Legged wheeled mobile robot, robot system, control system, control method, computer program

Abstract

To improve the efficiency of work using autonomous mobile vehicles. [Solution] A control system for controlling the operation of a plurality of mobile bodies, the plurality of mobile bodies including a first mobile body, a second mobile body, a third mobile body, and a fourth mobile body. The first mobile body is equipped with a work device for performing a predetermined task. The second and fourth mobile bodies are equipped with supply devices capable of supplying materials to the work device. With the second mobile body positioned between the first and third mobile bodies, the work device of the first mobile body performs a predetermined task while receiving materials from the supply device of the second mobile body. If at least one of the first and second mobile bodies satisfies a predetermined condition, the second control device of the second mobile body moves the second mobile body away from the first and third mobile bodies. The fourth control device of the fourth mobile body moves the fourth mobile body so that it is positioned between the first and third mobile bodies.

Description

Technical Field

[0001] The present invention relates to a wheeled mobile body, a robot system, a control system, a control method, and a computer program.

Background Art

[0002] Research and development are underway to cause a mobile body capable of autonomous driving to perform various operations. For example, in factories and warehouses, productivity can be improved by having robots perform tasks that were previously done by humans. Patent Document 1 describes a technique in which a conveying device and a humanoid robot perform product picking and packing operations.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is a need to improve the efficiency of operations using a mobile body capable of autonomous driving.

Means for Solving the Problems

[0005] Embodiments of the present invention include, for example, the technologies described in the following items.

[0006] [Item 1] A control system that controls the operations of a plurality of mobile bodies, where the plurality of mobile bodies include a first mobile body, a second mobile body, a third mobile body, and a fourth mobile body, the first mobile body includes a first traveling device that moves the first mobile body, a first control device that controls the operation of the first traveling device, a working device that performs a predetermined operation, Equipped with, The second mobile body is A second traveling device for moving the aforementioned second mobile body, A second control device for controlling the operation of the second traveling device, A supply device capable of supplying materials to the aforementioned work device, Equipped with, The third mobile body is A third traveling device for moving the aforementioned third mobile body, A third control device that controls the operation of the third traveling device, A device that performs a predetermined operation, Equipped with, The fourth mobile body is A fourth traveling device for moving the aforementioned fourth mobile body, A fourth control device that controls the operation of the fourth traveling device, A supply device capable of supplying the materials to the work device, Equipped with, With the second mobile body positioned between the first mobile body and the third mobile body, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the second mobile body. If at least one of the first moving body and the second moving body satisfies a predetermined condition, the second control device moves the second moving body away from the first moving body and the third moving body. The fourth control device is a control system that moves the fourth mobile body so that it is positioned between the first mobile body and the third mobile body.

[0007] [Item 2] The control system according to item 1, wherein the device that performs the predetermined operation of the third mobile body is a battery capable of supplying power to at least one of the first mobile body, the second mobile body, and the fourth mobile body.

[0008] [Item 3] When the predetermined condition is satisfied, the second control device moves the second moving body away from the first moving body and the third moving body in the first direction. The control system according to item 1 or 2, wherein the fourth control device moves the fourth moving body between the first moving body and the third moving body from a direction opposite to the first direction.

[0009] [Item 4] The control system according to any one of items 1 to 3, wherein the predetermined condition is that the amount of the material loaded on the second moving body is not more than a predetermined amount.

[0010] [Item 5] The control system according to any one of items 1 to 3, wherein the predetermined condition is that the working time of the working device of the first moving body is not less than a predetermined time.

[0011] [Item 6] The control system according to any one of items 1 to 3, wherein the predetermined condition is that the distance traveled by the first moving body while the working device of the first moving body performs the predetermined work is not less than a predetermined distance.

[0012] [Item 7] The control system according to any one of items 1 to 6, wherein in a state where the first moving body and the second moving body are connected and the second moving body and the third moving body are connected, the working device of the first moving body performs the predetermined work while receiving the supply of the material from the supply device of the second moving body.

[0013] [Item 8] The control system according to any one of items 1 to 7, wherein after the second moving body moves away from the first moving body and the third moving body, the working device of the first moving body performs the predetermined work while receiving the supply of the material from the supply device of the fourth moving body.

[0014] [Item 9] After the second moving body has moved away from the first moving body and the third moving body, the working device of the first moving body performs the predetermined work while receiving the supply of the material from the supply device of the fourth moving body in a state where the first moving body is connected to the fourth moving body and the fourth moving body is connected to the third moving body. The control system according to item 8.

[0015] [Item 10] The material is an agricultural material. The control system according to any one of items 1 to 9.

[0016] [Item 11] The plurality of moving bodies includes a fifth moving body. The fifth moving body A fifth traveling device for moving the fifth moving body, A fifth control device for controlling the operation of the fifth traveling device, A supply device capable of supplying the material to the working device, and is provided with In a state where the second moving body and the fifth moving body are located between the first moving body and the third moving body, the working device of the first moving body performs the predetermined work while receiving the supply of the material from the supply device of the second moving body. The control system according to item 1 or 2.

[0017] [Item 12] In a state where the first moving body is connected to the second moving body, the second moving body is connected to the fifth moving body, and the fifth moving body is connected to the third moving body, the working device of the first moving body performs the predetermined work while receiving the supply of the material from the supply device of the second moving body. The control system according to item 11.

[0018] [Item 13] The fourth control device moves the fourth moving body so that the fourth moving body is located between the fifth moving body and the third moving body. The control system according to item 11.

[0019] [Item 14] A control system according to any one of items 11 to 13, wherein after the second mobile body moves away from the first mobile body and the third mobile body, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the fifth mobile body.

[0020] [Item 15] A control system according to any one of items 11 to 14, wherein, after the second mobile body moves away from the first mobile body and the third mobile body, the first mobile body and the fifth mobile body are connected, the fifth mobile body and the fourth mobile body are connected, and the fourth mobile body and the third mobile body are connected, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the fifth mobile body.

[0021] [Item 16] A control method for controlling the actions of multiple mobile objects, which is performed by two or more computers, The plurality of moving bodies include a first moving body, a second moving body, a third moving body, and a fourth moving body. The first mobile body is A first traveling device for moving the first mobile body, A work device that performs a predetermined task, Equipped with, The second mobile body is A second traveling device for moving the aforementioned second mobile body, A supply device capable of supplying materials to the aforementioned work device, Equipped with, The third mobile body is A third traveling device for moving the aforementioned third mobile body, A device that performs a predetermined operation, Equipped with, The fourth mobile body is A fourth traveling device for moving the aforementioned fourth mobile body, A supply device capable of supplying the materials to the work device, Equipped with, With the second mobile body positioned between the first mobile body and the third mobile body, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the second mobile body. The control method described above is If at least one of the first moving body and the second moving body satisfies a predetermined condition, move the second moving body away from the first moving body and the third moving body. Moving the fourth moving body so that it is positioned between the first moving body and the third moving body, A control method including

[0022] Comprehensive or specific embodiments of the present invention may be realized by apparatus, systems, methods, integrated circuits, computer programs, or computer-readable non-temporary storage media, or any combination thereof. The computer-readable storage media may include volatile storage media or non-volatile storage media. The apparatus may consist of multiple devices. If the apparatus consists of two or more devices, these two or more devices may be located in a single device or in two or more separate devices. [Effects of the Invention]

[0023] In a robotic system that performs tasks using a wheeled mobile body, by making the wheeled mobile body and the work unit separable, the work unit connected to the wheeled mobile body can be replaced according to the application at the time, allowing for efficient performance of various tasks.

[0024] When a work unit is supported by a single wheeled mobile unit, the posture of the work unit may become unstable. For example, if the wheeled mobile unit is a two-legged, two-wheeled mobile unit, the posture of the work unit may become unstable.

[0025] According to one embodiment of the present invention, a first-legged wheeled mobile body and a second-legged wheeled mobile body are connected to a work unit from different directions to support the work unit. By being supported by the first-legged wheeled mobile body and the second-legged wheeled mobile body from different directions, the work unit can perform work in a stable posture.

[0026] According to one embodiment of the present invention, n (where n is an integer of 3 or more) wheeled mobile units support n-1 work units. This allows for a higher ratio of work units to the number of wheeled mobile units, enabling more efficient work.

[0027] According to one embodiment of the present invention, when multiple vehicles traveling in a line turn, the first vehicle is driven such that the distance between the first vehicle and the second vehicle is greater than when the multiple vehicles are traveling in a straight line, and then the first vehicle is turned. This allows the first vehicle to turn independently of the other vehicles, and the turning radius can be reduced.

[0028] According to one embodiment of the present invention, when certain conditions are met, the second mobile body moves away from the first and third mobile bodies, and the fourth mobile body moves between the first and third mobile bodies. This allows the work device of the first mobile body to continue working while receiving a supply of materials. [Brief explanation of the drawing]

[0029] [Figure 1] This figure illustrates a robotic system for managing and controlling the operation of multiple leg-wheeled mobile bodies according to an embodiment of the present invention. [Figure 2] This is a schematic front view illustrating an example of a wheeled mobile vehicle. [Figure 3] This is a schematic perspective view showing an example of a leg-wheeled mobile vehicle. [Figure 4] This is a schematic perspective view showing an example of a leg-wheeled mobile vehicle. [Figure 5] This is a block diagram showing an example configuration of a leg-wheeled mobile vehicle. [Figure 6] This is a schematic perspective view showing an example of a leg-wheeled mobile vehicle. [Figure 7] This is a schematic perspective view showing an example of a leg-wheeled mobile vehicle. [Figure 8] This is a schematic perspective view showing an example of a work unit. [Figure 9] This is a schematic side view illustrating an example of a work unit. [Figure 10] This diagram shows a work unit supported by two wheeled mobile units. [Figure 11] This is a flowchart showing the operation of connecting a wheeled mobile unit to a work unit. [Figure 12] This diagram shows an example of the operation of connecting two wheeled mobile units to a work unit. [Figure 13] This diagram shows an example of the operation of connecting two wheeled mobile units to a work unit. [Figure 14] This diagram shows an example of the operation of connecting two wheeled mobile units to a work unit. [Figure 15] This diagram shows an example of the operation of connecting two wheeled mobile units to a work unit. [Figure 16] This figure shows an example of the operation of a work unit supported by a wheeled mobile body. [Figure 17] This diagram illustrates the direction in which the knee joint of the legs of a wheeled mobile vehicle bends. [Figure 18] This is a block diagram illustrating the electrode terminals of the coupling device. [Figure 19] This diagram shows an example of using three wheeled mobile units to support two work units. [Figure 20] This diagram shows three wheeled mobile units and two work units. [Figure 21] This diagram shows an example of the operation of connecting a wheeled mobile body to a work unit. [Figure 22] This diagram shows an example of using four wheeled mobile units to support three work units. [Figure 23]This diagram shows an example of the operation of connecting a wheeled mobile body to a work unit. [Figure 24] This figure shows another example of a configuration in which four wheeled mobile units support three work units. [Figure 25] Here is another example of a work unit: a block diagram. [Figure 26] This figure shows examples of multiple vehicles. [Figure 27] This is a diagram showing the vehicles in a coupled state. [Figure 28] This diagram illustrates an example of a turning maneuver performed by vehicles traveling in a line. [Figure 29] This diagram illustrates an example of a turning maneuver performed by vehicles traveling in a line. [Figure 30] This diagram illustrates an example of a turning maneuver performed by vehicles traveling in a line. [Figure 31] This diagram illustrates an example of a turning maneuver performed by vehicles traveling in a line. [Figure 32] This diagram illustrates an example of a turning maneuver performed by vehicles traveling in a line. [Figure 33] This diagram illustrates an example of a turning maneuver performed by vehicles traveling in a line. [Figure 34] This diagram illustrates an example of a turning maneuver performed by vehicles traveling in a line. [Figure 35] This diagram illustrates an example of a turning maneuver performed by vehicles traveling in a line. [Figure 36] This diagram illustrates an example of a turning maneuver performed by vehicles traveling in a line. [Figure 37] This diagram illustrates an example of a turning maneuver performed by vehicles traveling in a line. [Figure 38] This diagram shows an example of the point where the second vehicle begins to turn. [Figure 39] This diagram illustrates another example of a turning maneuver performed by vehicles traveling in a line. [Figure 40] This diagram illustrates another example of a turning maneuver performed by vehicles traveling in a line. [Figure 41] This diagram illustrates another example of a turning maneuver performed by vehicles traveling in a line. [Figure 42] This diagram illustrates another example of a turning maneuver performed by vehicles traveling in a line. [Figure 43] This diagram illustrates another example of a turning maneuver performed by vehicles traveling in a line. [Figure 44] This diagram illustrates an example of a turning maneuver performed by four vehicles traveling in a line. [Figure 45] This diagram illustrates an example of a turning maneuver performed by four vehicles traveling in a line. [Figure 46] This figure shows examples of multiple moving objects. [Figure 47] This figure shows an example of a supply device. [Figure 48] This diagram illustrates an example of the movement of moving objects traveling in a line. [Figure 49] This diagram illustrates an example of the movement of moving objects traveling in a line. [Figure 50] This diagram illustrates an example of the movement of moving objects traveling in a line. [Figure 51] This diagram illustrates an example of the movement of moving objects traveling in a line. [Figure 52] This diagram illustrates an example of the movement of moving objects traveling in a line. [Figure 53] This figure shows another example of multiple moving objects traveling in a line. [Figure 54] This diagram illustrates an example of the movement of moving objects traveling in a line. [Figure 55] This diagram illustrates an example of the movement of moving objects traveling in a line. [Figure 56] This diagram illustrates an example of the movement of moving objects traveling in a line. [Figure 57] This diagram illustrates an example of the movement of moving objects traveling in a line. [Figure 58] This diagram illustrates an example of the movement of moving objects traveling in a line. [Modes for carrying out the invention]

