TRANSPORTATION SYSTEM, INFORMATION PROCESSING APPARATUS, TRANSPORTATION METHOD, TRANSPORTATION PROGRAM, AND STORAGE MEDIUM

Abstract

This conveyance system (1) comprises: a plurality of first movable bodies (10) capable of autonomous movement; and a second movable body (20) which conveys the plurality of first movable bodies (10) as a first collective body (60) in which relative positions between the first movable bodies are specified.

Description

[Technical field]

[0001] The present invention relates to a transport system, an information processing device, a transport method, a transport program, and a storage medium on which the transport program is stored. [Background technology]

[0002] Conventionally, a transportation system for transporting an object by an aircraft has been known. For example, Patent Document 1 describes a transportation system for transporting a mobile battery by an unmanned aircraft.

[0003] In this type of transport system, it has been difficult to transport multiple objects using a single flying object.

[0004] On the other hand, Patent Document 2 describes a transport system that includes an autonomously movable energy storage device and a vehicle that is a mobile body that can accommodate multiple energy storage devices, and transports the energy storage devices by moving the vehicle that accommodates the multiple energy storage devices. The transport system described in Patent Document 2 is capable of transporting multiple energy storage devices with one mobile body. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2019 / 124479 [Patent Document 2] International Publication No. 2020 / 203929 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when the technology described in Patent Document 1 is applied to the transportation system described in Patent Document 2 to transport autonomously mobile energy storage devices by an unmanned aerial vehicle, if the center of gravity of the multiple energy storage devices changes while the unmanned aerial vehicle is flying, the attitude of the unmanned aerial vehicle is likely to become unstable. Note that even in the transportation system described in Patent Document 2, when a moving body accommodates multiple energy storage devices and moves, if the center of gravity of the multiple energy storage devices accommodated in the moving body changes while the moving body is moving, the attitude of the moving body may become unstable.

[0007] The present invention provides a conveying system, an information processing device, a conveying method, a conveying program, and a storage medium on which the conveying program is stored, which can transport a greater number of first moving bodies with a smaller number of second moving bodies and improves the stability of the second moving bodies when transporting multiple first moving bodies. [Means for solving the problem]

[0008] The first aspect of the present invention is A plurality of first moving bodies capable of autonomous movement; a second moving body that transports the plurality of first moving bodies as a first assembly in which relative positions of the first moving bodies are specified; a calculation unit that calculates second center of gravity information, which is center of gravity-related information of the first aggregate, based on first center of gravity information, which is center of gravity-related information of each of the first moving bodies that constitute the first aggregate; The transport system includes:

[0009] A second aspect of the present invention is An information processing device that performs a process of transporting a plurality of first moving bodies capable of autonomous movement as a first assembly in which relative positions of the first moving bodies are specified, by a second moving body, A process of acquiring first center-of-gravity information, which is center-of-gravity-related information of each of the first moving bodies constituting the first assembly; and calculating second center of gravity information, which is information relating to the center of gravity of the first aggregate, based on the first center of gravity information.

[0010] A third aspect of the present invention is A method for transporting a plurality of autonomously movable first moving bodies by a second moving body as a first assembly in which relative positions of the first moving bodies are specified, the method comprising the steps of: acquiring first center-of-gravity information, which is center-of-gravity-related information of each of the first moving bodies constituting the first assembly; and calculating second center of gravity information, which is information related to the center of gravity of the first aggregate, based on the first center of gravity information.

[0011] A fourth aspect of the present invention is A transportation program for transporting a plurality of first moving bodies capable of autonomous movement as a first assembly in which relative positions of the first moving bodies are specified, by a second moving body, A process of acquiring first center-of-gravity information, which is center-of-gravity-related information of each of the first moving bodies constituting the first assembly; and calculating second center of gravity information, which is information related to the center of gravity of the first aggregate, based on the first center of gravity information.

[0012] A fifth aspect of the present invention is A storage medium storing the above-mentioned transport program according to the fourth aspect of the present invention. Effect of the Invention

[0013] According to the first aspect of the present invention, since a plurality of autonomously movable first moving bodies can be transported by a second moving body as a first assembly in which the relative positions of each body are specified, a greater number of first moving bodies can be transported by a smaller number of second moving bodies, and the number of second moving bodies in the transport system can be reduced. Furthermore, since a plurality of first moving bodies are transported as a first assembly in which the relative positions of each body are specified, the center of gravity positions of the plurality of first moving bodies are stabilized when transported by the second moving body. This allows a greater number of first moving bodies to be transported by a smaller number of second moving bodies, and improves the stability of the second moving body when transporting the plurality of first moving bodies.

[0014] According to the second to fifth aspects of the present invention, by calculating the second center of gravity information, which is the center of gravity related information of the first assembly, based on the first center of gravity information, which is the center of gravity related information of the first moving body, it is possible to optimally arrange the second moving body according to the center of gravity related information of the first assembly and transport multiple first moving bodies as the first assembly by the second moving body. This makes it possible to transport a larger number of first moving bodies with a smaller number of second moving bodies, and improves the stability of the second moving bodies when transporting multiple first moving bodies. [Brief description of the drawings]

[0015] [Figure 1] 1 is a schematic diagram of a transport system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a system configuration diagram of a first moving body in the transport system of FIG. [Diagram 3] 2 is a schematic external view of a first moving body in the transport system of FIG. 1. [Figure 4] FIG. 1A is a diagram showing an example of a state in which six first moving bodies are not connected to other first moving bodies, and FIG. 1B is a diagram showing an example of a state in which the six first moving bodies are connected so that there are three in a first direction and two in a second direction, forming a first assembly in which the relative positions of the six first moving bodies are fixed. [Diagram 5] 2 is a schematic diagram of a second moving body in the transport system of FIG. 1. [Figure 6] 13 is a diagram showing a reference center of gravity position when nine first moving bodies are linked so that three in the first direction and three in the second direction form a first assembly. FIG. [Figure 7] This figure shows the position of the first moving body side connection part when nine first moving bodies are connected so that there are three in the first direction and three in the second direction to form a first assembly, and the number of second moving bodies to be used when transporting the first assembly is determined to be one. [Figure 8]This is a schematic diagram of a first assembly and second moving bodies in a case where twelve first moving bodies are connected so as to form a first assembly, four in the first direction and three in the second direction, and the number of second moving bodies used to transport the first assembly is determined to be two. [Figure 9] This figure shows the position of the first moving body side connection part when twelve first moving bodies are connected so that there are four in the first direction and three in the second direction to form a first assembly, and the number of second moving bodies to be used when transporting the first assembly is determined to be two. [Figure 10] 2 is a flowchart (part 1) of the processing operation of the transfer system of FIG. [Figure 11] 2 is a flowchart (part 2) of the processing operation of the transfer system in FIG. [Figure 12] 13 is a flowchart (part 3) of the processing operation of the transfer system of FIG. [Figure 13] 4 is a flowchart (part 4) of the processing operation of the transfer system in FIG. [Figure 14] 5 is a flowchart (part 5) of the processing operation of the transfer system in FIG. [Figure 15] FIG. 11 is a schematic diagram of a transport system according to a second embodiment of the present invention. [Figure 16] 16 is a schematic external view of a first moving body in the transportation system of FIG. 15. [Figure 17] FIG. 16 is a schematic diagram of a second moving body in the transportation system of FIG. [Figure 18] 16 is a diagram illustrating an engagement operation between an engaging member of a first moving body and an engaged portion of a second moving body in the transfer system of FIG. 15. FIG. [Figure 19] 16 is a diagram showing an operation of guiding a first movable body accommodated in a housing section for a second movable body to a housing section for another second movable body in the transfer system of FIG. 15. FIG. [Figure 20] 16 is a diagram showing an operation of guiding a first movable body accommodated in a accommodating section of a second movable body to a platform of another third movable body in the conveyance system of FIG. 15. FIG. [Figure 21] FIG. 11 is a schematic diagram of a transport system according to a third embodiment of the present invention. [Figure 22] FIG. 22 is a schematic diagram of a container in the transport system of FIG. 21. [Figure 23] 22 is a diagram illustrating an engagement operation between an engagement member of a first movable body and an engaged portion of a container in the transport system of FIG. 21. FIG. [Figure 24] FIG. 22 is a schematic diagram of a container vehicle in the transport system of FIG. 21 when the container is a container vehicle. [Diagram 25] 22 is a diagram illustrating an engagement operation between an engagement member of a first moving body and an engaged portion of a container car in the transport system of FIG. 21. FIG. [Figure 26] 22 is a schematic diagram of a container vehicle when the container vehicle is a second moving body in the transport system of FIG. 21. FIG. [Figure 27A] FIG. 13 is a schematic external view of a first moving body in a conveyance system according to a fourth embodiment of the present invention, in which a guide member is in an extended state. [Figure 27B] FIG. 13 is a schematic external view of a conveyance system according to a fourth embodiment of the present invention, showing a state in which the guide members are contracted and the two first movable bodies are connected to each other. [Figure 28] In a conveying system of a fourth embodiment of the present invention, (a) is an external schematic diagram of a state in which the connecting surfaces of two first assemblies are positioned facing each other and the guide members of the first moving bodies are extended, (b) is an external schematic diagram of a state in which two first assemblies are connected to form a single first assembly, (c) is an external schematic diagram of a state in which one second moving body has detached from the single first assembly after two first assemblies have been connected to form a single first assembly, and (d) is an external schematic diagram of a state in which two first assemblies are connected to form a single first assembly and then separated from the single first assembly into multiple first assemblies. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, embodiments of the conveying system of the present invention will be described with reference to the accompanying drawings. Note that the drawings are to be viewed in the direction indicated by the reference symbols.

[0017] [First embodiment] First, a transfer system 1 according to a first embodiment of the present invention will be described with reference to FIGS.

[0018] <Overall configuration of the transport system> 1, the conveyance system 1 of the present embodiment is a system capable of conveying an object 90 from a first point P1 to a second point P2. The conveyance system 1 includes a plurality of first moving objects 10, a plurality of second moving objects 20, a central management server 30, a system management terminal 40, and a communication network 50.

[0019] The first mobile bodies 10, the second mobile bodies 20, the central management server 30, and the system management terminal 40 are connected to a communication network 50. The communication network 50 is not particularly limited, but may be, for example, the Internet. The first mobile bodies 10, the second mobile bodies 20, the central management server 30, and the system management terminal 40 are capable of transmitting and receiving information to and from each other via the communication network 50.

[0020] The transported item 90 is loaded onto the first moving body 10. In this embodiment, the transported item 90 is a package such as an article. The transported item 90 is loaded onto the first moving body 10 by the sender A at the first point P1 and transported to the second point P2, where it can be received by the recipient B.

[0021] As shown in FIG. 2, the first moving body 10 is an autonomously movable moving body. In this embodiment, the first moving body 10 is an unmanned vehicle equipped with wheels WH and capable of autonomously traveling on a road. The first moving body 10 is equipped with an energy storage device 11 and a drive unit 12, and the first moving body 10 is a vehicle that travels by being driven by the drive unit 12 using the energy stored in the energy storage device 11 as a drive source. In this embodiment, the energy storage device 11 has a secondary battery 11a such as a lithium ion battery and a fuel tank 11b that can store fuel such as gasoline, and the drive unit 12 has an electric motor 12a that is driven by the power stored in the secondary battery 11a and an internal combustion engine 12b that is driven by the fuel stored in the fuel tank 11b. The first moving body 10 is a hybrid vehicle that travels by driving the wheels WH with the power of the electric motor 12a and the internal combustion engine 12b.

[0022] The first moving object 10 includes a first center-of-gravity information acquisition unit 13 , a control unit 14 , and a communication unit 15 .

[0023] The first center of gravity information acquisition unit 13 can acquire first center of gravity information, which is information related to the center of gravity of the first moving body 10 including the loaded transported object 90. The first center of gravity information includes first center of gravity position information indicating the center of gravity position of the first moving body 10 including the loaded transported object 90, and first weight information indicating the weight of the first moving body 10 including the loaded transported object 90. The first center of gravity information acquisition unit 13 has, for example, a plurality of load sensors, a multi-axis force sensor, etc.

[0024] The control unit 14 includes a processor, an inverter, a DC-DC converter, and the like, and controls the electric motor 12a and the internal combustion engine 12b that constitute the drive unit 12. The control unit 14 further controls a first engagement member 16a and a second engagement member 17a, which will be described later. The opening / closing door 10b may be opened and closed by an electric motor (not shown) controlled by the control unit 14.

[0025] The communication unit 15 has, for example, a network adapter and transmits and receives various data to and from other devices via the communication network 50. The first moving body 10 can receive a movement command from the central management server 30 via the communication network 50 at the communication unit 15. In the first moving body 10, the movement command received from the central management server 30 is input to the control unit 14, and the control unit 14 controls the electric motor 12a and the internal combustion engine 12b, which are the drive unit 12, based on the movement command from the central management server 30. As a result, the first moving body 10 travels autonomously according to the movement command from the central management server 30. In addition, the first moving body 10 can transmit information such as center-of-gravity-related information of the first moving body 10 acquired by the first center-of-gravity-information acquisition unit 13, position information and movement state of the first moving body 10, energy storage state of the energy storage device 11 mounted on the first moving body 10, and whether or not the transported object 90 is loaded, from the communication unit 15 to the central management server 30 via the communication network 50. The energy storage state of the energy storage device 11 mounted on the first moving body 10 is, for example, the state of charge (SOC) of the secondary battery 11a and the remaining amount of fuel stored in the fuel tank 11b.

