel units, A coupling state recognition unit that recognizes coupling information of the plurality of travel units, A self-information acquisition unit that acquires self-information of a master unit, including the position of the master unit which is one of the plurality of travel units, A master control unit that, upon receiving driving instruction information, generates a master control signal for the master unit based on the driving instruction information and the self-information and transmits it to the drive unit of the master unit, Equipped with, A mobile robot in which the master unit control unit generates a slave unit control signal for a slave unit consisting of a mobile unit other than the master unit, based on the connection information, and transmits it to the drive unit of the slave unit.

2. The mobile robot according to claim 1, wherein the self-information acquisition unit and the master unit control unit are provided only in the master unit.

3. Each of the aforementioned multiple travel units has a plurality of wheels arranged at intervals, The mobile robot according to claim 1, wherein the master control signal and the slave control signal each include information on the rotation direction and rotation speed of each of the wheels.

4. The aforementioned connecting portion has a connecting member that detachably connects the connectable portions that are pre-provided on each of the aforementioned travel units, The mobile robot according to claim 1, wherein the connecting member is arranged between the connectable portions of the plurality of mobile units and has a connecting frame that can connect the mobile units at intervals.

5. The mobile robot according to claim 1, wherein the coupling state recognition unit comprises an identification mark pre-provided on the mobile unit and a mark detector that detects the identification mark and transmits it to the master control unit.

6. The mobile robot according to claim 5, wherein the connection state recognition unit is capable of recognizing the connection information of the plurality of mobile units and the connection frame.

7. The mobile robot consists of the mobile robot described in any one of claims 1 to 6. An assembly trolley comprising a plurality of divided trolleys consisting of the aforementioned travel units, wherein the plurality of divided trolleys are connected by the aforementioned connecting parts, thereby forming a continuous transport support space on the plurality of divided trolleys.

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