[0030] Embodiments of the present invention will be described below. However, unnecessarily detailed descriptions may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid the following description becoming unnecessarily verbose and to facilitate understanding by those skilled in the art. The inventors provide the accompanying drawings and the following description so that those skilled in the art can fully understand the present invention, and not to limit the subject matter described in the claims. In the following description, components having the same or similar function are denoted by the same reference numerals. The numerals F, Re, L, R, U, and D in the drawings represent front, back, left, right, top, and bottom, respectively.

[0031] The following embodiments are illustrative, and the technology of the present invention is not limited to these embodiments. The content of the following embodiments is merely an example, and various modifications are possible as long as they do not result in technical inconsistencies. Furthermore, it is possible to combine one embodiment with another as long as they do not result in technical inconsistencies.

[0032] In this embodiment, for example, work is performed using multiple wheeled mobile units. The wheeled mobile units can be connected to work units that perform predetermined actions. The wheeled mobile units transport the connected work units, and the work units can perform work at the destination or while moving. The work units are detachable from the wheeled mobile units. By making the wheeled mobile units and work units separable, the work units connected to the wheeled mobile units can be changed according to the application at the time, allowing for efficient performance of various tasks. For example, various tasks can be performed efficiently in various fields such as agriculture, civil engineering, construction, logistics, and manufacturing.

[0033] Figure 1 is a diagram illustrating a robot system 1 that manages and controls the operation of a plurality of leg-wheeled mobile bodies 100 according to an embodiment of the present invention. The robot system 1 includes a control system that controls the operation of the plurality of leg-wheeled mobile bodies 100. The robot system 1 may also manage and control the operation of work units connected to the leg-wheeled mobile bodies 100.

[0034] The wheeled mobile unit 100 is managed, for example, by a terminal device 500 and / or a management device 600.

[0035] The terminal device 500 is a computer used by a user to remotely monitor the wheeled mobile unit 100. The management device 600 is a computer managed by the operator who manages the work using the wheeled mobile unit 100. The wheeled mobile unit 100, the terminal device 500, and the management device 600 can communicate with each other via the network 80. Figure 1 shows two wheeled mobile units 100 as an example, but three or more wheeled mobile units 100 may be used. In addition, other mobile units different from the wheeled mobile unit 100 may be used together with the wheeled mobile unit 100.

[0036] The wheeled mobile vehicle 100 is equipped with an autonomous driving function. That is, the wheeled mobile vehicle 100 can move under the control of a control device. The control device is installed, for example, inside the wheeled mobile vehicle 100 and can control the speed and direction of travel of the wheeled mobile vehicle 100.

[0037] The wheeled mobile vehicle 100 is equipped with devices used for positioning or self-localization, such as a GNSS (Global Navigation Satellite System) receiver, a camera, and a LiDAR sensor. The control device of the wheeled mobile vehicle 100 automatically drives the vehicle based on the vehicle's position and information about the target path. The wheeled mobile vehicle 100 performs autonomous driving by utilizing data output from sensing devices such as a camera, LiDAR sensor, and obstacle sensor.

[0038] The management device 600 is a computer that manages the wheeled mobile robot 100. The management device 600 may be a server computer that centrally manages information related to the work area on the cloud and supports work by utilizing the data on the cloud. For example, the management device 600 creates a work plan for the wheeled mobile robot 100 and causes the wheeled mobile robot 100 to perform work according to that work plan. For example, the management device 600 generates a target route within the work area based on information entered by the user using a terminal device 500 or other devices. The management device 600 may also generate and edit an environmental map based on data collected by the wheeled mobile robot 100, other mobile robots, etc., using sensing devices. The management device 600 transmits the generated work plan, target route, and environmental map data to the wheeled mobile robot 100. The wheeled mobile robot 100 automatically performs movement and work based on that data.

[0039] The terminal device 500 is a computer used by a user located away from the wheeled mobile unit 100. The terminal device 500 shown in Figure 1 is a laptop computer, but is not limited to this. The terminal device 500 may be a stationary computer such as a desktop PC (Personal Computer), or a mobile device such as a smartphone or tablet computer. The terminal device 500 may be used to remotely monitor or remotely control the wheeled mobile unit 100. For example, the terminal device 500 can display images captured by cameras on each of the wheeled mobile units 100. The terminal device 500 can also display a settings screen on its screen for the user to input information necessary to create a work plan (e.g., a schedule for each task) for the wheeled mobile unit 100. When the user inputs the necessary information on the settings screen and performs a transmission operation, the terminal device 500 transmits the input information to the management device 600. The management device 600 creates a work plan based on that information. The terminal device 500 may also include a function to display a settings screen on its display for the user to input the information necessary to set the target route.

[0040] The leg-wheeled mobile body 100 is, for example, a bipedal, two-wheeled mobile body. The leg-wheeled mobile body 100 comprises two legs and wheels provided at the bottom of each of the two legs.

[0041] Figure 2 is a schematic front view showing an example of the leg-wheeled mobile body 100. Figures 3 and 4 are schematic perspective views showing an example of the leg-wheeled mobile body 100.

[0042] The wheeled mobile unit 100 comprises a main body 105 and a traveling device 101 provided on the main body 105. The traveling device 101 moves the wheeled mobile unit 100.

[0043] The running gear 101 comprises two legs 110L and 110R, and wheels 120L and 120R located at the bottom of each of the two legs 110L and 110R. Each of the legs 110L and 110R is located on the side of the main body 105.

[0044] The leg 110L comprises an upper link 111L, a lower link 113L, actuators 115L and 116L, and an electric motor 117L. Actuators 115L and 116L move the leg 110L, and the electric motor 117L rotates the wheel 120L.

[0045] The upper link 111L is connected to the main body 105 via the actuator 115L. The actuator 115L comprises, for example, multiple servo motors. The actuator 115L comprises, for example, a two-axis or three-axis rotation mechanism to realize the movement of the leg's hip joint.

[0046] The actuator 115L can, for example, swing the leg 110L around a rotation axis extending in the left-right direction, or swing the leg 110L around a rotation axis extending in the front-back direction. The direction in which at least one of these rotation axes extends can change depending on the direction in which the leg 110L is facing, allowing the leg 110L to move in various directions.

[0047] The lower part of the upper link 111L is connected to the upper part of the lower link 113L via the actuator 116L. The lower part of the upper link 111L and the upper part of the lower link 113L constitute the knee joint 112L. The actuator 116L comprises, for example, one or more servo motors. The actuator 116L comprises, for example, a single-axis rotation mechanism to realize the movement of the knee joint of the leg. The actuator 116L changes the angle between the upper link 111L and the lower link 113L.

[0048] An electric motor 117L for rotating the wheel 120L is provided at the bottom of the lower link 113L of the leg 110L.

[0049] The leg 110R comprises an upper link 111R, a lower link 113R, actuators 115R and 116R, and an electric motor 117R. Actuators 115R and 116R move the leg 110R, and the electric motor 117R rotates the wheel 120R.

[0050] The upper link 111R is connected to the main body 105 via the actuator 115R. The actuator 115R comprises, for example, multiple servo motors. The actuator 115R comprises, for example, a two-axis or three-axis rotation mechanism to realize the movement of the hip joint of the leg.

[0051] The actuator 115R can, for example, swing the leg 110R around a rotation axis extending in the left-right direction, or swing the leg 110R around a rotation axis extending in the front-back direction. The direction in which at least one of these rotation axes extends can change depending on the direction in which the leg 110R faces, allowing the leg 110R to move in various directions.

[0052] The lower part of the upper link 111R is connected to the upper part of the lower link 113R via the actuator 116R. The lower part of the upper link 111R and the upper part of the lower link 113R constitute the knee joint 112R. The actuator 116R comprises, for example, one or more servo motors. The actuator 116R comprises, for example, a single-axis rotation mechanism to realize the movement of the knee joint of the leg. The actuator 116R changes the angle between the upper link 111R and the lower link 113R.

[0053] An electric motor 117R for rotating the wheel 120R is provided at the bottom of the lower link 113R of the leg 110R.

[0054] The electric motors 117L and 117R rotate the wheels 120L and 120R, allowing the leg-wheeled mobile body 100 to move.

[0055] Since known control techniques can be used to control the movement of the leg-wheeled mobile body 100 by rotating the wheels 120L and 120R, a detailed explanation is omitted here. For example, the direction of travel of the leg-wheeled mobile body 100 can be changed by making the rotation speeds of the wheels 120L and 120R different from each other, or by making the rotation directions of the wheels 120L and 120R different from each other.

[0056] Furthermore, legs 110L and 110R can perform walking motions. Known control techniques can be used to control the walking motion of the leg-wheeled mobile body 100, so a detailed explanation is omitted here. For example, by sequentially changing the angles of the hip and knee joints of legs 110L and 110R, legs 110L and 110R can be made to perform walking motions. By making legs 110L and 110R perform walking motions, the direction of travel of the leg-wheeled mobile body 100 may be changed. The leg-wheeled mobile body 100 may also perform walking motions that move laterally.

[0057] The structures of the legs 110L and 110R described above are examples, and any leg structure can be used. The number of leg joints and actuators is arbitrary. Furthermore, for example, a hydraulic system may be used to move the leg joints.

[0058] Wheels 120L and 120R may not be wheels with tires, but rather multiple wheels (crawlers) equipped with continuous tracks. The leg-wheeled mobile body 100 of this embodiment includes a mobile body in which crawlers are provided on the lower part of the legs. The bipedal, two-wheeled mobile body of this embodiment also includes a mobile body in which crawlers are provided on the lower part of each of the two legs.

[0059] The front of the main unit 105 is equipped with a camera 143F and a LiDAR sensor 144F. The rear of the main unit 105 is equipped with a camera 143Re and a LiDAR sensor 144Re.

[0060] Cameras 143F and 143Re are imaging devices that capture images of the environment surrounding the wheeled mobile vehicle 100. Cameras 143F and 143Re capture images of the environment surrounding the wheeled mobile vehicle 100 and generate image data. The image data can be used to detect the state of the environment around the wheeled mobile vehicle 100 during autonomous driving, etc. The image data can also be transmitted to a terminal device 500 for remote monitoring.

[0061] Cameras 143F and 143Re are equipped with an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). Cameras 143F and 143Re may also include an optical system with one or more lenses and a signal processing circuit. Image data generated by cameras 143F and 143Re may be used for positioning or obstacle detection. A visible light camera that generates visible light images and an infrared camera that generates infrared images may be provided on the wheeled mobile body 100. The infrared camera may also be used for obstacle detection at night.

[0062] The LiDAR sensors 144F and 144Re may be 3D-LiDAR sensors or 2D-LiDAR sensors. The LiDAR sensors 144F and 144Re sense the environment around the wheeled mobile body 100 and output sensor data. The LiDAR sensors 144F and 144Re repeatedly output sensor data indicating the distance and direction to each measurement point of objects in the surrounding environment, or the 3D or 2D coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensors 144F and 144Re is processed by the control device of the wheeled mobile body 100. The control device can perform self-position estimation of the wheeled mobile body 100 by matching the sensor data with an environmental map. The control device can further detect objects such as obstacles in the vicinity of the wheeled mobile body 100 based on the sensor data. The control device can also generate or edit an environmental map using algorithms such as SLAM (Simultaneous Localization and Mapping).