[0026] As shown in Fig. 3, the first moving body 10 has a storage section 10a capable of storing the object 90 therein. The first moving body 10 further has an opening / closing door 10b that can be opened and closed, and when the opening / closing door 10b is in an open state, the storage section 10a can be accessed from outside the first moving body 10. Therefore, the sender A opens the opening / closing door 10b to store the object 90 in the storage section 10a, and then closes the opening / closing door 10b. This makes it possible to prevent the object 90 from jumping out of the storage section 10a during transport, and also makes it possible to prevent a third party from removing the object 90 from the storage section 10a during transport.

[0027] The first moving body 10 includes an electric power input / output connection section 10c, a fuel input / output connection section 10d, and a display section 10e.

[0028] The power input / output connection unit 10c is electrically connected to the secondary battery 11a and can be electrically connected to an external device or the like. The power input / output connection unit 10c enables power to be exchanged between the external device or the like and the secondary battery 11a. The power input / output connection unit 10c is, for example, a conventional outlet plug. The power input / output connection unit 10c may be electrically connectable to another first mobile body 10 or may be electrically connectable to a second mobile body 20.

[0029] The fuel input / output connection part 10d is connected to the fuel tank 11b by a pipe or the like, and a pipe or the like through which fuel flows can be connected. The fuel input / output connection part 10d enables the transfer of fuel between an external device or the like and the fuel tank 11b via a pipe or the like. The fuel input / output connection part 10d is, for example, a nozzle. The fuel input / output connection part 10d may be connectable to another first moving body 10 or may be connectable to the second moving body 20.

[0030] The display unit 10e is a display device such as a liquid crystal display or an organic light-emitting diode (OLED) display. The display unit 10e displays information such as center-of-gravity-related information of the first moving body 10 acquired by the first center-of-gravity-information acquisition unit 13, position information and a moving state of the first moving body 10, an energy storage state of the energy storage device 11 mounted on the first moving body 10, and whether or not an object 90 is loaded.

[0031] The first moving body 10 includes a first engaging member 16a and a first engaged portion 16b. The first engaging member 16a is an arm member that rotates by an electric motor (not shown) and is controlled by the control unit 14 and is engageable with the first engaged portion 16b. The first engaged portion 16b is a member that can engage with the first engaging member 16a. The first engaging member 16a of the first moving body 10 engages with the first engaged portion 16b of a different first moving body 10 aligned in a first direction perpendicular to the up-down direction, whereby the two first moving bodies 10 are connected in the first direction with their relative positions fixed. Furthermore, the first engaging member 16a and the first engaged portion 16b are structured such that when the first engaging member 16a is engaged with the first engaged portion 16b of a different first moving body 10, the engagement state between the first engaging member 16a and the first engaged portion 16b of the different first moving body 10 is maintained even if the two connected first moving bodies 10 are lifted upward.

[0032] The first moving body 10 includes a second engaging member 17a and a second engaged portion 17b. The second engaging member 17a is an arm member that rotates by an electric motor (not shown) and is controlled by the control unit 14 and is engageable with the second engaged portion 17b. The second engaged portion 17b is a member that can engage with the second engaging member 17a. The second engaging member 17a of the first moving body 10 engages with the second engaged portion 17b of a different first moving body 10 aligned in a second direction perpendicular to both the up-down direction and the first direction, whereby the two first moving bodies 10 are connected in the second direction with their relative positions fixed. Furthermore, the second engaging member 17a and the second engaged portion 17b are structured such that when the second engaging member 17a is engaged with the second engaged portion 17b of a different first moving body 10, the engaged state between the second engaging member 17a and the second engaged portion 17b of the different first moving body 10 is maintained even if the two connected first moving bodies 10 are lifted upward.

[0033] In this manner, the first engaging members 16a of the first moving bodies 10 engage with the first engaged portions 16b of different first moving bodies 10 aligned in the first direction, and the second engaging members 17a engage with the second engaged portions 17b of different first moving bodies 10 adjacent in the second direction, thereby forming a first assembly 60 in which the relative positions of the multiple first moving bodies 10 are fixed. Therefore, in the first assembly 60, the multiple first moving bodies 10 directly engage with each other, thereby fixing the relative positions of the multiple first moving bodies 10.

[0034] FIG. 4(a) shows an example of a state in which six first moving bodies 10 are not connected to the other first moving bodies 10, and FIG. 4(b) shows an example of a state in which six first moving bodies 10 are connected so that there are three in the first direction and two in the second direction, forming a first assembly 60 in which the relative positions of the six first moving bodies 10 are fixed.

[0035] A first moving body side connection part 18 is provided on the upper part of each first moving body 10. A second moving body side connection part 25 of a second moving body 20, which will be described later, can be connected to the first moving body side connection part 18. In this embodiment, a plurality of first moving body side connection parts 18 are provided on the upper part of each first moving body 10.

[0036] Returning to FIG. 1, the second moving body 20 is a moving body capable of autonomous movement. In this embodiment, the second moving body 20 is an unmanned aerial vehicle (UAV) such as a drone. The second moving body 20 can transport a first assembly 60 constituted by a plurality of first moving bodies 10 whose relative positions to each other are fixed. Depending on the weight of the first assembly 60, the first assembly 60 is transported by one or a plurality of second moving bodies 20. In this way, the second moving body 20 transports the plurality of first moving bodies 10 as the first assembly 60 whose relative positions to each other are specified.

[0037] As shown in FIG. 5, the second moving body 20 includes an energy storage device 21, a driving device 22, a control unit 23, and a communication unit 24. The energy storage device 21 includes a secondary battery 21a such as a lithium ion battery, and a fuel tank 21b capable of storing fuel such as gasoline. The driving device 22 includes a combustion engine 22a driven by fuel stored in the fuel tank 21b, a generator 22b generating electricity with the driving force of the combustion engine 22a, and a propeller device 22c having an electric motor 22d driven by electricity stored in the secondary battery 21a or electricity generated by the generator 22b. The combustion engine 22a is an external combustion engine such as a gas turbine or an internal combustion engine such as a reciprocating engine. The second moving body 20 is an aircraft that flies when the driving device 22 is driven by the energy stored in the energy storage device 21 as a driving source. In this embodiment, the second moving body 20 includes six propeller devices 22c. The first moving body 10 is not limited to the above-mentioned power train, and may be provided with a power train similar to that of the second moving body 20, for example.

[0038] The control unit 23 includes an arithmetic processing device, an inverter, a DC-DC converter, etc., and controls the drive device 22. The control unit 23 further controls a second moving body side connection section 25, which will be described later.

[0039] The communication unit 24 has, for example, a network adapter and transmits and receives various data to and from other devices via the communication network 50. The second moving body 20 can receive a movement instruction from the central management server 30 via the communication network 50 at the communication unit 24. In the second moving body 20, the movement instruction received from the central management server 30 is input to the control unit 23, and the control unit 23 controls the drive unit 22 based on the movement instruction from the central management server 30. As a result, the second moving body 20 flies autonomously according to the movement instruction from the central management server 30. In addition, the second moving body 20 can transmit information such as the position information and movement state of the second moving body 20, and the energy storage state of the energy storage device 21 mounted on the second moving body 20 from the communication unit 24 to the central management server 30 via the communication network 50. The energy storage state of the energy storage device 21 mounted on the second moving body 20 is, for example, the remaining charge capacity (State of Charge: SOC) of a secondary battery, the remaining amount of fuel stored in a fuel tank, etc.

[0040] The second moving body 20 includes a second moving body side connecting portion 25 connectable to the first moving body side connecting portion 18 provided on the upper portion of the first moving body 10.

[0041] The second moving body side connection part 25 of the second moving body 20 is connected to one or more first assembly side connection positions 61 selected from the first moving body side connection parts 18 of the multiple first moving bodies 10 whose relative positions to each other are fixed and that make up the first assembly 60 (see FIGS. 6 and 7). Then, the second moving body 20 transports the multiple first moving bodies 10 as the first assembly 60 whose relative positions to each other have been specified. The connection operation of the second moving body side connection part 25 to the first assembly side connection position 61 and the connection release operation from the first assembly side connection position 61 are controlled by the control unit 23.

[0042] 1, each of the first moving bodies 10 having the article 90 housed in the storage section 10a, including the first moving body 10 having the article 90 housed in the storage section 10a at the first point P1, autonomously travels to a first relay point TP1. Then, at the first relay point TP1, the first moving bodies 10 having the article 90 housed in the storage section 10a configure a first assembly 60 in which the relative positions of the first moving bodies 10 are fixed by the operation of the first engaging member 16a and the second engaging member 17a.

[0043] Thereafter, the second moving body side connection parts 25 of the second moving body 20 are connected to one or more first assembly side connection positions 61 determined from the first moving body side connection parts 18 of the multiple first moving bodies 10 whose relative positions to each other are fixed. Then, the second moving body 20 transports the multiple first moving bodies 10 as the first assembly 60 whose relative positions to each other have been specified, from the first relay point TP1 to the second relay point TP2.

[0044] The first assembly 60 transported to the second relay point TP2 becomes independently movable as the first engaging member 16a and the second engaging member 17a of each of the first moving bodies 10 constituting the first assembly 60 are operated to release the fixed relative positions of the first assembly 60. Then, each of the first moving bodies 10 autonomously travels to the destination of the transported object 90 stored in the storage section 10a, including the second point P2.

[0045] In this manner, the conveyance system 1 conveys the article 90 accommodated in the accommodation portion 10a of the first movable body 10 at the first point P1 to the second point P2 by the first movable body 10 and the second movable body 20.

[0046] In this way, the first moving body 10 is transported by the second moving body 20 from the first relay point TP1 to the second relay point TP2, so the energy stored in the energy storage device 11 of the first moving body 10 is not consumed by the movement from the first relay point TP1 to the second relay point TP2. This allows the transported object 90 to be transported far away without increasing the amount of energy that can be stored in the energy storage device 11 of the first moving body 10. In addition, since the amount of energy consumed by the energy storage device 11 of the first moving body 10 when moving from the first point P1 to the second point P2 can be reduced, the first moving body 10 can arrive at the second point P2 with a larger amount of energy remaining in the energy storage device 11. This allows more energy to be used in the vicinity of the second point P2 when the energy remaining in the energy storage device 11 of the first moving body 10 that has arrived at the second point P2 is used in the vicinity of the second point P2.

[0047] Furthermore, since the second moving body 20 transports the multiple first moving bodies 10 as the first assembly 60 in which the relative positions of the multiple first moving bodies 10 are specified from the first relay point TP1 to the second relay point TP2, a larger number of the first moving bodies 10 can be transported with a smaller number of second moving bodies 20, and the number of the second moving bodies 20 in the transport system 1 can be reduced. Furthermore, since the multiple first moving bodies 10 are transported as the first assembly 60 in which the relative positions of the multiple first moving bodies 10 are specified, the center of gravity positions of the multiple first moving bodies 10 are stabilized during transport by the second moving body 20. As a result, a larger number of the first moving bodies 10 can be transported with a smaller number of second moving bodies 20, and the stability of the second moving body 20 is improved when transporting the multiple first moving bodies 10.

[0048] The central management server 30 includes a communication unit 31, an environmental information database 32, a transportation plan creation unit 33, an extraction unit , a connection number database 35, a calculation unit , a selection unit 37, and a determination unit .

[0049] The communication unit 31 includes, for example, a network adapter and transmits and receives various data to and from other devices via the communication network 50 .

[0050] The environmental information database 32 stores map information, weather information, traffic and congestion information, etc. Map information can be obtained from the Geospatial Information Authority of Japan, cartography companies, etc. Weather information is information indicating the temperature, humidity, and weather of each region, and can be obtained from the Japan Meteorological Agency, weather information companies, etc. via the communication network 50. Traffic and congestion information is information indicating congestion conditions caused by moving objects such as vehicles, aircraft, ships, etc., and people, and can be obtained from transportation infrastructure-related companies, information terminals mounted on moving objects such as vehicles, aircraft, ships, etc., personal portable information terminals, etc. via the communication network 50.

[0051] The transportation plan creation unit 33 selects the first moving body 10 to be moved to the first point P1 based on the location information of the first point P1, which is the origin of the transportation, the location information of the second point P2, which is the destination of the transportation, various information stored in the environmental information database 32, and various information such as the location information and moving state transmitted from each first moving body 10, the energy storage state of the mounted energy storage device 11, whether or not the transported object 90 is loaded, and the loading time of the transported object 90 previously loaded, and creates a moving plan from the current location of the selected first moving body 10 to the first point P1 and a transportation plan from the first point P1 to the second point P2. The transportation plan to be created also includes plans for intermediate points such as the first relay point TP1 and the second relay point TP2. Similarly, for a first moving body 10 transporting other transported objects 90, the transport plan creation unit 33 creates a movement plan from the current location of the first moving body 10 to the transport source, and a transport plan from the transport source to the destination, based on the origin location information, the destination location information, various information stored in the environmental information database 32, and various information such as the location information and moving state transmitted from the first moving body 10, the energy storage state of the installed energy storage device 11, and the loading time of transported objects 90 previously loaded.

[0052] Each first moving body 10 receives a movement instruction based on a transportation plan created by a transportation plan creating unit 33 from the central management server 30, and travels autonomously according to the transportation plan created by the transportation plan creating unit 33.