[0063] The wheeled mobile vehicle 100 may be equipped with an obstacle sensor or millimeter-wave radar as a sensing device. The obstacle sensor may include, for example, a laser scanner or ultrasonic sonar.

[0064] The upper part of the main body 105 is provided with a coupling device 160 that can be connected to a work unit that performs a predetermined operation. For example, the leg-wheeled mobile body 100 and the work unit are connected by connecting the coupling device 160 with a coupling device provided on the work unit. The coupling device 160 is equipped with a locking mechanism 162 that prevents the connection between the leg-wheeled mobile body 100 and the work unit from becoming detached. Any locking mechanism such as a mechanical locking mechanism or an electric locking mechanism can be used as the locking mechanism 162 of the coupling device 160.

[0065] The wheeled mobile unit 100 can communicate with the terminal device 500 and the management device 600 via the network 80. The wheeled mobile units 100 may communicate with each other via the network 80, or they may communicate directly without going through the network 80.

[0066] Figure 5 is a block diagram showing an example configuration of the leg-wheeled mobile body 100.

[0067] The wheeled mobile body 100 illustrated in Figure 5 includes a positioning device 141, an inertial measurement unit (IMU) 142, cameras 143F and 143Re, LiDAR sensors 144F and 144Re, rotation sensors 145L and 145R, a running device 101, a battery 146, a communication device 147, a control device 150, and a coupling device 160. These components are connected to each other via a bus so as to be able to communicate with one another.

[0068] The positioning device 141 includes, for example, a GNSS receiver and an RTK receiver. The control device 150 includes a processor 151, RAM (Random Access Memory) 152, ROM (Read Only Memory) 153, a storage device 154, and a plurality of electronic control units (ECUs) 155 and 156. Figure 5 shows the components that are relatively highly relevant to the autonomous driving operation of the wheeled mobile body 100, and the illustration of other components is omitted.

[0069] The positioning device 141 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the wheeled mobile body 100 based on the signals received by the antenna. The positioning device 141 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou.

[0070] The positioning device 141 generates GNSS data based on the received satellite signals. The GNSS data is generated in a predetermined format, such as the NMEA-0183 format. The GNSS data may include, for example, the identification number, elevation angle, azimuth angle, and received signal strength of each satellite from which the satellite signal was received.

[0071] The positioning device 141 can position the wheeled mobile vehicle 100 using RTK (Real Time Kinematic)-GNSS. RTK-GNSS positioning utilizes satellite signals transmitted from multiple GNSS satellites, as well as correction signals transmitted from a reference station. The reference station may be located near the area where the wheeled mobile vehicle 100 operates (for example, within 10 km of the wheeled mobile vehicle 100). The reference station generates a correction signal, for example in RTCM format, based on satellite signals received from multiple GNSS satellites and transmits it to the positioning device 141. The RTK receiver of the positioning device 141 includes an antenna and a modem and receives the correction signal transmitted from the reference station. The positioning device 141 corrects the positioning result based on the correction signal. Using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, a few centimeters. Position data, including latitude, longitude, and altitude information, is acquired through high-precision positioning using RTK-GNSS. The positioning device 141 calculates the position of the wheeled mobile body 100, for example, at a frequency of about 1 to 10 times per second.

[0072] Furthermore, the positioning method is not limited to RTK-GNSS; any positioning method that can obtain position data with the required accuracy (such as interferometric positioning or relative positioning) can be used. For example, positioning may be performed using VRS (Virtual Reference Station) or DGPS (Differential Global Positioning System). If position data with the required accuracy can be obtained without using correction signals transmitted from a reference station, the position data may be generated without using correction signals. In that case, the positioning device 141 does not need to be equipped with an RTK receiver.

[0073] Even when using RTK-GNSS, in locations where correction signals from a base station cannot be obtained (for example, on a road far from the field), the position of the wheeled mobile unit 100 is estimated by other methods, without relying on signals from the RTK receiver. For example, the position of the wheeled mobile unit 100 can be estimated by matching data output from LiDAR sensors 144F, 144Re and / or cameras 143F, 143Re with an environmental map.

[0074] The control device 150 may use sensor data acquired by sensing devices such as cameras 143F and 143Re, and LiDAR sensors 144F and 144Re, in addition to the positioning results from the positioning device 141, for positioning. If there are features that function as characteristic points in the environment in which the wheeled mobile body 100 travels, the position and orientation of the wheeled mobile body 100 can be estimated with high accuracy based on data acquired by the cameras and / or LiDAR sensors and an environmental map stored in the storage device beforehand. By correcting or supplementing position data based on satellite signals using data acquired by the cameras and / or LiDAR sensors, the position of the wheeled mobile body 100 can be determined with even higher accuracy.

[0075] The IMU142 may be equipped with a 3-axis accelerometer and a 3-axis gyroscope. The IMU142 may also be equipped with an orientation sensor such as a 3-axis geomagnetic sensor. The IMU142 can function as a motion sensor and output signals indicating various quantities such as acceleration, velocity, displacement, and attitude of the leg-wheeled mobile body 100.

[0076] Position data can be supplemented using the output signal of IMU142. IMU142 can measure the tilt and minute movements of the wheeled mobile body 100. By using the data acquired by IMU142 to supplement position data based on satellite signals, the positioning performance can be improved.

[0077] In addition to the satellite signals and correction signals mentioned above, the position and orientation of the wheeled mobile body 100 can be estimated with higher accuracy based on the signals output from the IMU 142. The signals output from the IMU 142 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU 142 outputs signals at a higher frequency than position detection using satellite signals. By utilizing these high-frequency signals, the position and orientation of the wheeled mobile body 100 can be measured at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU 142, a 3-axis accelerometer and a 3-axis gyroscope may be provided separately. The IMU 142 may be included in the positioning device 141.

[0078] The rotation sensors 145L and 145R measure the rotational speed of the wheels 120L and 120R, i.e., the number of rotations per unit time. The rotation sensors 145L and 145R may be sensors that utilize, for example, magnetoresistive elements (MR), Hall elements, or electromagnetic pickups. The rotation sensors 145L and 145R output a numerical value indicating, for example, the number of rotations per minute (in rpm) of the wheels 120L and 120R. The rotation sensors 145L and 145R are used, for example, to measure the speed of a leg-wheeled mobile body 100.

[0079] The battery 146 supplies power to various components of the wheeled mobile unit 100. The traction device 101 operates using power supplied from the battery 146, enabling the wheeled mobile unit 100 to move. The battery 146 comprises multiple battery cells and a BMS (Battery Management System). These multiple battery cells are rechargeable batteries that can be charged and discharged. The BMS controls the charging and discharging of the battery 146 and monitors the state of the battery 146. The battery 146 may also include a fuel cell.

[0080] The processor 151 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 151 may be implemented by a microprocessor or microcontroller. Alternatively, the processor 151 may be implemented by an FPGA (Field Programmable Gate Array) equipped with a CPU, a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an ASSP (Application Specific Standard Product), or a combination of two or more circuits selected from these circuits. The processor 151 sequentially executes a computer program stored in the ROM 153, which describes a set of instructions for performing at least one process, to achieve the desired process.

[0081] ROM 153 is, for example, writable memory (e.g., PROM), rewritable memory (e.g., flash memory), or read-only memory. ROM 153 stores a program that controls the operation of the processor 151. ROM 153 does not have to be a single storage medium; it may be a collection of multiple storage media. Some of the collection of multiple storage media may be removable memory.

[0082] RAM152 provides a workspace for temporarily unpacking the control program stored in ROM153 during boot-up. RAM152 does not need to be a single storage medium; it may be a collection of multiple storage media.

[0083] The storage device 154 includes one or more storage media such as flash memory or magnetic disks. The storage device 154 stores various data generated by the positioning device 141, cameras 143F and 143Re, LiDAR sensors 144F and 144Re, and the control device 150. The data stored in the storage device 154 may include map data of the environment in which the wheeled mobile vehicle 100 travels (environmental map) and target route data for autonomous driving. The environmental map and target route may be generated by the processor of the management device 600. The control device 150 may also have a function to generate or edit the environmental map and target route. The control device 150 can edit the environmental map and target route acquired from the management device 600 according to the driving environment of the wheeled mobile vehicle 100. The storage device 154 also stores work plan data received by the communication device 147 from the management device 600.

[0084] The storage device 154 also stores computer programs that cause the processors 151, ECUs 155 and 156 to perform various operations described later. Such computer programs can be provided to the wheeled mobile body 100 via a storage medium (e.g., semiconductor memory or optical disc) or a telecommunications line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0085] The ECU155 controls the travel speed and turning motion of the wheeled mobile body 100 by controlling the travel device 101.

[0086] The ECU 155 performs calculations and controls to achieve autonomous driving based on data output from the positioning device 141, cameras 143F and 143Re, LiDAR sensors 144F and 144Re, and processor 151. For example, the ECU 155 determines the position of the wheeled mobile body 100 based on data output from at least one of the positioning device 141, cameras 143F and 143Re, and LiDAR sensors 144F and 144Re. The ECU 155 may determine the position of the wheeled mobile body 100 based only on data output from the positioning device 141. The ECU 155 may estimate or correct the position of the wheeled mobile body 100 based on data acquired by cameras 143F and 143Re and LiDAR sensors 144F and 144Re. The ECU 155 may estimate the position of the wheeled mobile vehicle 100 by matching the data output from cameras 143F and 143Re and LiDAR sensors 144F and 144Re with an environmental map. During autonomous driving, the ECU 155 performs calculations necessary for the wheeled mobile vehicle 100 to travel along the target path based on the estimated position of the wheeled mobile vehicle 100.

[0087] The ECU155 controls the attitude of the wheeled mobile vehicle 100. Known attitude control techniques for wheeled mobile vehicles can be used for attitude control. The method of attitude control is arbitrary. For example, the ECU155 detects the tilt and acceleration of the wheeled mobile vehicle 100 based on the output signal of the IMU142 and controls the operation of the actuators and electric motors of the running device 101 to maintain the upright posture of the wheeled mobile vehicle 100.

[0088] The ECU 156 can determine the destination of the wheeled mobile body 100 based on the work plan stored in the storage device 154, and can determine the target path from the starting point to the destination point of the wheeled mobile body 100's movement. The ECU 156 may also perform processing to detect objects located around the wheeled mobile body 100 based on the data output from the cameras 143F and 143Re and the LiDAR sensors 144F and 144Re.

[0089] Through the operation of these ECUs, the control device 150 enables autonomous driving and the desired task. During autonomous driving, the control device 150 controls the travel device 101 based on the measured or estimated position of the wheeled mobile body 100 and the target path. This allows the control device 150 to drive the wheeled mobile body 100 along the target path.

[0090] Multiple ECUs included in the control unit 150 can communicate with each other according to a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Ethernet (registered trademark) may be used. In Figure 5, ECUs 155 and 156 are shown as separate blocks, but their respective functions may be implemented by multiple ECUs. A computer integrating at least some of the functions of ECUs 155 and 156 may be provided. The control unit 150 may also include ECUs other than ECUs 155 and 156, and any number of ECUs may be provided depending on their function. Each ECU includes a processing circuit containing one or more processors. Processor 151 may be integrated with any of the ECUs included in the control unit 150.

[0091] The communication device 147 is a device that includes circuits for communicating with the user terminal device 500, the management device 600, and other leg-wheeled mobile devices 100. The communication device 147 may include antennas and communication circuits for transmitting and receiving signals via the network 80 between the communication devices of the user terminal device 500, the management device 600, and the other leg-wheeled mobile devices 100. The network may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G and the Internet.

[0092] The communication device 147 may also have the function of communicating with a mobile terminal used by a monitor near the leg-wheeled mobile body 100. Communication between such a mobile terminal and other leg-wheeled mobile bodies 100 may be conducted using cellular mobile communication such as Wi-Fi®, 3G, 4G, or 5G, or any wireless communication standard such as Bluetooth®.

[0093] The communication device 147 may also perform wired communication. For example, it may perform wired communication with the work unit and / or other leg-wheeled mobile body 100.