[0053] The extraction unit 34 extracts the multiple first moving bodies 10 that constitute the first assembly 60 based on various information such as location information, moving status, and energy storage status of the installed energy storage device 11 transmitted from each of the multiple first moving bodies 10 accumulated at the first relay point TP1, destination information of the transported goods 90 loaded on each of the multiple first moving bodies 10 accumulated at the first relay point TP1, and transportation plans created for each of the multiple first moving bodies 10 accumulated at the first relay point TP1.

[0054] The connection number database 35 stores information indicating the number of connections of the first moving bodies 10 in the first direction and the second direction according to the number of the first moving bodies 10 constituting the first aggregate 60. For example, when the number of the first moving bodies 10 constituting the first aggregate 60 is six, the number of connections of the first moving bodies 10 in the first direction is three, and the number of connections of the first moving bodies 10 in the second direction is two. When the number of the first moving bodies 10 constituting the first aggregate 60 is nine, the number of connections of the first moving bodies 10 in the first direction is three, and the number of connections of the first moving bodies 10 in the second direction is three. When the number of the first moving bodies 10 constituting the first aggregate 60 is twelve, the number of connections of the first moving bodies 10 in the first direction is four, and the number of connections of the first moving bodies 10 in the second direction is four.

[0055] The calculation unit 36 ​​calculates second center of gravity information, which is center of gravity-related information of the first assembly 60, based on the first center of gravity information acquired by the first center of gravity information acquisition unit 13 of each of the first moving bodies 10 extracted by the extraction unit 34, i.e., the first moving bodies 10 constituting the first assembly 60, and the information stored in the connection number database 35. The second center of gravity information includes center of gravity position information indicating the center of gravity position of the entire first assembly 60 when a predetermined number of first moving bodies 10 are connected in the first direction and the second direction according to the information stored in the connection number database 35, and weight information indicating the weight of the entire first assembly 60. This makes it possible to optimally arrange the second moving body 20 according to the center of gravity position and weight of the entire first assembly 60, and transport the multiple first moving bodies 10 by the second moving body 20 as the first assembly 60.

[0056] Furthermore, the calculation unit 36 ​​calculates second center of gravity information for each of the arrangement patterns when the relative positions of each of the first moving bodies 10 extracted by the extraction unit 34, i.e., the multiple first moving bodies 10 constituting the first assembly 60, are specified in multiple arrangement patterns to form the first assembly 60. The arrangement patterns define the relative positions of the multiple first moving bodies 10 in the first assembly 60.

[0057] The selection unit 37 selects one arrangement pattern based on the second center of gravity information in each arrangement pattern of the multiple first moving objects 10 calculated by the calculation unit .

[0058] The central management server 30 transmits information indicating the placement pattern selected by the selection unit 37, or information indicating the position of each of the multiple first moving bodies 10 in the placement pattern selected by the selection unit 37, from the communication unit 31 to each of the first moving bodies 10 that constitute the first cluster 60.

[0059] Then, each of the first moving bodies 10 that constitute the first assembly 60 controls the drive unit 12, the first engagement member 16a and the second engagement member 17a by the control unit 14 based on information indicating the arrangement pattern received from the central management server 30 or information indicating the position of the first moving body 10 in the arrangement pattern selected by the selection unit 37, to form the first assembly 60 arranged in the arrangement pattern selected by the selection unit 37.

[0060] In this way, when the first assembly 60 is formed by specifying the relative positions of the first moving bodies 10 in a plurality of arrangement patterns in the calculation unit 36, the second center of gravity information of each arrangement pattern is calculated, and the selection unit 37 selects one arrangement pattern based on the second center of gravity information in each arrangement pattern of the first moving bodies 10 calculated by the calculation unit 36, thereby arranging the first moving bodies 10 in an optimal arrangement pattern from among the plurality of arrangement patterns to form the first assembly 60. Furthermore, the communication unit 31 transmits information indicating the arrangement pattern selected by the selection unit 37 or information indicating the positions of the first moving bodies 10 in the arrangement pattern selected by the selection unit 37 to each of the first moving bodies 10 constituting the first assembly 60, so that each of the first moving bodies 10 constituting the first assembly 60 can move autonomously to form the first assembly 60 in the arrangement pattern selected by the selection unit 37.

[0061] At this time, the selection unit 37 selects one arrangement pattern based on a reference center of gravity position, which is the center of gravity position of the entire first assembly 60 when the multiple first moving bodies 10 constituting the first assembly 60 all have the same weight and center of gravity, and the second center of gravity information of each arrangement pattern. In this embodiment, the selection unit 37 selects an arrangement pattern in which the center of gravity position information of the second center of gravity information is closest to the reference center of gravity position.

[0062] Here, as an example, a case where the first assembly 60 is made up of nine first moving objects 10 will be described with reference to FIG.

[0063] For example, the connection number database 35 stores information indicating that when the number of first moving bodies 10 constituting the first assembly 60 is nine, the connection number of the first moving bodies 10 in the first direction is three, and the connection number of the first moving bodies 10 in the second direction is three. Therefore, the first assembly 60 is formed such that there are three first moving bodies 10 in the first direction and three in the second direction.

[0064] At this time, the reference center of gravity position G90, which is the center of gravity position of the entire first assembly 60 when all nine first moving bodies 10 that make up the first assembly 60 have the same weight and the same center of gravity, is the center of the first moving body 10 that is located in the center in the first direction and the center in the second direction.

[0065] On the other hand, the storage section 10a of each of the first moving bodies 10 accumulated at the first relay point TP1 stores transported goods 90, and since the transported goods 90 stored in the storage section 10a of each of the first moving bodies 10 differ in weight and size, the first moving bodies 10 carrying the transported goods 90 each have a different weight and center of gravity.

[0066] The calculation unit 36 ​​calculates the second center of gravity information for each of the arrangement patterns when the first assembly 60 is formed by identifying the relative positions of nine first moving bodies 10, each of which has a different weight and center of gravity, in multiple arrangement patterns.

[0067] Then, the selection unit 37 selects an arrangement pattern in which the center of gravity position information of the second center of gravity information is closest to the reference center of gravity position G90 based on the second center of gravity information in each arrangement pattern of the nine first moving bodies 10 calculated by the calculation unit 36. For example, the selection unit 37 selects an arrangement pattern in which the heaviest first moving body 10 among the nine first moving bodies 10 constituting the first assembly 60 is the first moving body 10 located at the center in the first direction and the center in the second direction.

[0068] In this way, the selection unit 37 can select an optimal arrangement pattern based on the reference center of gravity position and the second center of gravity information of each arrangement pattern. In particular, in this embodiment, the selection unit 37 selects an arrangement pattern in which the center of gravity position information of the second center of gravity information is closest to the reference center of gravity position, so that the first assembly 60 can be formed so that the center of gravity position is closest to the reference center of gravity position.

[0069] Returning to Figure 1, the determination unit 38 has a first determination unit 38a that determines the number of second moving bodies 20 to be used when transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2, a second determination unit 38b that determines, from among the multiple second moving bodies, a second moving body 20 that will transport the first assembly 60 from the first relay point TP1 to the second relay point TP2, and a third determination unit 38c that determines a first assembly side connection position 61, which is the position at which the second moving body 20 is connected in the first assembly 60.

[0070] The first determination unit 38a determines the number of second moving bodies 20 to be used when transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2, based on weight information indicating the weight of the first assembly 60 included in the second center of gravity information calculated by the calculation unit 36. The second determination unit 38b determines the second moving body 20 to transport the first assembly 60 from the first relay point TP1 to the second relay point TP2 from among the multiple second moving bodies, based on information stored in the environmental information database 32, the number of second moving bodies 20 to be used determined by the first determination unit 38a, and various information transmitted from each second moving body 20 to the central management server 30, such as the position information and moving state of each second moving body 20, and the energy storage state of the energy storage device 21 mounted on the second moving body 20. For example, the information transmitted from each second moving body 20 to the central management server 30 includes, for example, position information and moving state of the second moving body 20, and information on the energy storage state of the energy storage device 21 mounted on the second moving body 20. The third determination unit 38c determines a first assembly side connection position 61, which is a position at which the second moving body 20 is connected in the first assembly 60, based on the second center of gravity information calculated by the calculation unit 36 ​​and the number of second moving bodies 20 in use determined by the first determination unit 38a.

[0071] In this way, the determination unit 38 can determine the optimal number of second moving bodies 20 to be used and the optimal first-assembly side connection position 61 of the first assembly 60 to be connected to the second moving body 20, based on the second center of gravity information calculated by the calculation unit 36, i.e., the center of gravity related information of the first assembly 60. In particular, the first determination unit 38a determines the number of second moving bodies 20 to be used when transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2, based on weight information indicating the weight of the first assembly 60 included in the second center of gravity information calculated by the calculation unit 36, so that the determination unit 38 can determine the optimal number of second moving bodies 20 to be used depending on the weight of the first assembly 60.

[0072] Here, as an example, with reference to Figure 7, we will explain a case in which a first assembly 60 is formed by nine first moving bodies 10, and the first determination unit 38a determines that the number of second moving bodies 20 to be used when transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2 is one.

[0073] The first assembly 60 is configured by nine first moving bodies 10, three of which are connected in the first direction and three of which are connected in the second direction, and has a center of gravity G9. In this embodiment, the center of gravity G9 is located near the center of the first assembly 60 in the first direction and the center in the second direction.

[0074] The calculation unit 36 ​​calculates second center of gravity information, which is center of gravity related information of the first assembly 60, based on the first center of gravity information acquired by the first center of gravity information acquisition unit 13 of the nine first moving bodies 10 constituting the first assembly 60 and the information stored in the connection number database 35. The second center of gravity information calculated by the calculation unit 36 ​​includes center of gravity position information indicating the center of gravity position G9 of the entire first assembly 60.

[0075] Based on the second center of gravity information calculated by the calculation unit 36 ​​and the number of second moving bodies 20 used (one in this example) determined by the first determination unit 38a, the third determination unit 38c determines the first moving body side connection part 18 closest to the center of gravity position G9 of the entire first assembly 60 as the first assembly side connection position 61. In this embodiment, the third determination unit 38c determines the first moving body side connection part 18 provided on the first moving body 10 located in the center in the first direction and the center in the second direction, closest to the center of gravity position G9 of the entire first assembly 60, as the first assembly side connection position 61.

[0076] In this way, when the first determination unit 38a determines that the number of second moving bodies 20 to be used is one, the third determination unit 38c determines the first moving body side connection unit 18 that is closest to the center of gravity position of the entire first assembly 60 as the first assembly side connection position 61 based on the center of gravity position information indicating the center of gravity position of the entire first assembly 60 contained in the second center of gravity information calculated by the calculation unit 36.

[0077] As a result, the second moving body 20 can support and transport the first assembly 60 at the first moving body side connection part 18 that is closest to the center of gravity of the entire first assembly 60, thereby improving the stability of the second moving body 20 when transporting multiple first moving bodies 10 as the first assembly 60.

[0078] As another example, a case in which a first assembly 60 is formed by 12 first moving bodies 10 and the first determination unit 38a determines that the number of second moving bodies 20 to be used when transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2 is two will be described with reference to Figures 8 and 9.

[0079] The first assembly 60 is composed of twelve first moving bodies 10, four of which are connected in the first direction and three of which are connected in the second direction, and has a center of gravity G12. In this embodiment, the center of gravity G12 is located near the center of the first assembly 60 in the first direction and the center in the second direction.

[0080] The calculation unit 36 ​​calculates second center of gravity information, which is center of gravity related information of the first assembly 60, based on the first center of gravity information acquired by the first center of gravity information acquisition unit 13 of the twelve first moving bodies 10 constituting the first assembly 60 and the information stored in the connection number database 35. The second center of gravity information calculated by the calculation unit 36 ​​includes center of gravity position information indicating the center of gravity position G12 of the entire first assembly 60.

[0081] Based on the second center of gravity information calculated by the calculation unit 36 ​​and the number of second moving bodies 20 used (two in this example) determined by the first determination unit 38a, the third determination unit 38c determines, as the two first assembly side connection positions 61, the two first moving body side connection parts 18 that form a combination in which the centers of the two first moving body side connection parts 18 connected to the second moving body 20 are closest to the center of gravity position G12 of the entire first assembly 60. In this embodiment, the third determination unit 38c determines, as the first assembly side connection positions 61, the first moving body side connection part 18 provided on the first moving body 10 located at one end on one side in the first direction and at the center in the second direction, and the first moving body side connection part 18 provided on the first moving body 10 located at the other end on the first direction and at the center in the second direction. By determining the two first assembly side connection positions 61 in this manner, the combination of the two first moving body side connection parts 18 that connect to the second moving body 20, i.e., the centers of the two first assembly side connection positions 61, is closest to the center of gravity position G12 of the entire first assembly 60.

[0082] In this way, when the first determination unit 38a determines that the number of second moving bodies 20 to be used is multiple, the third determination unit 38c determines, based on the center of gravity position information indicating the center of gravity position of the entire first assembly 60 contained in the second center of gravity information calculated by the calculation unit 36, the multiple first moving body side connection parts 18 that connect to the second moving body 20 and are combined in such a way that their centers are closest to the center of gravity position of the entire first assembly 60, as the multiple first assembly side connection positions 61.

[0083] As a result, the second moving body 20 can support and transport the first assembly 60 at a position where the centers of the multiple first moving body side connection parts 18 connecting to the second moving body 20 are closest to the center of gravity position of the entire first assembly 60, thereby improving the stability of the second moving body 20 when transporting the multiple first moving bodies 10 as the first assembly 60.

[0084] The central management server 30 transmits, from the communication unit 31, information indicating the first assembly side connection position 61 determined by the third determination unit 38c to the second moving object 20 determined by the second determination unit 38b.