[0094] The control of the autonomous movement of the wheeled mobile body 100 by the control device 150, and the control of the connection and disconnection between the wheeled mobile body 100 and the work unit, etc., can be performed in cooperation with the processor 151, ECU 155, and ECU 157.

[0095] The processor 151 instructs the ECU 155 to control autonomous driving, and the ECU 155 controls the running gear 101 to make the wheeled mobile body 100 move autonomously.

[0096] When connecting the wheeled mobile unit 100 to the work unit, the processor 151 instructs the ECU 155 to connect the wheeled mobile unit 100 to the work unit, the ECU 155 controls the travel device 101 to move the wheeled mobile unit 100 closer to the work unit, and controls the coupling device 160 to connect the wheeled mobile unit 100 to the work unit.

[0097] When the connected wheeled mobile unit 100 and the work unit are to be released, the processor 151 instructs the ECU 155 to release the connected wheeled mobile unit 100 and the work unit, and the ECU 155 controls the coupling device 160 to release the connection between the wheeled mobile unit 100 and the work unit and controls the running device 101 to move the wheeled mobile unit 100 away from the work unit.

[0098] In the example shown in Figure 3, a coupling device 160 is provided on the rear side of the upper part of the main body 105 of the wheeled mobile body 100. The position where the coupling device 160 is provided on the wheeled mobile body 100 is arbitrary.

[0099] Figures 6 and 7 are schematic perspective views showing examples of the leg-wheeled mobile body 100. In the example shown in Figure 6, a coupling device 160 is provided on the front side of the upper part of the main body 105. In the example shown in Figure 7, coupling devices 160 are provided on both the front and rear sides of the upper part of the main body 105. The coupling device 160 may be provided in positions other than those shown in these examples. Depending on the manner in which the leg-wheeled mobile body 100 is connected to the work unit, a leg-wheeled mobile body 100 with coupling devices 160 provided in a desired position may be used.

[0100] At least one of the coupling devices 160 may be detachable from the wheeled mobile body 100. Depending on the configuration of the connection between the wheeled mobile body 100 and the work unit, the position of the coupling device 160 on the wheeled mobile body 100 can be changed.

[0101] Figure 8 is a schematic perspective view showing an example of the work unit 200. Figure 9 is a schematic side view showing an example of the work unit 200.

[0102] The work unit 200 comprises a base 205 and a work device 210 provided on the base 205. The work device 210 may be referred to as an implement.

[0103] In the examples shown in Figures 8 and 9, the working device 210 includes a manipulator. A manipulator is also called a robotic arm. The working device 210 shown in Figures 8 and 9 is used, for example, in agricultural harvesting.

[0104] A coupling device 260 is provided at the lower part of the base 205, which allows connection to a wheeled mobile unit 100. The coupling device 260 is provided on both the front and rear sides of the lower part of the base 205. This allows the wheeled mobile unit 100 to be connected to both the front and rear sides of the work unit 200. For example, two wheeled mobile units 100 can be connected to the work unit 200, and the work unit 200 can be supported by the two wheeled mobile units 100. Figure 10 shows the work unit 200 supported by two wheeled mobile units 100.

[0105] In the front-to-rear direction of the work unit 200, the work device 210 is positioned between the front coupling device 260 and the rear coupling device 260. This allows the posture of the work unit 200 to be stabilized.

[0106] The coupling device 260 may be provided in a position other than that shown in the example above. Depending on the manner in which the wheeled mobile body 100 and the work unit 200 are connected, a work unit 200 with the coupling device 260 provided in a desired position may be used.

[0107] At least one of the coupling devices 260 may be detachable from the work unit 200. Depending on the configuration of the connection between the wheeled mobile body 100 and the work unit 200, the position of the coupling device 260 on the work unit 200 can be changed.

[0108] In the example shown in Figure 10, the two wheeled mobile units 100 support the work unit 200 while it is lifted off the ground. That is, the two wheeled mobile units 100 support the work unit 200 while it is suspended above the ground. Depending on the type of work unit 200, the two wheeled mobile units 100 may also support the work unit 200 while it is in contact with the ground.

[0109] In a plan view of the work unit 200 supported by two leg-wheeled mobile units 100, at least a portion of the leg and wheel of at least one of the two leg-wheeled mobile units 100 may overlap with the work unit 200. This reduces the length of the leg and wheel that protrudes forward or backward.

[0110] Next, an example of the operation of connecting the leg-wheeled mobile body 100 and the work unit 200 will be described.

[0111] Figure 11 is a flowchart illustrating an example of the operation of connecting a wheeled mobile unit 100 to a work unit 200. Figures 12 to 15 illustrate an example of the operation of connecting two wheeled mobile units 100 to a work unit 200. In this embodiment, the two wheeled mobile units 100 approach the work unit 200 from different directions and each connects to the work unit 200. In Figures 12 to 15, the two wheeled mobile units 100 are shown as wheeled mobile unit 100a and wheeled mobile unit 100b.

[0112] In the example shown in Figure 12, the work unit 200 is placed on a platform 270. The wheeled mobile unit 100a approaches the work unit 200 from the front, and the wheeled mobile unit 100b approaches the work unit 200 from the rear (step S101).

[0113] As part of the operation of the wheeled mobile unit 100a, the control device 150 of the wheeled mobile unit 100a controls the running device 101 of the wheeled mobile unit 100a to move the wheeled mobile unit 100a towards the work unit 200 from the front, and connects the coupling device 160 of the wheeled mobile unit 100a with the coupling device 260 on the front side of the work unit 200 (step S102).

[0114] The control device 150 uses the output data of the camera 143Re and / or LiDAR sensor 144Re of the wheeled mobile body 100a to detect the position of the front coupling device 260 of the work unit 200. The control device 150 uses, for example, an estimation model generated by machine learning to identify the portion of the output data of the camera 143Re and / or LiDAR sensor 144Re that indicates the front coupling device 260. The estimation model is pre-stored in the storage device 154 of the wheeled mobile body 100a. The position data of the coupling device 160 of the wheeled mobile body 100a is also pre-stored in the storage device 154.

[0115] The structures of the coupling devices 160 and 260 are arbitrary. For example, the coupling device 160 and the coupling device 260 are connected when the protrusion of the front coupling device 260 fits into the recess of the coupling device 160 of the leg-wheeled mobile body 100a. The control device 150 uses the output data of the camera 143Re and / or the LiDAR sensor 144Re to move the leg-wheeled mobile body 100a so that the protrusion of the front coupling device 260 fits into the recess of the coupling device 160.

[0116] As shown in Figure 13, when the protrusion of the front coupling device 260 fits into the recess of the coupling device 160, the control device 150 turns on the locking mechanism 162 of the coupling device 160. For example, the locking mechanism 162 of the coupling device 260 includes an electromagnet. A magnetic attraction force acts between the electromagnet and the coupling device 260, which includes a ferromagnetic material, thereby preventing the coupling from coming undone. The configuration of the locking mechanism 162 is arbitrary and not limited to this configuration. A mechanical locking mechanism may be used as the locking mechanism 162. The locking mechanism 162 may be provided on the coupling device 260, or on both the coupling devices 160 and 260.

[0117] As part of the operation of the wheeled mobile unit 100b, the control device 150 of the wheeled mobile unit 100b controls the running device 101 of the wheeled mobile unit 100b to move the wheeled mobile unit 100b towards the work unit 200 from the rear of the work unit 200, and connects the coupling device 160 of the wheeled mobile unit 100b with the coupling device 260 on the rear side of the work unit 200 (step S102).

[0118] The control device 150 uses the output data of the camera 143F and / or LiDAR sensor 144F of the wheeled mobile unit 100b to detect the position of the rear coupling device 260 of the work unit 200. The control device 150 uses, for example, an estimation model generated by machine learning to identify the portion of the output data of the camera 143F and / or LiDAR sensor 144F that indicates the rear coupling device 260. The estimation model is pre-stored in the storage device 154 of the wheeled mobile unit 100b. The position data of the coupling device 160 of the wheeled mobile unit 100b is also pre-stored in the storage device 154.

[0119] For example, the coupling device 160 and the coupling device 260 are connected when the protrusion of the rear coupling device 260 fits into the recess of the coupling device 160 of the leg-wheeled mobile body 100b. The control device 150 uses the output data of the camera 143F and / or the LiDAR sensor 144F to move the leg-wheeled mobile body 100b so that the protrusion of the rear coupling device 260 fits into the recess of the coupling device 160.

[0120] As shown in Figure 13, when the protrusion of the rear coupling device 260 fits into the recess of coupling device 160, the control device 150 turns on the locking mechanism 162 of coupling device 160. This prevents the coupling from coming undone.

[0121] The respective control devices 150 for the wheeled mobile units 100a and 100b may control the wheeled mobile units 100a and 100b so that they connect to the work unit 200 substantially simultaneously.

[0122] Furthermore, the control devices 150 for each of the wheeled mobile units 100a and 100b may control the wheeled mobile units 100a and 100b such that one of them is connected to the work unit 200 first, and then the other is connected to the work unit 200.

[0123] By connecting each of the wheeled mobile units 100a and 100b to the work unit 200, the wheeled mobile units 100a and 100b can support the work unit 200 (step S103).

[0124] As shown in Figure 14, the respective control devices 150 of the wheeled mobile units 100a and 100b control the legs 110L and 110R of the wheeled mobile units 100a and 100b to extend by a certain amount. As a result, the work unit 200 can be lifted above the platform 270 and move away from the platform 270. In this state, for example, the wheeled mobile units 100a and 100b can move away from the platform 270 by performing a walking motion and moving them to the left or right. Figure 15 shows the wheeled mobile units 100a and 100b after they have moved away from the platform 270. Once the wheeled mobile units 100a and 100b are away from the platform 270, they can move freely.

[0125] The platform 270 is equipped with a travel device, and the platform 270 may move to the left or to the right, thereby separating from the leg-wheel type mobile bodies 100a and 100b.

[0126] The work unit 200 may be suspended from above before being connected to the wheeled mobile units 100a and 100b. The wheeled mobile units 100a and 100b may approach and connect to the work unit 200 while it is suspended from above.

[0127] The wheeled mobile units 100a and 100b can communicate with each other and work together. The control devices 150 for the wheeled mobile units 100a and 100b share information such as the position and status of each unit, the work content, the work plan, the target route, and the destination, and jointly control the work.

[0128] The wheeled mobile units 100a and 100b transport the supported work unit 200 to the destination and allow the work unit 200 to perform its work at the destination (steps S104, S105).

[0129] Figure 16 shows an example of the operation of a work unit 200 supported by wheeled mobile units 100a and 100b. In this example, the work device 210 includes a manipulator, which is used to harvest crops in the field. For example, crops are harvested from trees 280 in the field. The crops in the field may be, but are not limited to, vegetables or fruits.

[0130] In this embodiment, the work unit 200 is supported by multiple wheeled mobile units 100. For example, the work unit 200 is supported by two wheeled mobile units 100.

[0131] When a work unit 200 is supported by a single leg-wheeled mobile unit 100, the posture of the work unit 200 may become unstable. For example, if the leg-wheeled mobile unit 100 is a bipedal, two-wheeled mobile unit, the posture of the work unit 200 may become unstable.

[0132] In this embodiment, for example, two wheeled mobile units 100 are connected to the work unit 200 from different directions to support the work unit 200. By being supported by the two wheeled mobile units 100 from different directions, the work unit 200 can perform tasks in a stable posture.

[0133] When two wheeled mobile units 100 are connected to a work unit 200, one control device 150 of the two wheeled mobile units 100 may control the movement of both wheeled mobile units 100. This makes it easier to synchronize the operation of the two wheeled mobile units 100.

[0134] Figure 17 illustrates the direction in which the knee joints of the legs of the wheeled mobile units 100a and 100b bend. As shown in the upper part of Figure 17, when the height of the work unit 200 is lowered while the wheeled mobile units 100a and 100b are supporting the work unit 200, the direction 122a in which the knee joints 112L and 112R of the wheeled mobile unit 100a protrude and the direction 122b in which the knee joints 112L and 112R of the wheeled mobile unit 100b protrude may be the same. In the example shown in the upper part of Figure 17, each knee joint protrudes backward, but each knee joint may also protrude forward.

[0135] Furthermore, as shown in the lower part of Figure 17, when the height of the work unit 200 is lowered while the leg-wheeled mobile bodies 100a and 100b are supporting the work unit 200, the direction 122a in which the knee joints 112L and 112R of the leg-wheeled mobile body 100a protrude and the direction 122b in which the knee joints 112L and 112R of the leg-wheeled mobile body 100b protrude may be different from each other. In the example shown in the lower part of Figure 17, each knee joint protrudes inward in the front-rear direction, but each knee joint may protrude outward in the front-rear direction.

[0136] The coupling device 160 of the wheeled mobile unit 100 and the coupling device 260 of the work unit 200 may be equipped with electrode terminals for data communication between the wheeled mobile unit 100 and the work unit 200, and for data communication between the wheeled mobile units 100. Furthermore, the coupling devices 160 and 260 may be equipped with electrode terminals for power input / output between the wheeled mobile unit 100 and the work unit 200, and for power input / output between the wheeled mobile units 100.

[0137] Figure 18 is a block diagram illustrating the electrode terminals provided by coupling device 160 and coupling device 260.

[0138] The coupling device 160 of the wheeled mobile body 100 is equipped with electrode terminals 165 and 166. Electrode terminal 165 is a signal terminal used for data communication. Electrode terminal 166 is used for power input and output.

[0139] The coupling device 260 of the work unit 200 is equipped with electrode terminals 265 and 266. Electrode terminal 265 is a signal terminal used for data communication. Electrode terminal 266 is used for power input and output.

[0140] The work unit 200 includes a control device 250, a battery 246, and a communication device 247. The control device 250 controls the operation of the work device 210. The control device 250 controls the operation of various components of the work unit 200.

[0141] Battery 246 supplies power to various components of the work unit 200. Battery 246 comprises multiple battery cells and a BMS. These multiple battery cells are rechargeable batteries that can be charged and discharged. The BMS controls the charging and discharging of battery 246 and monitors the status of battery 246.

[0142] The communication device 247 is a device that includes a circuit for communicating with the leg-wheeled mobile body 100. The communication device 247 is capable of wired communication and / or wireless communication. The communication device 247 may also communicate with a user terminal device 500, a management device 600, etc.

[0143] When the coupling device 160 of the wheeled mobile unit 100 and the coupling device 260 of the work unit 200 are connected, electrode terminals 165 and 265 make electrical contact, and electrode terminals 166 and 266 also make electrical contact. This enables wired communication between communication device 147 and communication device 247. In addition, power input and output can be performed between the wheeled mobile unit 100 and the work unit 200.

[0144] The two wheeled mobile units 100 can communicate via wired connection through the work unit 200. Furthermore, the two wheeled mobile units 100 can input and output power through the work unit 200.

[0145] Wiring may be provided so that the two wheeled mobile units 100 can communicate with each other without going through the communication device 247. Also, wiring may be provided so that the two wheeled mobile units 100 can input and output power to each other without going through the battery 246 and power supply circuit of the work unit 200.

[0146] Next, an embodiment in which three or more wheeled mobile units 100 support two or more work units 200 will be described. In this embodiment, n wheeled mobile units 100 support n-1 work units 200. Here, n is an integer of 3 or more.

[0147] The n wheeled mobile units 100 can communicate with each other and perform tasks collaboratively. The control devices 150 for the n wheeled mobile units 100 share information such as the position and status of each unit, the work content, the work plan, the target route, and the destination, and jointly control the work.

[0148] Figure 19 shows an example in which three wheeled mobile units 100 support two work units 200. Figure 20 shows three wheeled mobile units 100 and two work units 200. In the examples shown in Figures 19 and 20, the three wheeled mobile units 100 are the first wheeled mobile unit 100a, the second wheeled mobile unit 100b, and the third wheeled mobile unit 100c. The two work units 200 are the first work unit 200a and the second work unit 200b.

[0149] A work device 210 is provided on the base 205 of the first work unit 200a.

[0150] A battery 211 is provided at the base 205 of the second work unit 200b. The battery 211 performs the function of inputting and outputting power. The battery 211 can supply power to at least one of the three leg-wheeled mobile units 100. The battery 211 may also supply power to at least one other work unit 200.

[0151] Battery 211 comprises multiple battery cells and a BMS. These multiple battery cells are rechargeable batteries that can be charged and discharged. The BMS controls the charging and discharging of battery 211 and monitors the status of battery 211. Battery 211 may also include a fuel cell.

[0152] The first wheeled mobile unit 100a and the second wheeled mobile unit 100b are each connected to the first work unit 200a. That is, the first work unit 200a is shared by the first wheeled mobile unit 100a and the second wheeled mobile unit 100b.

[0153] The second-legged wheeled mobile unit 100b and the third-legged wheeled mobile unit 100c are each connected to the second work unit 200b. That is, the second work unit 200b is shared by the second-legged wheeled mobile unit 100b and the third-legged wheeled mobile unit 100c.

[0154] Figure 21 shows an example of the operation of connecting the leg-wheeled mobile body 100 and the work unit 200.

[0155] For example, the first wheeled mobile unit 100a and the second wheeled mobile unit 100b can each be connected to the first work unit 200a using the method described with reference to Figures 11-15.

[0156] In the example shown in Figure 21, the second work unit 200b is positioned on the base 270. The second work unit 200b may also be suspended from above. Here, the group in which each of the first leg-wheeled mobile body 100a and the second leg-wheeled mobile body 100b is connected to the first work unit 200a is referred to as the first group G1.

[0157] The first group G1 approaches the second work unit 200b from the front. The third legged wheeled mobile unit 100c approaches the second work unit 200b from the rear.

[0158] The control devices 150 of the first leg-wheeled mobile unit 100a and the control device 150 of the second leg-wheeled mobile unit 100b control the operation of the first group G1. One of the two control devices 150 may control the operation of both the first leg-wheeled mobile unit 100a and the second leg-wheeled mobile unit 100b. The first group G1 approaches the second work unit 200b, and the coupling device 160 of the second leg-wheeled mobile unit 100b and the front coupling device 260 of the second work unit 200b are connected.

[0159] The control device 150 of the third-legged wheeled mobile unit 100c controls the operation of the third-legged wheeled mobile unit 100c. The third-legged wheeled mobile unit 100c approaches the second work unit 200b, and the coupling device 160 of the third-legged wheeled mobile unit 100c is connected to the rear coupling device 260 of the second work unit 200b.

[0160] After the connection is made, the units can be separated from the platform 270, for example, by the method described with reference to Figures 14-15. For example, the leg-wheeled mobile units 100a-100c can be separated from the platform 270 by performing a walking motion and moving them to the left or right. Alternatively, the platform 270 may be equipped with a running device, and the platform 270 may be separated from the leg-wheeled mobile units 100a-100c by moving to the left or right.

[0161] In this embodiment, n-1 work units 200 are supported by n wheeled mobile units 100. This allows for a higher ratio of work units 200 to the number of wheeled mobile units 100, enabling more efficient work. For example, compared to a case where groups of two wheeled mobile units 100 supporting one work unit 200 are connected, the ratio of work units 200 to the number of wheeled mobile units 100 can be increased.

[0162] Figure 22 shows an example in which four wheeled mobile units 100 support three work units 200. In the example shown in Figure 22, the four wheeled mobile units 100 are the first wheeled mobile unit 100a, the second wheeled mobile unit 100b, the third wheeled mobile unit 100c, and the fourth wheeled mobile unit 100d. The three work units 200 are the first work unit 200a, the second work unit 200b, and the third work unit 200c.

[0163] A work device 210 is provided on the base 205 of the first work unit 200a. A battery 211 is provided on the base 205 of the second work unit 200b and the third work unit 200c, respectively.

[0164] The first wheeled mobile unit 100a and the second wheeled mobile unit 100b are each connected to the first work unit 200a. That is, the first work unit 200a is shared by the first wheeled mobile unit 100a and the second wheeled mobile unit 100b.

[0165] The second-legged wheeled mobile unit 100b and the third-legged wheeled mobile unit 100c are each connected to the second work unit 200b. That is, the second work unit 200b is shared by the second-legged wheeled mobile unit 100b and the third-legged wheeled mobile unit 100c.

[0166] The third-legged wheeled mobile unit 100c and the fourth-legged wheeled mobile unit 100d are each connected to the third work unit 200c. That is, the third work unit 200c is shared by the third-legged wheeled mobile unit 100c and the fourth-legged wheeled mobile unit 100d.

[0167] Figure 23 shows an example of the operation of connecting the leg-wheeled mobile body 100 and the work unit 200.

[0168] For example, the first-legged wheeled mobile unit 100a and the second-legged wheeled mobile unit 100b can each be connected to the first work unit 200a using the method described with reference to Figures 11-15. Furthermore, the third-legged wheeled mobile unit 100c and the fourth-legged wheeled mobile unit 100d can each be connected to the third work unit 200c.

[0169] In the example shown in Figure 23, the second work unit 200b is positioned on the base 270. The second work unit 200b may also be suspended from above. Here, the group in which the first leg-wheeled mobile body 100a and the second leg-wheeled mobile body 100b are each connected to the first work unit 200a is designated as the first group G1. The group in which the third leg-wheeled mobile body 100c and the fourth leg-wheeled mobile body 100d are each connected to the third work unit 200c is designated as the second group G2.

[0170] The first group G1 approaches the second work unit 200b from the front. The second group G2 approaches the second work unit 200b from the rear.

[0171] The control devices 150 of the first leg-wheeled mobile unit 100a and the control device 150 of the second leg-wheeled mobile unit 100b control the operation of the first group G1. One of the two control devices 150 may control the operation of both the first leg-wheeled mobile unit 100a and the second leg-wheeled mobile unit 100b. The first group G1 approaches the second work unit 200b, and the coupling device 160 of the second leg-wheeled mobile unit 100b and the front coupling device 260 of the second work unit 200b are connected.

[0172] The control devices 150 of the third-legged wheeled mobile unit 100c and the control devices 150 of the fourth-legged wheeled mobile unit 100d control the operation of the second group G2. One of the two control devices 150 may control the operation of both the third-legged wheeled mobile unit 100c and the fourth-legged wheeled mobile unit 100d. The second group G2 approaches the second work unit 200b, and the coupling device 160 of the third-legged wheeled mobile unit 100c is connected to the rear coupling device 260 of the second work unit 200b.

[0173] After the connection is made, the units can be separated from the platform 270, for example, by the method described with reference to Figures 14-15. For example, the leg-wheeled mobile units 100a-100d can be separated from the platform 270 by performing a walking motion and moving them to the left or right. Alternatively, the platform 270 may be equipped with a running device, and the platform 270 may be separated from the leg-wheeled mobile units 100a-100d by moving the platform 270 to the left or right.

[0174] Figure 24 shows another example of a configuration in which four leg-wheeled mobile units 100 support three work units 200. Figure 25 is a block diagram showing another example of the second work unit 200b. In the examples shown in Figures 24 and 25, the second work unit 200b acts as a bridge for data communication between the second leg-wheeled mobile unit 100b and the third leg-wheeled mobile unit 100c. It also acts as a bridge for power input and output between the second leg-wheeled mobile unit 100b and the third leg-wheeled mobile unit 100c. In this embodiment, such bridging is included in the work of the work unit 200.

[0175] For example, the front electrode terminal 265 and the rear electrode terminal 265 of the second work unit 200b are electrically connected by a wire. Also, for example, the front electrode terminal 266 and the rear electrode terminal 266 of the second work unit 200b are electrically connected by a wire. These wires are provided, for example, within the base 205. This enables the bridging of data communication and power input / output as described above.

[0176] In this embodiment, the structure in which each of the two wheeled mobile units 100 is connected to the work unit 200 may be referred to as a "vehicle." The vehicle can be driven automatically by the control device 150 of the wheeled mobile unit 100. Multiple vehicles can travel in a line by automatic driving. In addition, in this embodiment, the structure in which each of the two wheeled mobile units 100 is connected to the work unit 200 may be simply referred to as a "mobile unit."

[0177] The “vehicle” according to this embodiment is not limited to a structure in which each of the multiple wheeled mobile units 100 is connected to a work unit 200. Any vehicle structure capable of performing the desired work may be used. The “mobile unit” according to this embodiment is not limited to a structure in which each of the multiple wheeled mobile units 100 is connected to a work unit 200. Any mobile unit capable of performing the desired work may be used.

[0178] In a vehicle structure in which two wheeled mobile units 100 are connected to a work unit 200, a control device 150 of one of the two wheeled mobile units 100 may control the movement of both wheeled mobile units 100.