[0085] Then, the second moving body 20, having received information indicating the first assembly side connection position 61 determined by the third determination unit 38c, controls the drive unit 22 and the second moving body side connection part 25 via the control unit 23, so that the second moving body side connection part 25 connects to the first assembly 60 at the first assembly side connection position 61 determined by the third determination unit 38c.

[0086] 1, the system management terminal 40 is an information terminal that manages the first mobile object 10, the second mobile object 20, and the central management server 30 via the communication network 50. The system management terminal 40 is operated by a system administrator C who is an administrator of the transportation system 1.

[0087] <Processing operation of the transport system> Next, the processing operation of the transfer system 1 configured as above will be specifically described with reference to FIGS.

[0088] As shown in FIG. 10, first, when sender A makes a request to transport the item 90 to the second point P2 (step S1), the central management server 30 accepts the request to transport the item 90 to the second point P2 from sender A (step S2). The transport request is made, for example, by an application program stored in a personal mobile information terminal owned by sender A. For example, the request is made by operating an application program on a personal mobile information terminal owned by sender A and transmitting a transport request signal to the central management server 30 via the communication network 50. The central management server 30 accepts the request to transport the item 90 to the second point P2 from sender A by receiving the transport request signal via the communication network 50, for example.

[0089] When the central management server 30 receives a request from sender A to transport the item 90 to the second point P2, the transport plan creation unit 33 selects the first moving body 10 to be moved to the first point P1 based on the location information of the first point P1, which is the source of the transport, the location information of the second point P2, which is the destination of the transport, various information stored in the environmental information database 32, and various information such as the location information and moving state transmitted from each first moving body 10, the energy storage state of the installed energy storage device 11, whether the item 90 is loaded, and the loading time of the item 90 loaded in the past (step S3).

[0090] Next, proceeding to step S4, the transport plan creation unit 33 creates a transport plan from the first point P1 to the second point P2 of the transport object 90 by the first moving body 10 selected in step S3, and a travel plan from the current location of the first moving body 10 selected in step S3 to the first point P1, based on the location information of the first point P1, which is the transport origin, the location information of the second point P2, which is the transport destination, various information stored in the environmental information database 32, the location information and moving state transmitted from the first moving body 10 selected in step S3, the energy storage state of the mounted energy storage device 11, the loading time of the transport object 90 previously loaded, and other various information. The transport plan created also includes plans for intermediate points such as the first relay point TP1 and the second relay point TP2. Similarly, the first moving body 10 transporting other transported objects 90 creates a transport plan for the first moving body 10 to transport the transported object 90 from the origin to the destination, and a movement plan from the current location of the first moving body 10 to the origin, based on the origin location information, the destination location information, various information stored in the environmental information database 32, and various information such as the location information and moving state transmitted from the first moving body 10, the energy storage state of the installed energy storage device 11, and the loading time of previously loaded transported objects 90.

[0091] Then, the central management server 30 transmits to the first moving object 10 a movement instruction based on the movement plan from the current location of the first moving object 10 to the first point P1 created in step S4 (step S5).

[0092] The first moving object 10 that has received the movement instruction (step S6) moves to the first point P1 in accordance with the movement plan from the current location of the first moving object 10 to the first point P1 that was created in step S4 (step S7).

[0093] While moving to the first point P1, the first moving body 10 determines whether or not it has arrived at the first point P1 (step S8), and if it has not arrived at the first point P1 (step S8: NO loop), it repeats step S8.

[0094] When the first moving object 10 arrives at the first point P1 (step S8: YES), the first moving object 10 transmits information indicating that it has arrived at the first point P1 to the central management server 30 (step S9), and proceeds to step S13.

[0095] When the central management server 30 receives information indicating that the first mobile object 10 has arrived at the first point P1 (step S10), it transmits the information to the personal portable information terminal owned by the sender A and the system management terminal 40 (step S11). This allows the sender A and the system administrator C to recognize that the first mobile object 10 has arrived at the first point P1. Note that the information may be transmitted from the first mobile object 10 to the personal portable information terminal owned by the sender A and the system management terminal 40 via the communication network 50 without passing through the central management server 30.

[0096] The sender A, who recognizes that the first moving body 10 has arrived at the first point P1, stores the conveyance item 90 in the storage section 10a of the first moving body 10 at the first point P1 (step S12).

[0097] The first moving body 10 determines whether or not the transported article 90 is loaded at the first point P1 (step S13), and if the transported article 90 is not loaded (step S13: NO loop), repeats step S13.

[0098] When the article 90 is loaded (step S13: YES), the first moving body 10 transmits information indicating that the article 90 has been loaded to the central management server 30 (step S14).

[0099] When the central management server 30 receives information indicating that the transported article 90 has been loaded onto the first moving body 10 (step S15), it transmits the information to the personal portable information terminal owned by the recipient B and the system management terminal 40 (step S16). This allows the recipient B and the system administrator C to recognize that the transported article 90 has been loaded onto the first moving body 10. Note that the information may be transmitted from the first moving body 10 to the personal portable information terminal owned by the recipient B and the system management terminal 40 via the communication network 50 without passing through the central management server 30.

[0100] The central management server 30 then proceeds to step S17, where it transmits to the first moving body 10 a movement instruction from the first point P1 to the first relay point TP1 based on the transportation plan from the first point P1 to the second point P2 created in step S4. Then, it proceeds to step S20.

[0101] The first moving body 10 (step S18), which receives the movement instruction sent from the central management server 30 in step S17, moves from the first point P1 to the first relay point TP1 in accordance with the movement plan from the first point P1 to the first relay point TP1 based on the transportation plan from the first point P1 to the second point P2 created in step S4 (step S19).

[0102] Then, as shown in FIG. 11, while moving to the first relay point TP1, the first moving body 10 determines whether or not it has arrived at the first relay point TP1 (step S20), and if it has not arrived at the first relay point TP1 (step S20: NO loop), it repeats step S20.

[0103] When the first moving object 10 arrives at the first relay point TP1 (step S20: YES), the first moving object 10 transmits information indicating that it has arrived at the first relay point TP1 to the central management server 30 (step S21).

[0104] On the other hand, the central management server 30 extracts, in the extraction unit 34, the multiple first moving bodies 10 constituting the first collection 60 based on various information such as position information, moving state, and energy storage state of the mounted energy storage device 11 transmitted from each of the multiple first moving bodies 10 accumulated at the first relay point TP1, the destination information of the transported goods 90 loaded on each of the multiple first moving bodies 10 accumulated at the first relay point TP1, and the transport plan created for each of the multiple first moving bodies 10 accumulated at the first relay point TP1 (step S22). The extraction unit 34 extracts, from the multiple first moving bodies 10 accumulated at the first relay point TP1, the multiple first moving bodies 10 whose transport plan includes a plan to move from the first relay point TP1 to the second relay point TP2 as the multiple first moving bodies 10 constituting the first collection 60.

[0105] Next, proceeding to step S23, the central management server 30 acquires the first center of gravity information acquired by the first center of gravity information acquisition unit 13 of each of the first moving bodies 10 extracted by the extraction unit 34 in step S20, i.e., each of the first moving bodies 10 that constitute the first aggregate 60.

[0106] Then, the process proceeds to step S24, and the central management server 30 calculates, in the calculation unit 36, the second center of gravity information of each of the first moving bodies 10 constituting the first aggregate 60 when the first aggregate 60 is formed by specifying the relative positions of each of the first moving bodies 10 constituting the first aggregate 60 in a plurality of arrangement patterns based on the first center of gravity information of each of the first moving bodies 10 constituting the first aggregate 60 acquired in step S22 and the information stored in the connection number database 35. In this way, by calculating the second center of gravity information, which is the center of gravity related information of the first aggregate 60, based on the first center of gravity information, which is the center of gravity related information of the first moving body 10, it becomes possible to optimally arrange the second moving body 20 according to the center of gravity related information of the first aggregate 60, and to transport a plurality of first moving bodies 10 by the second moving body 20 as the first aggregate 60. As a result, a greater number of first moving bodies 10 can be transported by a smaller number of second moving bodies 20, and the stability of the second moving body 20 when transporting a plurality of first moving bodies 10 is improved.

[0107] Then, proceeding to step S25, the central management server 30 causes the selection unit 37 to select one arrangement pattern based on a reference center of gravity position, which is the center of gravity position of the entire first assembly 60 when the multiple first moving bodies 10 constituting the first assembly 60 all have the same weight and center of gravity, and the second center of gravity information of each arrangement pattern. In this embodiment, in step S25, the selection unit 37 selects an arrangement pattern in which the center of gravity position information of the second center of gravity information is closest to the reference center of gravity position.

[0108] The central management server 30 then determines whether or not it has received information from each of the first moving bodies 10 that make up the first aggregate 60 indicating that they have arrived at the first relay point TP1 (step S26), and enters a standby state until it receives information from each of the first moving bodies 10 that make up the first aggregate 60 indicating that they have arrived at the first relay point TP1 (step S26: NO loop).

[0109] When information indicating arrival at the first relay point TP1 is received from each of the first moving bodies 10 constituting the first aggregate 60 (step S26: YES), the central management server 30 proceeds to step S27, where it transmits information indicating the arrangement pattern selected in step S25, or information indicating the positions of each of the multiple first moving bodies 10 in the arrangement pattern selected in step S25, from the communication unit 31 to each of the first moving bodies 10 constituting the first aggregate 60. The central management server 30 then proceeds to step S31.

[0110] When each of the first moving bodies 10 constituting the first assembly 60 receives information indicating the arrangement pattern transmitted from the central management server 30 in step S27 or information indicating the position of the first moving body 10 in the arrangement pattern (step S28), the control unit 14 controls the drive unit 12, the first engagement member 16a and the second engagement member 17a based on the information indicating the arrangement pattern received from the central management server 30 or the information indicating the position of the first moving body 10 in the arrangement pattern, to form the first assembly 60 arranged in the arrangement pattern selected by the selection unit 37 (step S29).

[0111] Then, as shown in FIG. 12, when the formation of the first assembly 60 is completed, each first moving body 10 that constitutes the first assembly 60 transmits information indicating that the formation of the first assembly 60 is completed to the central management server 30 (step S30).

[0112] Meanwhile, the central management server 30 proceeds to step S31, and in the first determination section 38a of the determination unit 38, determines the number of second moving bodies 20 to be used when transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2 based on weight information indicating the weight of the first assembly 60 contained in the second center of gravity information calculated by the calculation unit 36.

[0113] Next, proceeding to step S32, the second decision section 38b of the decision unit 38 decides, from among the multiple second moving bodies, a second moving body 20 that will transport the first assembly 60 from the first relay point TP1 to the second relay point TP2 based on the information stored in the environmental information database 32, the number of second moving bodies 20 in use decided in step S31, and the information sent from each second moving body 20 to the central management server 30.

[0114] Then, the process proceeds to step S33, where a third determination unit 38c of the determination unit 38 determines a first-assembly-side connection position 61 of the first assembly 60 to which the second moving body 20 is connected, based on the second center of gravity information of the arrangement pattern selected in step S25 from the second center of gravity information of each arrangement pattern calculated in step S24 and the number of second moving bodies 20 to be used determined in step S32. The third determination unit 38c determines the first-assembly-side connection position 61 by the above-mentioned method depending on whether the first determination unit 38a determines the number of second moving bodies 20 to be used to be one or multiple.

[0115] Next, the process proceeds to step S34, where the central management server 30 determines whether or not it has received information indicating that the formation of the first assembly 60 has been completed, which was sent in step S30. If it has not received information indicating that the formation of the first assembly 60 has been completed, it repeats step S34 and enters a wait state until it receives information indicating that the formation of the first assembly 60 has been completed (step S34: NO loop).

[0116] When the central management server 30 receives the information transmitted in step S30 indicating that the formation of the first aggregate 60 is completed (step S34: YES), the central management server 30 proceeds to step S35, where it transmits information indicating the first aggregate side connection position 61 determined in step S33 from the communication unit 31 to the second moving object 20 determined in step S32. Then, the central management server 30 proceeds to step S39.

[0117] When the second moving body 20 determined in step S32 receives the information indicating the first assembly side connection position 61 transmitted in step S35 (step S36), the process proceeds to step S37, and the second moving body 20 determined in step S32 controls the drive unit 22 and the second moving body side connection unit 25 based on the information indicating the first assembly side connection position 61 received from the central management server 30 using the control unit 23, to connect the second moving body side connection unit 25 to the first assembly side connection position 61 received from the central management server 30.

[0118] Then, when each second moving body 20 determined in step S32 completes connection of the second moving body side connection unit 25 to the first assembly side connection position 61 received from the central management server 30, it transmits information indicating that connection of the second moving body side connection unit 25 to the first assembly side connection position 61 has been completed to the central management server 30 (step S38).

[0119] Meanwhile, the central management server 30 proceeds to step S39 and determines whether or not the information indicating that the connection of the second mobile unit side connection unit 25 to the first assembly side connection position 61, which was sent in step S38, has been completed has been received from all second mobile units 20 determined in step S32. If the information indicating that the connection of the second mobile unit side connection unit 25 to the first assembly side connection position 61 has been completed has not been received from all second mobile units 20 determined in step S32, step S39 is repeated and the central management server 30 enters a waiting state until information indicating that the connection of the second mobile unit side connection unit 25 to the first assembly side connection position 61 has been completed is received from all second mobile units 20 determined in step S32 (step S39: NO loop).