[0179] Figure 26 shows an example of multiple vehicles 300. In the example shown in Figure 26, the multiple vehicles 300 are shown as the first vehicle 300a, the second vehicle 300b, and the third vehicle 300c.

[0180] The first vehicle 300a has a structure in which each of the leg-wheeled mobile units 100a and 100b is connected to a work unit 200a. The second vehicle 300b has a structure in which each of the leg-wheeled mobile units 100c and 100d is connected to a work unit 200b. The third vehicle 300c has a structure in which each of the leg-wheeled mobile units 100e and 100f is connected to a work unit 200c.

[0181] Each of the vehicles 300a-300c is provided with a coupling device 360 ​​at its front and / or rear. The vehicles can be coupled together using the coupling device 360.

[0182] The structure of the coupling device 360 ​​is arbitrary. For example, a known coupler can be used as the coupling device 360. For example, a known automatic coupler can be used as the coupling device 360. Each control device 150 of vehicles 300a-300c can control the coupling operation and the uncoupling operation of the coupling device 360.

[0183] The coupling device 360 ​​may be equipped with electrode terminals for data communication between multiple vehicles 300. The coupling device 360 ​​may also be equipped with electrode terminals for power input and output between multiple vehicles 300. This allows for wired communication between multiple vehicles 300, as well as power input and output between multiple vehicles 300.

[0184] Figure 27 shows vehicles 300a-300c in a coupled state. The rear coupling device 360 ​​of the first vehicle 300a is coupled to the front coupling device 360 ​​of the second vehicle 300b. The rear coupling device 360 ​​of the second vehicle 300b is coupled to the front coupling device 360 ​​of the third vehicle 300c. Vehicles 300a-300c can travel in a convoy while coupled.

[0185] Vehicles 300a and 300c can communicate with each other and work together. The control devices 150 of vehicles 300a and 300c share information such as the location and status of each vehicle, work content, work plan, target route, and destination, and jointly control the work.

[0186] Figures 28-37 illustrate an example of a turning maneuver performed by vehicles 300a-300c traveling in a line. Vehicles 300a-300c travel automatically along a target path 310. In Figures 28-37, the target path 310 is shown as a dashed line.

[0187] Figure 28 shows vehicles 300a-300c traveling in a straight line along a straight path. Figure 29 shows vehicles 300a-300c approaching a turning path.

[0188] As the train approaches the turning path, the control devices 150 of the first vehicle 300a and / or the second vehicle 300b cause the coupling device 360 ​​connecting the first vehicle 300a and the second vehicle 300b to be released.

[0189] As shown in Figure 30, the control device 150 of the first vehicle 300a, which has been released from its coupling, controls the movement of the first vehicle 300a so that it separates from the second vehicle 300b. For example, the control device 150 controls the movement of the first vehicle 300a so that it separates from the second vehicle 300b by a distance D2. Distance D2 is greater than the distance D1 (Figure 29) between the first vehicle 300a and the second vehicle 300b when they are traveling in a straight line. Distances D1 and D2 are the distance between vehicles. The distance D1 when the first vehicle 300a and the second vehicle 300b are coupled may be considered to be zero, for example.

[0190] After the first vehicle 300a and the second vehicle 300b are separated by a distance D2, the control device 150 of the first vehicle 300a starts turning, as shown in Figure 31.

[0191] After the first vehicle 300a begins to turn, the second vehicle 300b then begins to turn. As shown in Figures 32 and 33, the control devices 150 of the second vehicle 300b and / or the third vehicle 300c cause the coupling device 360 ​​connecting the second vehicle 300b and the third vehicle 300c to be released. As shown in Figure 33, the control device 150 of the second vehicle 300b, now released, controls the movement of the second vehicle 300b so that it moves away from the third vehicle 300c. For example, the control device 150 controls the movement of the second vehicle 300b so that it moves away from the third vehicle 300c by a distance D4. Distance D4 is greater than the distance D3 (Figure 32) between the second vehicle 300b and the third vehicle 300c when they are traveling in a straight line. Distances D3 and D4 are the distance between vehicles. The distance D3 when the second vehicle 300b and the third vehicle 300c are coupled together may be considered zero, for example.

[0192] After the second vehicle 300b and the third vehicle 300c are separated by a distance D4, the control device 150 of the second vehicle 300b initiates a turn, as shown in Figure 34.

[0193] As shown in Figure 35, after the second vehicle 300b begins to turn, the control device 150 of the third vehicle 300c then causes the third vehicle 300c to begin turning, and as shown in Figure 36, the turning of all three vehicles 300a-300c is completed.

[0194] Once the turning of vehicles 300a-300c is complete, as shown in Figure 37, the control device 150 of the first vehicle 300a and / or the second vehicle 300b brings the first vehicle 300a and the second vehicle 300b closer together and connects them. The control device 150 of the second vehicle 300b and / or the third vehicle 300c brings the second vehicle 300b and the third vehicle 300c closer together and connects them. The order in which vehicles 300a-300c are lined up may be the same before and after the turning of vehicles 300a-300c.

[0195] The first vehicle 300a and the second vehicle 300b may be coupled together as soon as the first vehicle 300a and the second vehicle 300b have completed their turns, without waiting for the third vehicle 300c to complete its turn.

[0196] When vehicles 300a-300c, traveling in a convoy, turn while maintaining a constant distance between them, the turning radius may increase. For example, if vehicles 300a-300c turn while maintaining their coupling, the turning radius may increase.

[0197] According to this embodiment, when vehicles 300a-300c traveling in a line turn, the first vehicle 300a is driven such that the distance between the first vehicle 300a and the second vehicle 300b is greater than when the vehicles 300a-300c are traveling in a straight line, and then the first vehicle 300a is turned. This allows the first vehicle 300a to turn independently of the other vehicles, and the turning radius can be reduced.

[0198] Furthermore, the second vehicle 300b is driven in such a way that the distance between it and the third vehicle 300c is greater than when vehicles 300a and 300c are traveling in a straight line, and then the second vehicle 300b is turned. This allows the second vehicle 300b to turn independently of the other vehicles, thereby reducing the turning radius.

[0199] The second vehicle 300b may begin its turn at a point further ahead than the point where the first vehicle 300a began its turn.

[0200] Figure 38 shows an example of the point at which the second vehicle 300b begins to turn. In the example shown in Figure 38, the first vehicle 300a begins to turn at point P1. The control device 150 of the second vehicle 300b causes the second vehicle 300b to begin turning at point P2, which is further ahead than point P1, and turns the second vehicle 300b along the target path shown by the dashed line. This allows for smooth coupling after the turn.

[0201] The third vehicle 300c may begin turning at point P3, which is further ahead than point P2, and turn along the target path indicated by the dotted line.

[0202] The turning motion described using Figures 28-38 can also be applied to multiple vehicles that are not connected to each other but maintain a constant distance between them while traveling.

[0203] Figures 39-43 illustrate an example of turning maneuvers for vehicles 300a-300c traveling in a line. In the example shown in Figures 39-43, vehicles 300a-300c are not connected to each other and maintain a constant distance between them when traveling in a straight line.

[0204] Figure 39 shows vehicles 300a-300c traveling in a straight line along a straight path. When traveling in a straight line, the first vehicle 300a and the second vehicle 300b maintain a distance of D1 from each other. The second vehicle 300b and the third vehicle 300c maintain a distance of D3 from each other. Distances D1 and D3 can be the same.

[0205] As shown in Figure 40, when vehicles 300a-300c approach the turning path, the control device 150 of the first vehicle 300a controls the movement of the first vehicle 300a so that the first vehicle 300a and the second vehicle 300b move apart. For example, the control device 150 controls the movement of the first vehicle 300a so that the first vehicle 300a and the second vehicle 300b move apart by a distance D2. The distance D2 is greater than the distance D1 between the first vehicle 300a and the second vehicle 300b when they are traveling in a straight line. After the first vehicle 300a and the second vehicle 300b have moved apart by a distance D2, the control device 150 causes the first vehicle 300a to start turning, as shown in Figure 41.

[0206] After the first vehicle 300a begins to turn, the second vehicle 300b then begins to turn. As shown in Figure 42, the control device 150 of the second vehicle 300b controls the movement of the second vehicle 300b so that it moves away from the third vehicle 300c. For example, the control device 150 controls the movement of the second vehicle 300b so that it moves away from the third vehicle 300c by a distance D4. The distance D4 is greater than the distance D3 between the second vehicle 300b and the third vehicle 300c when they are moving in a straight line.

[0207] After the second vehicle 300b and the third vehicle 300c are separated by a distance D4, the control device 150 of the second vehicle 300b initiates the turning of the second vehicle 300b, as shown in Figure 43. After the second vehicle 300b has started turning, the control device 150 of the third vehicle 300c then initiates the turning of the third vehicle 300c.

[0208] This allows for a smaller turning radius.

[0209] The turning motion described using Figures 28-38 can also be applied when four or more vehicles 300 are traveling in a line, and two or more vehicles 300 are turning while maintaining their connection.

[0210] Figures 44-45 illustrate an example of turning maneuvers for four vehicles 300a-300d traveling in a line. Vehicles 300a-300d communicate with each other and can work together. The control devices 150 for vehicles 300a-300d share information such as the position and status of each vehicle, work content, work plan, target route, and destination, and jointly control the work.

[0211] Figure 44 shows vehicles 300a-300d traveling in a straight line along a straight path.

[0212] As shown in Figure 45, when approaching the turning path, the control devices 150 of the second vehicle 300b and / or the third vehicle 300c cause the coupling device 360 ​​connecting the second vehicle 300b and the third vehicle 300c to be released.

[0213] The group consisting of the first vehicle 300a and the second vehicle 300b, and the group consisting of the third vehicle 300c and the fourth vehicle 300d, travel at a distance D6 apart from each other. The distance D6 is greater than the distance D5 (Figure 44) between the second vehicle 300b and the third vehicle 300c when they are traveling in a straight line.

[0214] After the groups have separated by a distance D6, the group consisting of the first vehicle 300a and the second vehicle 300b begins to turn. Following the group consisting of the first vehicle 300a and the second vehicle 300b, the group consisting of the third vehicle 300c and the fourth vehicle 300d then begins to turn. This reduces the turning radius.

[0215] Next, an example of the operation of multiple mobile units will be described. As mentioned above, in this embodiment, a structure in which each of two wheeled mobile units 100 is connected to a work unit 200 may be simply referred to as a "mobile unit." The "mobile unit" in this embodiment is not limited to a structure in which each of multiple wheeled mobile units 100 is connected to a work unit 200. Any mobile unit with a structure capable of performing the desired work may be used.

[0216] Each mobile unit can be driven automatically by the control device 150 of the leg-wheeled mobile unit 100. Multiple mobile units can travel in a line by autonomous driving.

[0217] In a mobile structure in which two wheeled mobile units 100 are connected to a work unit 200, a control device 150 of one of the two wheeled mobile units 100 may control the movement of both wheeled mobile units 100.

[0218] Figure 46 shows an example of multiple mobile bodies 400. In the example shown in Figure 46, the multiple mobile bodies 400 are shown as a first mobile body 400a, a second mobile body 400b, a third mobile body 400c, and a fourth mobile body 400d.

[0219] The first mobile unit 400a has a structure in which each of the leg-wheeled mobile units 100a and 100b is connected to a work unit 200h. The second mobile unit 400b has a structure in which each of the leg-wheeled mobile units 100c and 100d is connected to a work unit 200i. The third mobile unit 400c has a structure in which each of the leg-wheeled mobile units 100e and 100f is connected to a work unit 200j. The fourth mobile unit 400d has a structure in which each of the leg-wheeled mobile units 100g and 100h is connected to a work unit 200k.

[0220] Each of the mobile units 400a-400d is provided with the aforementioned coupling device 360 ​​at its front and / or rear. The mobile units can be connected to each other using the coupling device 360. Each of the control devices 150 of the mobile units 400a-400d can control the coupling operation and the uncoupling operation of the coupling device 360.

[0221] The coupling device 360 ​​may be equipped with electrode terminals for data communication between multiple mobile units 400. The coupling device 360 ​​may also be equipped with electrode terminals for power input and output between multiple mobile units 400. This allows for wired communication between multiple mobile units 400, and also enables power input and output between multiple mobile units 400.

[0222] The coupling device 360 ​​at the rear of the first mobile unit 400a is connected to the coupling device 360 ​​at the front of the second mobile unit 400b. The coupling device 360 ​​at the rear of the second mobile unit 400b is connected to the coupling device 360 ​​at the front of the third mobile unit 400c. The mobile units 400a-400c can travel in a line while coupled together.

[0223] The mobile units 400a and 400d can communicate with each other and perform tasks together. The control devices 150 for the mobile units 400a and 400d share information such as the location and status of each mobile unit 400a and 400d, the work content, the work plan, the target route, and the destination, and jointly control the work.

[0224] The work unit 200h of the first mobile body 400a is equipped with a work device 210. The work device 210 includes a manipulator.

[0225] The work unit 200i of the second mobile body 400b is equipped with a supply device 410 capable of supplying materials to the work device 210. The materials are, for example, agricultural materials. In this example, the materials are seedlings, and the supply device 410 supplies seedlings to the work device 210 of the first mobile body 400a. The type of material is arbitrary and is not limited to seedlings.

[0226] Figure 47 shows an example of a supply device 410. The supply device 410 includes a seedling tray 411, a bar 413, and an actuator 414.

[0227] A seedling mat 412 is placed on the seedling tray 411. The upper part of the bar 413 is connected to the actuator 414. The actuator 414 is provided on the base 205 and supports the bar 413. The lower part of the bar 413 is connected to the seedling tray 411, and the bar 413 supports the seedling tray 411. The actuator 414 supports the seedling tray 411 via the bar 413.

[0228] The actuator 414 can move the bar 413 in the forward and backward direction. By moving the bar 413 in the forward and backward direction, the seedling tray 411 can be moved in the forward and backward direction. The actuator 414 may also move the bar 413 and the seedling tray 411 in the up and down direction.

[0229] In the supply device 410 shown above in FIG. 47, the bar 413 and the seedling placing table 411 are moving forward. The working device (manipulator) 210 of the first moving body 400a grabs the seedlings placed on the seedling placing table 411 and performs the work of planting the grabbed seedlings in the field. By moving the seedling placing table 411 forward, as shown in FIG. 46, the manipulator 210 of the first moving body 400a can easily grab the seedlings placed on the seedling placing table 411.

[0230] In the supply device 410 shown below in FIG. 47, the bar 413 and the seedling placing table 411 are moving backward. By moving the seedling placing table 411 backward, it is possible to prevent the seedling placing table 411 from interfering with the legs of the first moving body 400a when the second moving body 400b approaches or moves away from the first moving body 400a.

[0231] Similar to the second moving body 400b, the working unit 200k of the fourth moving body 400d includes a supply device 410 capable of supplying materials to the working device 210.

[0232] The working unit 200j of the third moving body 400c includes a battery 211. The battery 211 can supply power to at least one of the moving bodies 400a - 400c. When the fourth moving body 400d is in line with the third moving body 400c, the battery 211 may supply power to the fourth moving body 400d.

[0233] FIGS. 48 - 52 are diagrams for explaining an example of the operation of the moving bodies 400a - 400c traveling in a line. The first moving body 400a and the second moving body 400b are connected, and the second moving body 400b and the third moving body 400c are connected. The moving bodies 400a - 400c travel in automatic operation along the target path 310 set in the field.

[0234] The working device 210 of the first moving body 400a performs the work of planting seedlings in the field while receiving the supply of seedlings from the supply device 410 of the second moving body 400b.

[0235] In this embodiment, when the amount of seedlings stacked on the second mobile unit 400b falls below a predetermined amount, the second mobile unit 400b moves away from the row, and instead, the fourth mobile unit 400d joins the row, and the fourth mobile unit 400d supplies seedlings to the working device 210 of the first mobile unit 400a.

[0236] The control device 150 of the second mobile unit 400b can detect the amount of seedlings in the supply device 410 based, for example, on the output data of a camera and / or weight sensor installed in the supply device 410. For example, when the amount of seedlings in the supply device 410 becomes zero, the control device 150 of the second mobile unit 400b notifies the control devices 150 of the first mobile unit 400a and the third mobile unit 400c to move away from the row. The control device 150 of the second mobile unit 400b also notifies the control device 150 of the fourth mobile unit 400d to move away from the row.

[0237] When a notification is given to move away from the row, the first mobile unit 400a stops planting seedlings. As shown in Figure 49, the control device 150 of the first mobile unit 400a and / or the second mobile unit 400b causes the coupling device 360 ​​connecting the first mobile unit 400a and the second mobile unit 400b to be uncoupled. The control device 150 of the second mobile unit 400b and / or the third mobile unit 400c causes the coupling device 360 ​​connecting the second mobile unit 400b and the third mobile unit 400c to be uncoupled. The control device 150 of the fourth mobile unit 400d causes the fourth mobile unit 400d to move closer to the row.

[0238] As shown in Figure 50, the control device 150 of the second mobile body 400b, which has been released from its connection, moves the second mobile body 400b away from the first mobile body 400a and the third mobile body 400c, for example, in the lateral direction. For example, the control device 150 can move the second mobile body 400b away from the first mobile body 400a and the third mobile body 400c by causing the leg-wheel type mobile bodies 100c and 100d to perform a walking motion and moving the second mobile body 400b to the left or right.

[0239] As shown in Figure 51, the control device 150 of the fourth mobile body 400d moves the fourth mobile body 400d between the first mobile body 400a and the third mobile body 400c from a direction opposite to the direction in which the second mobile body 400b was moving. For example, if the second mobile body 400b moves to the right, the fourth mobile body 400d moves between the first mobile body 400a and the third mobile body 400c from the left. For example, the control device 150 of the fourth mobile body 400d can move between the first mobile body 400a and the third mobile body 400c by causing the leg-wheel type mobile bodies 100g and 100h to perform a walking motion and moving the fourth mobile body 400d laterally.

[0240] As shown in Figure 52, the control device 150 of the first mobile body 400a and / or the fourth mobile body 400d connects the first mobile body 400a and the fourth mobile body 400d. The control device 150 of the fourth mobile body 400d and / or the third mobile body 400c connects the fourth mobile body 400d and the third mobile body 400c.

[0241] The working device 210 of the first mobile unit 400a resumes planting seedlings in the field. The working device 210 of the first mobile unit 400a can plant seedlings in the field while receiving seedlings from the supply device 410 of the fourth mobile unit 400d.

[0242] In this embodiment, when the amount of seedlings loaded on the second mobile unit 400b falls below a predetermined amount, the second mobile unit 400b moves away from the first mobile unit 400a and the third mobile unit 400c, and the fourth mobile unit 400d moves between the first mobile unit 400a and the third mobile unit 400c. As a result, the work device 210 of the first mobile unit 400a can continue to operate while receiving a supply of seedlings.

[0243] Furthermore, for example, if the working time of the work device 210 of the first mobile body 400a exceeds a predetermined time, the second mobile body 400b may leave the row. Also, for example, if the distance traveled by the first mobile body 400a while the work device 210 of the first mobile body 400a is planting seedlings exceeds a predetermined distance, the second mobile body 400b may leave the row. This allows the second mobile body 400b to be removed from the row and the fourth mobile body 400d to be added to the row at a time when it is estimated that the amount of seedlings loaded on the second mobile body 400b has fallen below a predetermined amount.

[0244] Figure 53 shows another example of multiple mobile units 400 traveling in a line. In the example shown in Figure 53, a fifth mobile unit 400e is positioned between the second mobile unit 400b and the third mobile unit 400c. The fifth mobile unit 400e has a structure in which each of the leg-wheeled mobile units 100i and 100j is connected to a work unit 200l. The front and rear of the fifth mobile unit 400e are provided with the aforementioned coupling devices 360. The mobile units 400a, 400b, 400e, and 400c can travel in a line while connected.

[0245] The mobile units 400a and 400e can communicate with each other and perform tasks together. The control devices 150 for the mobile units 400a and 400e share information such as the location and status of each mobile unit 400a and 400e, the work content, the work plan, the target route, and the destination, and jointly control the work.

[0246] The work unit 200l of the fifth mobile unit 400e is equipped with a supply device 410 capable of supplying materials to the work device 210 of the first mobile unit 400a.

[0247] Figures 54-58 illustrate an example of the operation of mobile units 400a, 400b, 400e, and 400c traveling in a line. Mobile units 400a, 400b, 400e, and 400c travel automatically along a target path 310 set in the field.

[0248] The working device 210 of the first mobile unit 400a receives seedlings from the supply device 410 of the second mobile unit 400b and performs the work of planting seedlings in the field.

[0249] The control device 150 of the second mobile unit 400b notifies the control devices 150 of mobile units 400a, 400e, and 400c that it will move away from the row when the amount of seedlings loaded on the second mobile unit 400b falls below a predetermined amount. The control device 150 of the second mobile unit 400b also notifies the control device 150 of the fourth mobile unit 400d that it will move away from the row.

[0250] When a notification is given to move away from the row, the first mobile unit 400a stops planting seedlings. As shown in Figure 55, the control device 150 of the first mobile unit 400a and / or the second mobile unit 400b causes the coupling device 360 ​​connecting the first mobile unit 400a and the second mobile unit 400b to be uncoupled. The control device 150 of the second mobile unit 400b and / or the fifth mobile unit 400e causes the coupling device 360 ​​connecting the second mobile unit 400b and the fifth mobile unit 400e to be uncoupled. The control device 150 of the fifth mobile unit 400e and / or the third mobile unit 400c causes the coupling device 360 ​​connecting the fifth mobile unit 400e and the third mobile unit 400c to be uncoupled. The control device 150 of the fourth mobile unit 400d causes the fourth mobile unit 400d to approach the row.

[0251] As shown in Figure 56, the control device 150 of the second mobile body 400b, from which the coupling has been released, moves the second mobile body 400b so that it moves away from the first mobile body 400a, the fifth mobile body 400e, and the third mobile body 400c, for example, in the lateral direction.

[0252] The control device 150 of the fifth mobile body 400e moves the fifth mobile body 400e so that it approaches the first mobile body 400a.

[0253] As shown in FIGS. 56 and 57, the control device 150 of the fourth moving body 400d moves the fourth moving body 400d between the fifth moving body 400e and the third moving body 400c from the direction opposite to the direction in which the second moving body 400b moves. For example, when the second moving body 400b moves to the right, the fourth moving body 400d moves between the fifth moving body 400e and the third moving body 400c from the left.

[0254] As shown in FIG. 58, the control device 150 of the first moving body 400a and / or the fifth moving body 400e connects the first moving body 400a and the fifth moving body 400e. The control device 150 of the fifth moving body 400e and / or the fourth moving body 400d connects the fifth moving body 400e and the fourth moving body 400d. The control device 150 of the fourth moving body 400d and / or the third moving body 400c connects the fourth moving body 400d and the third moving body 400c.

[0255] The working device 210 of the first moving body 400a resumes the work of planting seedlings in the field. The working device 210 of the first moving body 400a can perform the work of planting seedlings in the field while receiving the supply of seedlings from the supply device 410 of the fifth moving body 400e.

[0256] In this example, when the amount of seedlings loaded on the second moving body 400b becomes less than or equal to a predetermined amount, the second moving body 400b moves away from the row, and the fifth moving body 400e supplies seedlings to the working device 210 of the first moving body 400a. By having the fifth moving body 400e, which originally belonged to the row, supply the seedlings, the time for stopping the work of planting seedlings can be shortened.

[0257] Embodiments of the present invention include, for example, the technologies described in the following items.

[0258] [Item 1] A control system 1 for controlling the operations of a plurality of moving bodies 400, The plurality of moving bodies 400 includes a first moving body 400a, a second moving body 400b, a third moving body 400c, and a fourth moving body 400d. The first moving body 400a A first traveling device 101 for moving the first mobile body 400a, A first control device 150 controls the operation of the first traveling device 101, A work device 210 that performs a predetermined task, Equipped with, The second mobile unit 400b is, A second traveling device 101 for moving the second mobile body 400b, A second control device 150 controls the operation of the second travel device 101, A supply device 410 capable of supplying materials to the work device 210, Equipped with, The third mobile unit 400c is, A third traveling device 101 for moving the third mobile body 400c, A third control device 150 controls the operation of the third travel device 101, A device 211 that performs a predetermined operation, Equipped with, The fourth mobile unit 400d is, A fourth traveling device 101 for moving the fourth mobile body 400d, A fourth control device 150 controls the operation of the fourth travel device 101, A supply device 410 capable of supplying materials to the work device 210, Equipped with, With the second mobile body 400b positioned between the first mobile body 400a and the third mobile body 400c, the work device 210 of the first mobile body 400a performs a predetermined operation while receiving materials from the supply device 410 of the second mobile body 400b. If at least one of the first mobile body 400a and the second mobile body 400b satisfies a predetermined condition, the second control device 150 moves the second mobile body 400b away from the first mobile body 400a and the third mobile body 400c. The fourth control device 150 moves the fourth mobile body 400d so that it is positioned between the first mobile body 400a and the third mobile body 400c, and is a control system 1.