[0120] When the central management server 30 receives information indicating that the connection of the second moving body side connection part 25 to the first assembly side connection position 61 is completed from all the second moving bodies 20 determined in step S32 (step S39: YES), the central management server 30 proceeds to step S40, where the central management server 30 transmits to the second moving body 20 determined in step S23 a movement instruction from the first relay point TP1 to the second relay point TP2 based on the transportation plan from the first point P1 to the second point P2 created in step S4. Then, the central management server 30 proceeds to step S43.

[0121] When the second moving body 20 determined in step S32 receives the movement instruction from the first relay point TP1 to the second relay point TP2 transmitted in step S40 (step S41), the process proceeds to step S42, where the control unit 23 controls the driving device 22 to move from the first relay point TP1 to the second relay point TP2 based on the information indicating the first assembly side connection position 61 received from the central management server 30. As a result, the second moving body 20 determined in step S32 transports the multiple first moving bodies 10 as the first assembly 60 whose relative positions have been specified, from the first relay point TP1 to the second relay point TP2.

[0122] 13, the central management server 30 proceeds to step S43 and determines whether the second moving body 20, which transports the multiple first moving bodies 10 as a first assembly 60 whose relative positions have been specified, from the first relay point TP1 to the second relay point TP2, has arrived at the second relay point TP2. The central management server 30 may determine whether the second moving body 20 has arrived at the second relay point TP2 based on position information of the second moving body 20 transmitted from the second moving body 20, which transports the first assembly 60 from the first relay point TP1 to the second relay point TP2. Also, when the second moving body 20 transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2 arrives at the second relay point TP2, the central management server 30 may transmit information indicating that the second moving body 20 has arrived at the second relay point TP2 to the central management server 30, and the central management server 30 may determine whether or not the second moving body 20 has arrived at the second relay point TP2 depending on whether or not the central management server 30 has received information indicating that the second moving body 20 has arrived at the second relay point TP2 transmitted from the second moving body 20. If it is determined that the second moving body 20 transporting the first moving body 10 as the first assembly 60 with the relative positions specified from each other from the first relay point TP1 to the second relay point TP2 has not arrived at the second relay point TP2, step S31 is repeated, and the second moving body 20 transporting the first moving body 10 as the first assembly 60 with the relative positions specified from each other from the first relay point TP1 to the second relay point TP2 is in a standby state until it is determined that the second moving body 20 has not arrived at the second relay point TP2 (step S43: NO loop).

[0123] When the central management server 30 determines that the second moving body 20, which is transporting a plurality of first moving bodies 10 as a first aggregate 60 whose relative positions have been identified, from the first relay point TP1 to the second relay point TP2, has arrived at the second relay point TP2 (step S43: YES), it proceeds to step S44 and sends an instruction to the second moving body 20 that has arrived at the second relay point TP2 to disconnect the connection at the first aggregate side connection position 61 of the second moving body side connection part 25.

[0124] Next, the process proceeds to step S45, where the central management server 30 transmits to each of the first moving bodies 10 constituting the first aggregate 60 that has arrived at the second relay point TP2 an instruction to release the engagement of the first engaging member 16a with the first engaged portion 16b of the different first moving body 10 and the engagement of the second engaging member 17a with the second engaged portion 17b of the different first moving body 10. The central management server 30 then proceeds to step S52.

[0125] When the second moving body 20 receives an instruction to release the connection of the second moving body side connection part 25 at the first assembly side connection position 61 (step S46), the second moving body 20 controls the second moving body side connection part 25 by the control unit 23 to release the connection of the second moving body side connection part 25 at the first assembly side connection position 61 (step S47). Then, when the second moving body 20 completes the release of the connection of the second moving body side connection part 25 at the first assembly side connection position 61 in step S47, the second moving body 20 transmits information indicating that the release of the connection of the second moving body side connection part 25 at the first assembly side connection position 61 has been completed to the central management server 30 (step S48).

[0126] When the first moving body 10 receives an instruction to release the engagement of the first engaging member 16a with the first engaged portion 16b of a different first moving body 10 and the engagement of the second engaging member 17a with the second engaged portion 17b of a different first moving body 10 (step S49), it releases the engagement of the first engaging member 16a with the first engaged portion 16b of the different first moving body 10 and the engagement of the second engaging member 17a with the second engaged portion 17b of the different first moving body 10 (step S50). Then, when the first engaging member 16a has completed disengagement from the first engaged portion 16b of a different first moving body 10, and the second engaging member 17a has completed disengagement from the second engaged portion 17b of a different first moving body 10, the first moving body 10 sends information to the central management server 30 indicating that the first engaging member 16a has completed disengagement from the first engaged portion 16b of a different first moving body 10, and the second engaging member 17a has completed disengagement from the second engaged portion 17b of a different first moving body 10 (step S51).

[0127] The central management server 30 determines whether it has received information transmitted from the second moving body 20 in step S48 indicating that the connection of the second moving body side connection part 25 at the first assembly side connection position 61 has been completed, and information transmitted from the first moving body 10 in step S51 indicating that the engagement of the first engaging member 16a with the first engaged part 16b of a different first moving body 10 has been completed, and the engagement of the second engaging member 17a with the second engaged part 17b of a different first moving body 10 has been completed (step S52). If neither of the information transmitted from the second moving body 20 in step S48 indicating that the second moving body side connection part 25 has been released from the first assembly side connection position 61, and the information transmitted from the first moving body 10 in step S51 indicating that the first engaging member 16a has been released from the first engaged part 16b of a different first moving body 10 and the second engaging member 17a has been released from the second engaged part 17b of a different first moving body 10, is received, the second moving body 20 is notified in step S52. Step S52 is repeated until both information transmitted from the first moving body 10 in step S37 indicating that the release of the connection at the first assembly side connection position 61 of the second moving body side connection part 25 has been completed, and information transmitted from the first moving body 10 in step S37 indicating that the release of the engagement of the first engaging member 16a with the first engaged part 16b of a different first moving body 10 and the release of the engagement of the second engaging member 17a with the second engaged part 17b of a different first moving body 10 have been completed, and the system enters a standby state (step S52: NO loop).

[0128] As shown in FIG. 14, the central management server 30 receives information transmitted from the second moving body 20 in step S48 indicating that the second moving body side connecting portion 25 has been disconnected at the first assembly side connecting position 61, and information transmitted from the first moving body 10 in step S51 indicating that the first engaging member 16a has been disconnected from the first engaged portion 16b of a different first moving body 10 and the second engaging member 17a has been disconnected from the second engaged portion 17b of a different first moving body 10. When the central management server 30 receives both the information indicating that the first engaging member 16a has been disengaged from the first engaged portion 16b of the different first moving body 10 and the information indicating that the second engaging member 17a has been disengaged from the second engaged portion 17b of the different first moving body 10, the central management server 30 proceeds to step S53, and transmits a movement instruction for the transported object 90 to the destination based on the transport plan from the transport source to the destination created in step S4 to each of the first moving bodies 10 for which the first engaging member 16a has been disengaged from the first engaged portion 16b of the different first moving body 10 and the second engaging member 17a has been disengaged from the second engaged portion 17b of the different first moving body 10. Therefore, the central management server 30 transmits a movement instruction to the second point P2 based on the transport plan from the first point P1 to the second point P2 created in step S4 to the first moving body 10 selected in step S3 to transport the transported object 90 from the first point P1 to the second point P2.

[0129] The first moving body 10, which was selected in step S3 to transport the transported item 90 from the first point P1 to the second point P2, receives an instruction to move to the second point P2 (step S54), and controls the drive unit 12 via the control unit 14 to move to the second point P2 based on the transport plan from the first point P1 to the second point P2 created in step S4 (step S55).

[0130] The first moving body 10 selected in step S3 to transport the transported item 90 from the first point P1 to the second point P2 determines whether or not it has arrived at the second point P2 while moving to the second point P2 (step S56), and if it has not arrived at the second point P2, repeats step S56 (step S56: NO loop).

[0131] When the first moving body 10 selected in step S3 for transporting the transported item 90 from the first point P1 to the second point P2 arrives at the second point P2 (step S56: YES), it transmits information indicating that it has arrived at the second point P2 to the central management server 30 (step S57) and proceeds to step S61.

[0132] When the central management server 30 receives information indicating that the first moving object 10 selected in step S3 for transporting the goods 90 from the first point P1 to the second point P2 has arrived at the second point P2 (step S58), the central management server 30 transmits the information to the personal portable information terminal owned by the recipient B and the system management terminal 40 (step S59). This allows the recipient B and the system manager C to recognize that the first moving object 10 has arrived at the second point P2. Note that the information may be transmitted from the first moving object 10 to the personal portable information terminal owned by the recipient B and the system management terminal 40 via the communication network 50 without passing through the central management server 30.

[0133] Recipient B, who recognizes that the first moving body 10 selected in step S3 for transporting the article 90 from the first point P1 to the second point P2 has arrived at the second point P2, removes the article 90 from the storage unit 10a of the first moving body 10 at the second point P2 (step S60). This completes the transport of the article 90 from the first point P1 to the second point P2.

[0134] The first moving body 10, which is selected in step S3 and transports the transported object 90 from the first point P1 to the second point P2, determines whether the transported object 90 has been removed from the storage unit 10a at the second point P2 (step S61). The first moving body 10 repeats step S61 until the transported object 90 is removed from the storage unit 10a at the second point P2 (step S61: NO loop), and when it detects that the transported object 90 has been removed from the storage unit 10a at the second point P2 (step S61: YES), it transmits information indicating that the transport of the transported object 90 from the first point P1 to the second point P2 has been completed to the central management server 30 (step S62).

[0135] Then, when the central management server 30 receives information indicating that the transport of the conveyance item 90 from the first point P1 to the second point P2 is completed (step S63), it transmits the information to the personal portable information terminal owned by the sender A and the system management terminal 40 (step S64). This allows the sender A and the system manager C to recognize that the transport of the conveyance item 90 from the first point P1 to the second point P2 is completed. Note that the information may be transmitted from the first mobile object 10 to the personal portable information terminal owned by the sender A and the system management terminal 40 via the communication network 50 without passing through the central management server 30.

[0136] When step S64 is completed, the series of processes for transporting the article 90 from the first point P1 to the second point P2 is ended.

[0137] [Second embodiment] Next, a transfer system 1A according to a second embodiment of the present invention will be described with reference to Fig. 15 to Fig. 20. In the following description, the same components as those in the transfer system 1 according to the first embodiment will be denoted by the same reference numerals, and the description thereof will be omitted or simplified.

[0138] The conveying system 1 of the first embodiment conveys an object 90 such as luggage housed in the housing 10a of the first moving body 10 from a first point P1 to a second point P2, but the conveying system 1A of the second embodiment conveys energy stored in the energy storage device 11 built in the main body 10f of the first moving body 10, for example, electricity stored in the secondary battery 11a of the energy storage device 11, to the second point P2, as shown in FIG. 15. That is, the object conveyed by the conveying system 1 of the first embodiment to the second point P2 is the object 90 such as luggage, and the object conveyed by the conveying system 1A of the second embodiment to the second point P2 is energy, for example, electricity. The object 90 in the conveying system 1 of the first embodiment may be an energy source.

[0139] In addition, in the conveying system 1 of the first embodiment, the first moving body 10 includes a first engaging member 16a and a first engaged portion 16b, a second engaging member 17a and a second engaged portion 17b, and a first moving body side connection portion 18, and the second moving body 20 includes a second moving body side connection portion 25 connectable to the first moving body side connection portion 18, but in the conveying system 1A of the second embodiment, the second moving body 20 includes a storage portion 20a capable of storing multiple first moving bodies 10 as a first assembly 60 in which the relative positions of the first moving bodies 10 are specified.

[0140] Hereinafter, differences between the transfer system 1 of the first embodiment and the transfer system 1A of the second embodiment will be described in detail.

[0141] As shown in FIG. 16, the first moving body 10 of this embodiment includes a main body 10f. The power input / output connector 10c, the fuel input / output connector 10d, and the display unit 10e are provided on the main body 10f. The first moving body 10 can operate the electronic devices, etc., by connecting the electronic device, etc. to the power input / output connector 10c, such as a conventional outlet plug, using the energy stored in the energy storage device 11 of the first moving body 10, which is the power stored in the secondary battery 11a in this embodiment. The energy stored in the energy storage device 11 of the first moving body 10 is used in the vicinity of the second point P2. Therefore, the first moving body 10 of this embodiment does not need to include the storage section 10a and the opening / closing door 10b.

[0142] In the vicinity of the second point P2, the power stored in the secondary battery 11a of the first moving body 10 is expected to be used in various ways. That is, various output characteristics are required for the secondary battery 11a of the first moving body 10. In response to such requirements, it is difficult to increase the C-rate in a conventional Li-ion battery because the diffusion speed of solvated ions is limited. On the other hand, an all-solid-state battery is less restricted by the diffusion of solvated ions, and can therefore handle even higher C-rates. In addition, since an all-solid-state battery does not have an electrolyte, the growth of the SEI layer, which is the main cause of Li-ion battery degradation and is thought to be derived from the electrolyte, is suppressed, and degradation is reduced.

[0143] In addition, the secondary battery 11a of the first moving body 10 of this embodiment may be used repeatedly or may be stored at a high potential for a long period of time. For this reason, using an all-solid-state battery as the secondary battery 11a of the first moving body 10 reduces the frequency of replacement due to deterioration, which is advantageous in terms of cost.

[0144] Therefore, the secondary battery 11a of the first moving body 10 in the transport system 1A of this embodiment is preferably an all-solid-state battery.

[0145] The first moving body 10 includes an engagement member 19 capable of fixing the first moving body 10 to the housing portion 20a of the second moving body 20. In this embodiment, the engagement member 19 is a protrusion fixed to the main body portion 10f and protruding downward from the main body portion 10f. The main body portion 10f can be displaced in the vertical direction by an electric motor (not shown) and is controlled by the control unit 14.

[0146] The second moving body 20 of this embodiment includes a storage section 20a capable of storing a plurality of first moving bodies 10, and a plurality of propeller devices 26 connected to the storage section 20a. In this embodiment, the second moving body 20 includes four propeller devices 26, which are arranged such that the centers of the four propeller devices 26 approximately coincide with the center of the storage section 20a when viewed from the top-bottom direction.

[0147] The storage unit 20a is also provided with an opening / closing door 20d. The opening / closing door 20d is controlled by at least one of the central management server 30 and the control unit 23 of the second moving body. In this embodiment, the storage unit 20a has a substantially rectangular parallelepiped shape, and the opening / closing door 20d is provided on one of six faces of the substantially rectangular parallelepiped shape. When the opening / closing door 20d is in an open state, the first moving body 10 can move between the outside and the inside of the storage unit 20a.

[0148] 18, a large number of engaged portions 27 that can engage with the engaging members 19 of the first moving body 10 are provided inside the accommodation portion 20a of the second moving body 20. In this embodiment, the engaged portions 27 are recesses that are provided in a large number on the floor surface of the accommodation portion 20a.

[0149] The engaging member 19 of the first moving body 10 is located above the lower end of the wheel WH during the autonomous movement of the first moving body 10 so as not to impede the autonomous movement of the first moving body 10. When the first moving body 10 is stopped inside the storage section 20a of the second moving body 20, the main body 10f descends toward the floor surface of the storage section 20a, and the engaging member 19 engages with the engaged portion 27 of the second moving body 20, thereby fixing the first moving body 10 to the storage section 20a of the second moving body 20.

[0150] The central management server 30 acquires the energy demand in the vicinity of the second point P2. The energy demand in the vicinity of the second point P2 may be transmitted by the recipient B to the central management server 30 from a personal portable information terminal owned by the recipient B. In addition, information on the energy demand at a plurality of points may be acquired from an energy-related company or an energy-related organization via the communication network 50, and the information on the energy demand at a plurality of points including the vicinity of the second point P2 may be appropriately updated and stored in the environmental information database 32.

[0151] Then, the transportation plan creation unit 33 selects the first moving body 10 to be moved to the second point P2 based on the position information of the second point P2, which is the destination, various information stored in the environmental information database 32, various information such as the position information and moving state transmitted from each first moving body 10, the energy storage state of the mounted energy storage device 11, the deterioration state of the mounted energy storage device 11, and the energy demand in the vicinity of the second point P2, and creates a movement plan from the current location of the selected first moving body 10 to the second point P2. The created transportation plan also includes plans for intermediate points such as the first relay point TP1 and the second relay point TP2. Similarly, for other first moving bodies 10, the transportation plan creation unit 33 creates a transportation plan from the current location of the first moving body 10 to the destination based on the location information of the destination, various information stored in the environmental information database 32, various information such as the location information and movement state transmitted from each first moving body 10, the energy storage state of the installed energy storage device 11, the deterioration state of the installed energy storage device 11, and the energy demand in the vicinity of the destination.

[0152] Each first moving body 10 receives a movement instruction based on a transportation plan created by a transportation plan creating unit 33 from the central management server 30, and travels autonomously according to the transportation plan created by the transportation plan creating unit 33.

[0153] The extraction unit 34 extracts the multiple first moving bodies 10 that constitute the first assembly 60 based on various information such as location information, moving status, and energy storage status of the installed energy storage device 11 transmitted from each of the multiple first moving bodies 10 accumulated at the first relay point TP1, destination information of the transported goods 90 loaded on each of the multiple first moving bodies 10 accumulated at the first relay point TP1, and transportation plans created for each of the multiple first moving bodies 10 accumulated at the first relay point TP1.

[0154] The second determination unit 38b determines, from among the multiple second moving bodies, a second moving body 20 that will transport the first assembly 60 from the first relay point TP1 to the second relay point TP2 based on information stored in the environmental information database 32, and various information such as the position information and movement status of each second moving body 20 transmitted from each second moving body 20 to the central management server 30, and the energy storage status of the energy storage device 21 mounted on the second moving body 20.

[0155] Then, the central management server 30 transmits, to the second moving object 20 determined by the second determination unit 38b, an instruction to move from the current location to the first relay point TP1.

[0156] When the second moving body 20 determined by the second determination unit 38b receives a movement instruction from the central management server 30 to move from its current location to the first relay point TP1, it moves to the first relay point TP1 in accordance with the received movement instruction. Then, when the second moving body 20 arrives at the first relay point TP1, it transmits information indicating that it has arrived at the first relay point TP1 to the central management server 30.

[0157] When the central management server 30 receives information indicating that the second moving body 20 determined by the second determination unit 38b has arrived at the first relay point TP1, the central management server 30 transmits information indicating the arrangement pattern selected by the selection unit 37, or information indicating the positions of each of the multiple first moving bodies 10 in the arrangement pattern selected by the selection unit 37, to each of the first moving bodies 10 extracted by the extraction unit 34, i.e., each of the first moving bodies 10 constituting the first assembly 60, in the same manner as in the first embodiment. Then, the opening and closing door 20d of the second moving body 20 is controlled to be in an open state.

[0158] When each of the first moving bodies 10 extracted by the extraction unit 34, i.e., each of the first moving bodies 10 constituting the first aggregate 60, receives from the central management server 30 information indicating the arrangement pattern selected by the selection unit 37 or information indicating the position of the first moving body 10 in the arrangement pattern selected by the selection unit 37, the control unit 14 controls the drive unit 12 and the main body 10f based on the information indicating the arrangement pattern received from the central management server 30 or the information indicating the position of the first moving body 10 in the arrangement pattern. Then, each of the first moving bodies 10 extracted by the extraction unit 34, i.e., each of the first moving bodies 10 constituting the first aggregate 60, autonomously travels inside the storage section 20a of the second moving body 20, and at a predetermined position in the storage section 20a of the second moving body 20, the main body 10f is lowered to engage the engaging member 19 with the engaged portion 27 of the second moving body 20. As a result, each of the first moving bodies 10 extracted by the extraction unit 34 is fixed to the storage section 20a of the second moving body 20 by the engagement member 19, and the first assembly 60 is formed in the storage section 20a of the second moving body 20 in the arrangement pattern selected by the selection unit 37. In this manner, the second moving body 20 stores the first moving bodies 10 in the storage section 20a as the first assembly 60 in which the relative positions of the first moving bodies 10 are specified. Therefore, in the first embodiment, the first assembly 60 is formed by engaging the first moving bodies 10 with each other, so that the first assembly 60 is adjacent to the first moving bodies 10. On the other hand, in this embodiment, the first moving bodies 10 are engaged with the storage section 20a of the second moving body 20 to form the first assembly 60 in which the relative positions of the first moving bodies 10 are specified. Therefore, in this embodiment, the first assembly 60 does not directly engage the multiple first moving bodies 10 with each other, and the relative positions of the multiple first moving bodies 10 are fixed via the accommodation portion 20a. Therefore, in this embodiment, it is not necessary to engage the multiple first moving bodies 10 with each other, and it is possible to form the first assembly 60 with the multiple first moving bodies 10 at positions spaced apart from each other. Note that, in Figs. 15 and 17, the first assembly 60 is formed with 12 first moving bodies 10 aligned in 3 rows x 4 rows, but the first assembly 60 may be formed with the multiple first moving bodies 10 irregularly arranged.Then, when the formation of the first assembly 60 is completed, the first moving body 10 extracted by the extraction unit 34 transmits information indicating the completion of the formation of the first assembly 60 to the central management server 30. Then, the opening and closing door 20d of the second moving body 20 is controlled to be in a closed state.

[0159] When the central management server 30 receives information indicating that the formation of the first aggregate 60 has been completed, it sends a movement instruction to the second moving body 20 determined by the second determination unit 38b to move from the first relay point TP1 to the second relay point TP2.

[0160] When the second moving body 20 determined by the second determination unit 38b receives a movement instruction from the central management server 30 from the first relay point TP1 to the second relay point TP2, it moves to the second relay point TP2 according to the received movement instruction. In this way, the second moving body 20 stores the multiple first moving bodies 10 in the storage unit 20a as the first aggregate 60 whose relative positions are specified, and transports the multiple first moving bodies 10 as the first aggregate 60 whose relative positions are specified from the first relay point TP1 to the second relay point TP2. Then, when the second moving body 20 arrives at the second relay point TP2, it transmits information indicating that it has arrived at the second relay point TP2 to the central management server 30.

[0161] When the central management server 30 receives information indicating that the second moving body 20 determined by the second determination unit 38b has arrived at the second relay point TP2, it sends a movement instruction to each of the first moving bodies 10 that make up the first assembly 60 to move to the destination based on the transportation plan created by the transportation plan creation unit 33.

[0162] When each of the first moving bodies 10 constituting the first assembly 60 receives a movement instruction to a destination from the central management server 30, it first raises the main body 10f and disengages the engaging member 19 from the engaged portion 27 of the second moving body 20. After that, each of the first moving bodies 10 moves to the destination in accordance with the received movement instruction. Therefore, the first moving body 10 whose destination is the second point P2 moves to the second point P2.

[0163] In this manner, the transport system 1A of the present embodiment transports the first moving body 10 to the second point P2.

[0164] 19 and 20, an opening 20b through which the first moving body 10 can be inserted is provided in the floor surface of the storage section 20a of the second moving body 20. Furthermore, the second moving body 20 includes a guide member 28 capable of guiding the first moving body 10 stored in the storage section 20a from the opening 20b to the outside of the storage section 20a. The guide member 28 is, for example, a rod member capable of engaging with the first moving body 10 and extending downward from the opening 20b of the storage section 20a.

[0165] During the flight from the first relay point TP1 to the second relay point TP2, the second moving body 20 can guide the first moving body 10 from the opening 20b to the outside of the storage section 20a by engaging a part of the first moving body 10 that constitutes the first assembly 60 stored in the storage section 20a with the guide member 28 and extending the guide member 28.

[0166] Furthermore, as shown in FIG. 19, the second moving body 20 may also have an opening 20c at the top through which the first moving body 10 can be inserted. In this case, during flight from the first relay point TP1 to the second relay point TP2, a part of the first moving body 10 constituting the first assembly 60 stored in the storage section 20a can be engaged with the guide member 28 and the guide member 28 can be extended downward, so that the first moving body 10 can be guided from the opening 20b to the opening 20c of another second moving body 20 and moved to the storage section 20a of the other second moving body 20.

[0167] 20, the conveyance system 1A may include a third moving body 70. The third moving body 70 is, for example, a truck vehicle equipped with a loading platform 71. During the flight from the first relay point TP1 to the second relay point TP2, the second moving body 20 can guide the first moving body 10, which constitutes the first assembly 60 housed in the housing section 20a, from the opening 20b to the loading platform 71 of the third moving body 70 by engaging a part of the first moving body 10 with the guide member 28 and extending the guide member 28 downward.

[0168] As shown in Figures 19 and 20, when the second moving body 20 moves some of the first moving bodies 10 that constitute the first assembly 60 stored in the storage section 20a to the storage section 20a of another second moving body 20 or to the loading platform 71 of a third moving body 70 while flying from the first relay point TP1 to the second relay point TP2, the second moving body 20, while transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2, sends information to the central management server 30 indicating that the number of first moving bodies 10 that constitute the first assembly 60 has changed.

[0169] When the central management server 30 receives information indicating that the number of first moving bodies 10 constituting the first aggregate 60 has changed, the calculation unit 36 ​​calculates second center of gravity information based on the first center of gravity information of each of the first moving bodies 10 constituting the first aggregate 60 after the change in the number of first moving bodies 10 constituting the first aggregate 60 and the information stored in the connection number database 35. In this way, when the number of first moving bodies 10 constituting the first aggregate 60 has changed, the calculation unit 36 ​​calculates second center of gravity information based on the first center of gravity information of each of the multiple first moving bodies 10 constituting the first aggregate 60 after the change.

[0170] The calculation unit 36 ​​calculates the second center of gravity information of each of the arrangement patterns when the relative positions of the multiple first moving bodies 10 that make up the first assembly 60 after the number change are identified in multiple arrangement patterns to form the first assembly 60.

[0171] The selection unit 37 selects one arrangement pattern based on the second center of gravity information in each arrangement pattern of the multiple first moving bodies 10 calculated by the calculation unit 36. The central management server 30 transmits information indicating the arrangement pattern selected by the selection unit 37, or information indicating the positions of each of the multiple first moving bodies 10 in the arrangement pattern selected by the selection unit 37, to each of the first moving bodies 10 constituting the first collection 60 after the number change.

[0172] Then, the control unit 14 controls the drive unit 12 and the main body 10f of each of the first moving bodies 10 constituting the first assembly 60 after the number change based on the information indicating the arrangement pattern received from the central management server 30 or the information indicating the position of the first moving body 10 in the arrangement pattern, and then moves the main body 10f to the arrangement pattern selected by the selection unit 37 in the storage unit 20a to release the engagement of the engaging member 19 with the engaged portion 27 of the second moving body 20, and then lowers the main body 10f again at a predetermined position after moving to the arrangement pattern selected by the selection unit 37 to engage the engaging member 19 with the engaged portion 27 of the second moving body 20. As a result, each of the first moving bodies 10 constituting the first assembly 60 after the number change forms the first assembly 60 arranged in the arrangement pattern selected by the selection unit 37 based on the second center of gravity information calculated by the calculation unit 36 ​​after the number change.