[0259] [Item 2] The control system 1 according to item 1, wherein the device 211 that performs a predetermined operation of the third mobile body 400c is a battery capable of supplying power to at least one of the first mobile body 400a, the second mobile body 400b, and the fourth mobile body 400d.

[0260] [Item 3] If predetermined conditions are met, the second control device 150 moves the second mobile body 400b away from the first mobile body 400a and the third mobile body 400c in the first direction. The control system 1 according to item 1 or 2, wherein the fourth control device 150 moves the fourth mobile body 400d between the first mobile body 400a and the third mobile body 400c from a direction opposite to the first direction.

[0261] [Item 4] The specified condition is the condition that the amount of materials loaded on the second mobile body 400b is less than or equal to a predetermined amount, as described in any of items 1 to 3 of the control system 1.

[0262] [Item 5] The specified condition is the condition that the working time of the work device 210 of the first mobile body 400a is equal to or greater than a specified time, as described in any of items 1 to 3 of the control system 1.

[0263] [Item 6] The control system 1 according to any one of items 1 to 3, wherein the predetermined condition is that the distance traveled by the first mobile body 400a while the work device 210 of the first mobile body 400a performs a predetermined operation is equal to or greater than a predetermined distance.

[0264] [Item 7] A control system 1 according to any one of items 1 to 6, wherein the first mobile body 400a and the second mobile body 400b are connected, and the second mobile body 400b and the third mobile body 400c are connected, and the work device 210 of the first mobile body 400a performs a predetermined operation while receiving materials from the supply device 410 of the second mobile body 400b.

[0265] [Item 8] A control system 1 according to any one of items 1 to 7, wherein after the second mobile body 400b moves away from the first mobile body 400a and the third mobile body 400c, the work device 210 of the first mobile body 400a performs a predetermined operation while receiving materials from the supply device 410 of the fourth mobile body 400d.

[0266] [Item 9] The control system 1 described in item 8, wherein after the second mobile body 400b moves away from the first mobile body 400a and the third mobile body 400c, the first mobile body 400a and the fourth mobile body 400d are connected, and the fourth mobile body 400d and the third mobile body 400c are connected, the work device 210 of the first mobile body 400a performs a predetermined operation while receiving materials from the supply device 410 of the fourth mobile body 400d.

[0267] [Item 10] The material is an agricultural material, and the control system 1 is as described in any of items 1 to 9.

[0268] [Item 11] The multiple mobile bodies 400 include a fifth mobile body 400e, The fifth mobile unit 400e is, A fifth traveling device 101 for moving the fifth mobile body 400e, A fifth control device 150 controls the operation of the fifth travel device 101, A supply device 410 capable of supplying materials to the work device 210, Equipped with, The control system 1 according to item 1 or 2, wherein the second mobile body 400b and the fifth mobile body 400e are positioned between the first mobile body 400a and the third mobile body 400c, and the work device 210 of the first mobile body 400a performs a predetermined operation while receiving materials from the supply device 410 of the second mobile body 400b.

[0269] [Item 12] The control system 1 described in item 11, wherein the first mobile body 400a and the second mobile body 400b are connected, the second mobile body 400b and the fifth mobile body 400e are connected, and the fifth mobile body 400e and the third mobile body 400c are connected, and the work device 210 of the first mobile body 400a performs a predetermined operation while receiving materials from the supply device 410 of the second mobile body 400b.

[0270] [Item 13] The control system 1 according to item 11, wherein the fourth control device 150 moves the fourth mobile body 400d so that it is positioned between the fifth mobile body 400e and the third mobile body 400c.

[0271] [Item 14] A control system 1 according to any one of items 11 to 13, wherein after the second mobile body 400b moves away from the first mobile body 400a and the third mobile body 400c, the work device 210 of the first mobile body 400a performs a predetermined operation while receiving materials from the supply device 410 of the fifth mobile body 400e.

[0272] [Item 15] A control system 1 according to any one of items 11 to 14, wherein, after the second mobile body 400b moves away from the first mobile body 400a and the third mobile body 400c, the first mobile body 400a and the fifth mobile body 400e are connected, the fifth mobile body 400e and the fourth mobile body 400d are connected, and the fourth mobile body 400d and the third mobile body 400c are connected, the work device 210 of the first mobile body 400a performs a predetermined operation while receiving materials from the supply device 410 of the fifth mobile body 400e.

[0273] [Item 16] A control method for controlling the operation of multiple mobile bodies 400, which is performed by two or more computers, The multiple mobile bodies 400 include a first mobile body 400a, a second mobile body 400b, a third mobile body 400c, and a fourth mobile body 400d. The first mobile unit 400a is, A first traveling device 101 for moving the first mobile body 400a, A work device 210 that performs a predetermined task, Equipped with, The second mobile unit 400b is, A second traveling device 101 for moving the second mobile body 400b, A supply device 410 capable of supplying materials to the work device 210, Equipped with, The third mobile unit 400c is, A third traveling device 101 for moving the third mobile body 400c, A device 211 that performs a predetermined operation, Equipped with, The fourth mobile unit 400d is, A fourth traveling device 101 for moving the fourth mobile body 400d, A supply device 410 capable of supplying materials to the work device 210, Equipped with, With the second mobile body 400b positioned between the first mobile body 400a and the third mobile body 400c, the work device 210 of the first mobile body 400a performs a predetermined operation while receiving materials from the supply device 410 of the second mobile body 400b. The control method is, If at least one of the first mobile body 400a and the second mobile body 400b satisfies a predetermined condition, move the second mobile body 400b away from the first mobile body 400a and the third mobile body 400c. Move the fourth mobile body 400d so that it is positioned between the first mobile body 400a and the third mobile body 400c. A control method including [Industrial applicability]

[0274] The technology of the present invention is particularly useful in the field of autonomous mobile vehicles. [Explanation of Symbols]

[0275] 1: Robot system (control system), 100: Leg-wheeled mobile body (bipedal, bipedal mobile body), 101: Running gear, 105: Main body, 110L, 110R: Legs, 111L, 111R: Upper link, 112L, 112R: Knee joint, 113L, 113R: Lower link, 115L, 115R: Actuator, 116L, 116R: Actuator, 117L, 117R: Electric motor, 120L, 120R: Wheel, 141: Positioning device (GNSS unit), 142: Inertial measurement unit (IMU), 143F, 143Re: Camera, 144F, 144Re: LiDAR sensor, 145L, 145R: Rotation sensor, 146: Battery, 147: Communication device, 150: Control device, 151: Processor, 152: RAM, 153: ROM, 154: Memory device, 155: ECU, 156: ECU, 160: Coupling device, 162: Locking mechanism, 165: Electrode terminal, 166: Electrode terminal, 200: Work unit, 205: Base, 210: Work device (implement), 211: Battery, 246: Battery, 247: Communication device, 250: Control device, 260: Coupling device, 265: Electrode terminal, 266: Electrode terminal, 270: Stand, 280: Tree, 300: Vehicle, 310: Target path, 360: Coupling device, 400: Mobile body, 410: Supply device, 411: Seedling stand, 412: Seedling mat, 413: Bar, 414: Actuator

Claims

1. A control system for controlling the movements of multiple moving objects, The plurality of moving bodies include a first moving body, a second moving body, a third moving body, and a fourth moving body. The first mobile body is A first traveling device for moving the first mobile body, A first control device for controlling the operation of the first traveling device, A work device that performs a predetermined task, Equipped with, The second mobile body is A second traveling device for moving the aforementioned second mobile body, A second control device for controlling the operation of the second traveling device, A supply device capable of supplying materials to the aforementioned work device, Equipped with, The third mobile body is A third traveling device for moving the aforementioned third mobile body, A third control device that controls the operation of the third traveling device, A device that performs a predetermined operation, Equipped with, The fourth mobile body is A fourth traveling device for moving the aforementioned fourth mobile body, A fourth control device that controls the operation of the fourth traveling device, A supply device capable of supplying the materials to the work device, Equipped with, With the second mobile body positioned between the first mobile body and the third mobile body, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the second mobile body. If at least one of the first moving body and the second moving body satisfies a predetermined condition, the second control device moves the second moving body away from the first moving body and the third moving body. The fourth control device is a control system that moves the fourth mobile body so that it is positioned between the first mobile body and the third mobile body.

2. The control system according to claim 1, wherein the device that performs the predetermined operation of the third mobile body is a battery capable of supplying power to at least one of the first mobile body, the second mobile body, and the fourth mobile body.

3. When the predetermined conditions are met, the second control device moves the second moving body away from the first moving body and the third moving body in the first direction. The control system according to claim 1 or 2, wherein the fourth control device moves the fourth moving body between the first moving body and the third moving body from a direction opposite to the first direction.

4. The control system according to claim 1 or 2, wherein the predetermined condition is a condition in which the amount of material loaded onto the second mobile body is less than or equal to a predetermined amount.

5. The control system according to claim 1 or 2, wherein the predetermined condition is a condition in which the working time of the work device of the first mobile body is equal to or greater than a predetermined time.

6. The control system according to claim 1 or 2, wherein the predetermined condition is the condition that the distance traveled by the first moving body while the work device of the first moving body performs the predetermined work is greater than or equal to a predetermined distance.

7. The control system according to claim 1 or 2, wherein the first mobile body and the second mobile body are connected, and the second mobile body and the third mobile body are connected, and the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the second mobile body.

8. The control system according to claim 1 or 2, wherein after the second mobile body moves away from the first mobile body and the third mobile body, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the fourth mobile body.

9. The control system according to claim 8, wherein, after the second mobile body moves away from the first mobile body and the third mobile body, the first mobile body and the fourth mobile body are connected, and with the fourth mobile body and the third mobile body connected, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the fourth mobile body.

10. The control system according to claim 1 or 2, wherein the material is an agricultural material.

11. The aforementioned plurality of moving bodies include a fifth moving body, The fifth mobile body is A fifth traveling device for moving the fifth mobile body, A fifth control device that controls the operation of the fifth traveling device, A supply device capable of supplying the materials to the work device, Equipped with, The control system according to claim 1 or 2, wherein, with the second and fifth mobile bodies positioned between the first and third mobile bodies, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the second mobile body.

12. The control system according to claim 11, wherein the first mobile body and the second mobile body are connected, the second mobile body and the fifth mobile body are connected, and the fifth mobile body and the third mobile body are connected, and the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the second mobile body.

13. The control system according to claim 11, wherein the fourth control device moves the fourth mobile body such that the fourth mobile body is positioned between the fifth mobile body and the third mobile body.

14. The control system according to claim 11, wherein after the second mobile body moves away from the first mobile body and the third mobile body, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the fifth mobile body.

15. The control system according to claim 11, wherein, after the second mobile body moves away from the first mobile body and the third mobile body, the first mobile body and the fifth mobile body are connected, the fifth mobile body and the fourth mobile body are connected, and the fourth mobile body and the third mobile body are connected, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the fifth mobile body.

16. A control method for controlling the actions of multiple mobile objects, which is performed by two or more computers, The plurality of moving bodies include a first moving body, a second moving body, a third moving body, and a fourth moving body. The first mobile body is A first traveling device for moving the first mobile body, A work device that performs a predetermined task, Equipped with, The second mobile body is A second traveling device for moving the aforementioned second mobile body, A supply device capable of supplying materials to the aforementioned work device, Equipped with, The third mobile body is A third traveling device for moving the aforementioned third mobile body, A device that performs a predetermined operation, Equipped with, The fourth mobile body is A fourth traveling device for moving the aforementioned fourth mobile body, A supply device capable of supplying the materials to the work device, Equipped with, With the second mobile body positioned between the first mobile body and the third mobile body, the work device of the first mobile body performs the predetermined work while receiving the materials from the supply device of the second mobile body. The control method described above is If at least one of the first moving body and the second moving body satisfies a predetermined condition, move the second moving body away from the first moving body and the third moving body. Moving the fourth moving body so that it is positioned between the first moving body and the third moving body, A control method including

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