[0173] As a result, even if the number of first moving bodies 10 that make up the first assembly 60 changes, it is possible to form a first assembly 60 that is arranged in an optimal arrangement pattern according to the first moving bodies 10 that make up the first assembly 60 after the number change.

[0174] As described above, the first mobile body 10 transmits to the central management server 30 the energy storage state of the energy storage device 11 mounted on the first mobile body 10, such as the remaining storage capacity (State of Charge: SOC) of the secondary battery 11a and the remaining amount of fuel stored in the fuel tank 11b, and the second mobile body 20 transmits to the central management server 30 the energy storage state of the energy storage device 21 mounted on the second mobile body 20, such as the remaining storage capacity (State of Charge: SOC) of the secondary battery and the remaining amount of fuel stored in the fuel tank.

[0175] Furthermore, when a first mobile body 10 constituting the first aggregate 60 exchanges power with another first mobile body 10 constituting the first aggregate 60 via the power input / output connection section 10c between their respective secondary batteries 11a, and / or when power is exchanged between a second mobile body 20 and the secondary battery 11a of the first mobile body 10 and the secondary battery of the energy storage device 21 of the second mobile body 20, the first mobile body 10 and / or the second mobile body 20 that exchanged power transmits information indicating that power has been exchanged to the central management server 30.

[0176] Similarly, when a first moving body 10 constituting the first assembly 60 exchanges fuel between its fuel tank 11b and another first moving body 10 constituting the first assembly 60 via the fuel input / output connection part 10d, and / or when fuel is exchanged between a second moving body 20 and the fuel tank 11b of the first moving body 10 and the fuel tank of the energy storage device 21 of the second moving body 20, the first moving body 10 and / or the second moving body 20 that exchanged fuel transmits information indicating that fuel has been exchanged to the central management server 30.

[0177] Then, when the central management server 30 receives information indicating that the state of the load of the first moving body 10 constituting the first aggregate 60 has changed, the calculation unit 36 ​​calculates the second center of gravity information based on the first center of gravity information of each of the first moving bodies 10 constituting the first aggregate 60 after the state of the load of the first moving body 10 constituting the first aggregate 60 has changed and the information stored in the connection number database 35. The load of the first moving body 10 includes at least the transported object 90 and the fuel stored in the fuel tank 11b. Therefore, the information indicating that the state of the load of the first moving body 10 constituting the first aggregate 60 has changed includes at least information indicating that the loading state of the transported object 90 in the first moving body 10 constituting the first aggregate 60 has changed, and information indicating that the first moving body 10 constituting the first aggregate 60 has received and transferred fuel. In particular, the information indicating that the state of the load of the first moving body 10 constituting the first assembly 60 has changed preferably includes information indicating that the weight of the first moving body 10 constituting the first assembly 60 including the transported object 90 has changed, information indicating that the loading position of the transported object 90 on the first moving body 10 has changed, and information indicating that the center of gravity position of the transported object 90 on the first moving body 10 has changed due to these two factors. In this way, when the state of the load of the first moving body 10 constituting the first assembly 60 has changed, the calculation unit 36 ​​calculates the second center of gravity information based on the first center of gravity information of each of the first moving bodies 10 constituting the first assembly 60 after the change.

[0178] The calculation unit 36 ​​calculates the second center of gravity information of each of the multiple placement patterns when the first assembly 60 is formed by identifying the relative positions of the multiple first moving bodies 10 that constitute the first assembly 60 in multiple placement patterns after the state of the cargo on the first moving bodies 10 that constitute the first assembly 60 has changed.

[0179] The selection unit 37 selects one arrangement pattern based on the second center of gravity information in each arrangement pattern of the multiple first moving bodies 10 calculated by the calculation unit 36. The central management server 30 transmits information indicating the arrangement pattern selected by the selection unit 37, or information indicating the positions of each of the multiple first moving bodies 10 in the arrangement pattern selected by the selection unit 37, to each of the first moving bodies 10 constituting the first assembly 60.

[0180] Then, each first moving body 10 constituting the first assembly 60 controls the drive section 12 and the main body section 10f by the control unit 14 based on information indicating the arrangement pattern received from the central management server 30 or information indicating the position of the first moving body 10 in the arrangement pattern, to raise the main body section 10f to disengage the engagement member 19 from the engaged portion 27 of the second moving body 20, and then moves to the arrangement pattern selected by the selection section 37 in the storage section 20a, and again lowers the main body section 10f at a predetermined position after moving to the arrangement pattern selected by the selection section 37 to engage the engagement member 19 with the engaged portion 27 of the second moving body 20. Therefore, after the state of the cargo of the first moving bodies 10 constituting the first assembly 60 has changed, each of the first moving bodies 10 constituting the first assembly 60 forms the first assembly 60 arranged in an arrangement pattern selected by the selection unit 37 based on the second center of gravity information calculated by the calculation unit 36 ​​after the state of the cargo of the first moving bodies 10 constituting the first assembly 60 has changed.

[0181] As a result, even if the remaining fuel level or the loading condition of the transported goods 90 of the first moving bodies 10 constituting the first assembly 60 changes and the weight including the transported goods 90 of the first moving bodies 10 constituting the first assembly 60 changes, it is possible to form a first assembly 60 arranged in an optimal arrangement pattern according to the first moving bodies 10 constituting the first assembly 60 after the change.

[0182] [Third embodiment] Next, a transfer system 1B according to a third embodiment of the present invention will be described with reference to Fig. 21 to Fig. 26. In the following description, the same components as those in the transfer system 1 according to the first embodiment and the transfer system 1A according to the second embodiment are denoted by the same reference numerals, and the description thereof will be omitted or simplified.

[0183] 21 to 23, in the transfer system 1B of the third embodiment, the first moving body 10 has a configuration similar to that of the first moving body 10 in the transfer system 1A of the second embodiment. In addition, in the transfer system 1B of the third embodiment, the second moving body 20 has a configuration similar to that of the second moving body 20 in the transfer system 1 of the first embodiment. Furthermore, the transfer system 1B of the third embodiment includes a container 80 capable of accommodating a plurality of first moving bodies 10 as a first assembly 60 in which the relative positions of the first moving bodies 10 are specified.

[0184] A large number of engaged portions 81 with which the engaging members 19 of the first movable body 10 can engage are provided inside the container 80. In this embodiment, the engaged portions 81 are recesses provided in a large number on the floor surface of the container 80.

[0185] The engagement member 19 of the first moving body 10 is located above the lower end of the wheel WH during the autonomous movement of the first moving body 10 so as not to impede the autonomous movement of the first moving body 10. When the first moving body 10 is stopped inside the container 80, the main body 10f descends toward the floor surface of the storage section 20a, and the engagement member 19 engages with the engaged portion 81 of the container 80, thereby fixing the first moving body 10 to the container 80. In this manner, by fixing the multiple first moving bodies 10 to the container 80, a first assembly 60 is formed in which the multiple first moving bodies 10 specify their relative positions to each other via the container 80.

[0186] The container 80 is also provided with an opening / closing door 82. The container 80 is capable of receiving signals from the central management server 30, and the opening and closing of the opening / closing door 82 is controlled by the central management server 30. In this embodiment, the container 80 has a substantially rectangular parallelepiped shape, and one of six faces of the substantially rectangular parallelepiped shape is the opening / closing door 82. When the opening / closing door 82 is in the open state, the first mobile body 10 can travel between the outside and the inside of the container 80.

[0187] Further, a plurality of first assembly-side connecting parts 88 are provided on the outer side of the upper surface of the container 80. Then, one or more of the first assembly-side connecting parts 88 are selected as the first assembly-side connecting positions 61 to which the second moving body 20 is to be connected. Then, the second moving body-side connecting parts 25 of the second moving body 20 are connected to the one or more first assembly-side connecting parts 88 selected as the first assembly-side connecting positions 61, respectively. Then, the second moving body 20 transports the plurality of first moving bodies 10 as the first assembly 60 whose relative positions have been specified, from the first relay point TP1 to the second relay point TP2, via the container 80.

[0188] When each of the first moving bodies 10 extracted by the extraction unit 34, i.e., each of the first moving bodies 10 constituting the first assembly 60, receives from the central management server 30 information indicating the arrangement pattern selected by the selection unit 37 or information indicating the position of the first moving body 10 in the arrangement pattern selected by the selection unit 37, the control unit 14 controls the drive unit 12 and the main body 10f based on the information indicating the arrangement pattern received from the central management server 30 or the information indicating the position of the first moving body 10 in the arrangement pattern. Then, each of the first moving bodies 10 extracted by the extraction unit 34, i.e., each of the first moving bodies 10 constituting the first assembly 60, autonomously travels inside the container 80 and lowers the main body 10f at a predetermined position inside the container 80 to engage the engaging member 19 with the engaged portion 81 of the container 80. As a result, each of the first moving bodies 10 extracted by the extraction unit 34 is fixed to the container 80 by the engagement members 19, and forms, inside the container 80, a first assembly 60 arranged in the arrangement pattern selected by the selection unit 37. Then, when the formation of the first assembly 60 is completed, the first moving bodies 10 extracted by the extraction unit 34 transmit information indicating that the formation of the first assembly 60 is completed to the central management server 30.

[0189] When the central management server 30 receives information indicating that the formation of the first assembly 60 is completed, it transmits an instruction signal to close the opening / closing door 82 of the container 80. When the container 80 receives the instruction signal to close the opening / closing door 82, it transitions the opening / closing door 82 to the closed state.

[0190] The first determination unit 38a determines the number of second moving bodies 20 to be used when transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2, based on weight information indicating the weight of the first assembly 60 included in the second center of gravity information calculated by the calculation unit 36. The second determination unit 38b determines the second moving body 20 to transport the first assembly 60 from the first relay point TP1 to the second relay point TP2 from among the multiple second moving bodies, based on information stored in the environmental information database 32, the number of second moving bodies 20 to be used determined by the first determination unit 38a, and various information transmitted from each second moving body 20 to the central management server 30, such as the position information and moving state of each second moving body 20, and the energy storage state of the energy storage device 21 mounted on the second moving body 20. For example, the information transmitted from each second moving body 20 to the central management server 30 includes, for example, position information and moving state of the second moving body 20, and information such as the energy storage state of the energy storage device 21 mounted on the second moving body 20. The third determination unit 38c determines the first assembly side connection position 61 to which the second moving body 20 is to be connected, from among the multiple first assembly side connection units 88, based on the second center of gravity information calculated by the calculation unit 36 ​​and the number of second moving bodies 20 in use determined by the first determination unit 38a.

[0191] The central management server 30 transmits, from the communication unit 31, information indicating the first assembly side connection position 61 to which the second moving body 20 determined by the third determination unit 38c will connect to the second moving body 20 determined by the second determination unit 38b.

[0192] Then, the second moving body 20, which has received the information indicating the first assembly-side connection position 61 to which the second moving body 20 will connect determined by the third determination unit 38c, controls the drive unit 22 and the second moving body-side connection part 25 by the control unit 23 to connect the second moving body-side connection part 25 to the first assembly-side connection position 61 determined by the third determination unit 38c. When the connection of the second moving body-side connection part 25 to the first assembly-side connection position 61 determined by the third determination unit 38c is completed, the second moving body 20 transmits information indicating that the connection of the second moving body-side connection part 25 to the first assembly-side connection position 61 has been completed to the central management server 30.

[0193] When the central management server 30 receives information indicating that the formation of the first assembly 60 has been completed and information indicating that the connection of the second mobile body side connection unit 25 to the first assembly side connection position 61 has been completed, it sends a movement instruction to the second mobile body 20 determined by the second determination unit 38b to move from the first relay point TP1 to the second relay point TP2.

[0194] When the second moving body 20 determined by the second determination unit 38b receives a movement instruction from the central management server 30 from the first relay point TP1 to the second relay point TP2, it moves to the second relay point TP2 according to the received movement instruction. In this way, the second moving body 20 stores the multiple first moving bodies 10 in the container 80 as the first assembly 60 whose relative positions are specified, and transports the multiple first moving bodies 10 as the first assembly 60 whose relative positions are specified from the first relay point TP1 to the second relay point TP2. Then, when the second moving body 20 arrives at the second relay point TP2, it transmits information indicating that it has arrived at the second relay point TP2 to the central management server 30.

[0195] When the central management server 30 receives information indicating that the second moving body 20 determined by the second determination unit 38b has arrived at the second relay point TP2, it transmits an instruction signal to open the opening / closing door 82 of the container 80, and transmits an instruction to each of the first moving bodies 10 constituting the first assembly 60 to move to the destination based on the transportation plan created by the transportation plan creation unit 33. When the container 80 receives the instruction signal to open the opening / closing door 82, it transitions the opening / closing door 82 to the open state.

[0196] When each of the first moving bodies 10 constituting the first assembly 60 receives a movement instruction to the destination from the central management server 30, it first raises the main body 10f and disengages the engaging member 19 from the engaged part 81 of the container 80. Then, each of the first moving bodies 10 moves to the destination in accordance with the received movement instruction. Therefore, the first moving body 10 whose destination is the second point P2 moves to the second point P2.

[0197] In this manner, the transfer system 1B of the present embodiment transfers the first moving body 10 to the second point P2.

[0198] 24 to 26, the container 80 may be a container vehicle 800 that is capable of moving by itself. The container vehicle 800 includes a container section 83 that can accommodate a plurality of first movable bodies 10 as a first assembly 60 in which the relative positions of the first movable bodies 10 are specified.

[0199] 25, a large number of engaged portions 81 with which the engaging members 19 of the first movable body 10 can engage are provided inside the container section 83. In this embodiment, the engaged portions 81 are recesses provided in a large number on the floor surface of the container section 83.

[0200] The engagement member 19 of the first moving body 10 is located above the lower end of the wheel WH during the autonomous movement of the first moving body 10, so as not to impede the autonomous movement of the first moving body 10. When the first moving body 10 is stopped inside the container 80, the main body 10f descends toward the floor surface of the storage section 20a, and the engagement member 19 engages with the engaged portion 81 of the container section 83, thereby fixing the first moving body 10 to the container 80. In this manner, a plurality of first moving bodies 10 are fixed to the container section 83 of the container vehicle 800, thereby forming a first assembly 60 in which the relative positions of the plurality of first moving bodies 10 are specified via the container section 83.

[0201] In addition, the container section 83 is provided with a slope 84. The slope 84 can span between the floor surface of the container section 83 and the ground. In this embodiment, the container section 83 has an approximately rectangular parallelepiped shape, and the slope 84 is provided on one of the six faces of the approximately rectangular parallelepiped shape, and also functions as an opening and closing door of the container section 83. The container vehicle 800 can receive a signal from the central management server 30, and the slope 84 is controlled by the central management server 30 and can transition between a slope state in which the floor surface of the container section 83 spans between the floor surface of the container section 83 and the ground, and a storage state in which one face of the container section 83 is blocked. When the slope 84 is in a slope state in which the floor surface of the container section 83 spans between the floor surface of the container section 83 and the ground, the first moving body 10 can travel between the outside of the container vehicle 800 and the inside of the container section 83 through the slope 84. When the container vehicle 800 arrives at the first relay point TP1, the central management server 30 transmits an instruction signal to put the slope 84 of the container vehicle 800 into the slope state. Upon receiving the instruction signal to put the slope 84 into the slope state, the container vehicle 800 transitions the slope 84 to the slope state.

[0202] As shown in FIG. 24, a plurality of first assembly-side connecting parts 88 are provided on the outer side of the upper surface of the container vehicle 800. Then, one or more of the first assembly-side connecting parts 88 are selected as the first assembly-side connecting positions 61 to which the second moving body 20 is to be connected. Then, the second moving body-side connecting parts 25 of the second moving body 20 are connected to the one or more first assembly-side connecting parts 88 selected as the first assembly-side connecting positions 61, respectively. Then, the second moving body 20 transports the plurality of first moving bodies 10 as the first assembly 60 whose relative positions have been specified, from the first relay point TP1 to the second relay point TP2, via the container vehicle 800.

[0203] When the central management server 30 receives information indicating that the formation of the first assembly 60 is completed, it transmits an instruction signal to put the slope 84 of the container vehicle 800 into the stored state. When the container vehicle 800 receives the instruction signal to put the slope 84 into the stored state, it transitions the slope 84 to the stored state.

[0204] When the central management server 30 receives information indicating that the second moving body 20 determined by the second determination unit 38b has arrived at the second relay point TP2, it transmits an instruction signal to put the slope 84 of the container vehicle 800 into the slope state. When the container vehicle 800 receives the instruction signal to put the slope 84 into the slope state, it transitions the slope 84 to the slope state.

[0205] 26, the container vehicle 800 may be the second moving body 20. That is, the second moving body 20 does not have to be an aircraft, and may be a moving body capable of running on the ground, such as a vehicle. In this case, it is not necessary to provide a plurality of first assembly side connecting portions 88 on the outer side of the upper surface of the container vehicle 800.

[0206] [Fourth embodiment] Next, a transfer system 1C according to a fourth embodiment of the present invention will be described with reference to Fig. 27A, Fig. 27B, and Fig. 28. In the following description, the same components as those in the transfer system 1 according to the first embodiment will be denoted by the same reference numerals, and the description thereof will be omitted or simplified.

[0207] In the conveying system 1 of the first embodiment, the first moving body 10 constituting the first assembly 60 does not change while the second moving body 20 is conveying the first assembly 60 from the first relay point TP1 to the second relay point TP2. However, in the conveying system 1C of the present embodiment, while the second moving body 20 is conveying the first assembly 60 from the first relay point TP1 to the second relay point TP2, it is possible for the first assembly 60 to be connected to other first assemblies 60 or for the first assembly 60 to be separated into multiple first assemblies 60.

[0208] As shown in Figures 27A and 27B, the first moving body 10 of this embodiment includes a guide member 16c and an engaged portion 16d with which the guide member 16c engages. The guide member 16c and the engaged portion 16d may be provided on a plurality of surfaces of the first moving body 10, for example, on four surfaces or all six surfaces facing the horizontal direction. For the sake of simplicity and clarity, Figures 27A and 27B show the guide member 16c and the engaged portion 16d provided on one predetermined surface of the first moving body 10.

[0209] Moreover, the first moving body 10 of this embodiment includes a short-distance sensor 10g. The short-distance sensor 10g can detect the position, speed, moving direction, and moving acceleration of the first moving body 10 and the second moving body 20 that are in a short distance with high accuracy. The short-distance sensor 10g may further detect the surrounding temperature, humidity, wind speed, and the like. The short-distance sensor 10g includes, for example, a camera, an infrared camera, a millimeter wave radar, an ultrasonic radar, an airflow sensor, an air pressure sensor, a temperature sensor, a humidity sensor, an acceleration sensor, a GPS (Global Positioning System, Global Positioning Satellite), and the like.

[0210] The guide member 16c is an arm member that is extendable in the direction in which the surface of the first moving body 10 on which the guide member 16c is provided faces. The control unit 14 controls the guide member 16c.

[0211] The engaged portion 16d has a shape that can engage with the guide member 16c. The engaged portion 16d has a tapered socket shape that widens in the direction in which the surface of the first movable body 10 on which the engaged portion 16d is provided faces.

[0212] 27A, when the two first moving bodies 10 approach each other and the connecting surfaces of the two first moving bodies 10 face each other, the guide members 16c of the first moving bodies 10 extend. Then, the guide members 16c of the first moving bodies 10 come into contact with the engaged portions 16d of the facing first moving bodies 10.

[0213] When the guide member 16c is further extended, the guide member 16c is inserted into the engaged portion 16d while being aligned along the tapered socket shape of the engaged portion 16d, and engages with the engaged portion 16d. This makes it easy to align the guide member 16c of the first moving body 10 with the engaged portion 16d of the opposing first moving body 10.

[0214] 27B, when the guide members 16c of the first moving bodies 10 engage with the engaged portions 16d of the opposing first moving bodies 10, the guide members 16c of the first moving bodies 10 contract. Then, the connecting surfaces of the two first moving bodies 10 are attracted to each other, the connecting surfaces of the two first moving bodies 10 come into contact with each other, and the two first moving bodies 10 are connected at the connecting surfaces. This allows the two first moving bodies 10 to be connected while preventing the connecting surfaces of the two first moving bodies 10 from colliding with each other.

[0215] When two first moving bodies 10 are connected, if the two first moving bodies 10 are connected in a first direction, the first engagement member 16a of one of the first moving bodies 10 engages with the first engaged portion 16b of the other connected first moving body 10, thereby connecting the two first moving bodies 10 in the first direction with their relative positions fixed, and if the two first moving bodies 10 are connected in a second direction, the second engagement member 17a of one of the first moving bodies 10 engages with the second engaged portion 17b of the other connected first moving body 10, thereby connecting the two first moving bodies 10 in the second direction with their relative positions fixed.

[0216] In this manner, the first engaging members 16a engage with the first engaged portions 16b of different first moving bodies 10 aligned in the first direction, and the second engaging members 17a engage with the second engaged portions 17b of different first moving bodies 10 adjacent in the second direction, thereby forming a first assembly 60 in which the relative positions of the multiple first moving bodies 10 are fixed. Therefore, in the first assembly 60, the multiple first moving bodies 10 directly engage with each other, thereby fixing the relative positions of the multiple first moving bodies 10.

[0217] In this embodiment, the second moving body 20 is equipped with a short-distance sensor 20e (see FIG. 28). The short-distance sensor 20e can detect the position, speed, moving direction, and moving acceleration of the first moving body 10 and the second moving body 20 that are in a short distance with high accuracy. The short-distance sensor 20e may further detect the surrounding air temperature, humidity, wind speed, etc. The short-distance sensor 20e includes, for example, a camera, an infrared camera, a millimeter wave radar, an ultrasonic radar, an air flow sensor, an air pressure sensor, a temperature sensor, a humidity sensor, an acceleration sensor, a GPS (Global Positioning System, Global Positioning Satellite), etc.

[0218] In this embodiment, after the second moving body 20 is connected to the first assembly 60, the first assembly 60 can be connected to a different first assembly 60, and the first assembly 60 can be separated into multiple first assemblies 60.

[0219] In this embodiment, after the central management server 30 transmits a movement instruction to the second moving body 20 to move from the first relay point TP1 to the second relay point TP2 (step S40 shown in the first embodiment), the central management server 30 acquires position information of a plurality of first aggregates 60. Then, the central management server 30 determines whether or not to connect the two first aggregates 60 based on the first center of gravity information of each of the first moving bodies 10 that form the two nearby first aggregates 60.

[0220] When the central management server 30 determines that two nearby first assemblies 60 should be connected, it instructs each second moving body 20 connected to the two nearby first assemblies 60 to move so that the specified connection surfaces of the two nearby first assemblies 60 face each other.

[0221] As shown in (a) of Fig. 28, when the connecting surfaces of two nearby first assemblies 60 approach each other within a predetermined distance and the connecting surfaces of the first assemblies 60 face each other, the control units 14 of the first moving bodies 10 extend the guide members 16c of the first moving bodies 10 based on information acquired by the short-distance sensors 10g of the first moving bodies 10. Then, as described above, the guide members 16c of the first moving bodies 10 engage with the engaged portions 16d of the opposing first moving bodies 10 and then contract, thereby connecting the two first assemblies 60 as shown in (b) of Fig. 28.

[0222] In addition, when the central management server 30 determines that two nearby first assemblies 60 should be connected, it determines, based on the first center of gravity information of each of the first moving bodies 10 that form the two nearby first assemblies 60, whether or not there is a second moving body 20 that can transport the first assembly 60 even if it detaches from the combined first assembly 60 when the two first assemblies 60 are connected to form a single first assembly 60.

[0223] 28(c), when the central management server 30 determines that there is a second moving body 20 that can transport the first assembly 60 even if it leaves the combined first assembly 60, the central management server 30 instructs the second moving body 20 that can leave the combined first assembly 60 to leave the combined first assembly 60. The second moving body 20 that has been instructed to leave the first assembly 60 leaves the combined first assembly 60.

[0224] In addition, when the central management server 30 determines that two nearby first aggregates 60 should be connected, it determines, based on the first center of gravity information of each of the first moving bodies 10 that form the two nearby first aggregates 60, whether or not the single first aggregate 60 can be separated into multiple first aggregates 60 when the two first aggregates 60 are connected to form a single first aggregate 60.

[0225] As shown in (d) of FIG. 28, when the central management server 30 determines that the first assembly 60 can be separated into a plurality of first assemblies 60 after the first assembly 60 is separated into one, the central management server 30 instructs the first moving body 10 constituting the separation surface that separates the first assembly 60 into a plurality of first assemblies 60 to separate the first assembly 60. The first moving body 10 constituting the separation surface receiving the instruction from the central management server 30 releases the engagement between the first engaging member 16a and the first engaged part 16b and / or the engagement between the second engaging member 17a and the second engaged part 17b, and then extends the guide member 16c provided on the separation surface. Then, when the two first assemblies 60 to be separated are sufficiently separated from each other to a distance that allows them to fly autonomously, the guide member 16c is released from the engaged engaged part 16d and contracts. In this way, the first assembly 60 that has been separated into one is separated into two first assemblies 60.

[0226] In this manner, in the conveyance system 1C of the present embodiment, after the second moving body 20 is connected to the first assembly 60, the first assembly 60 can be connected to a different first assembly 60, and the first assembly 60 can be separated into a plurality of first assemblies 60. Therefore, even during the conveyance of the first assembly 60 by the second moving body 20, the first assembly 60 can always be conveyed in an optimal form. This allows the first moving body 10 to be conveyed more efficiently.

[0227] The guide member 16c may include a power cable, a communication cable, or the like inside, and may be capable of exchanging power and information between the connected first moving bodies 10. The guide member 16c may be in the shape of a hollow pipe or tube, and may be capable of transferring gas, fuel, liquid, solids, or the like between the connected first moving bodies 10.

[0228] The second moving body side connection part 25 of the second moving body 20 may be in the same form as the guide member 16c of this embodiment, and the first moving body side connection part 18 of the first moving body 10 may be in the same form as the engaged part 16d of this embodiment. The second moving body side connection part 25 of the second moving body 20 may have a power cable, a communication cable, or the like therein, and may be capable of exchanging power and information with the first moving body 10 to be connected. The second moving body side connection part 25 of the second moving body 20 may be in the form of a hollow pipe or tube, and may be capable of transferring gas, fuel, liquid, solid, or the like between the second moving body 20 and the first moving body 10 to be connected.

[0229] Although the embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such embodiments. It is clear that a person skilled in the art can come up with various modifications or alterations within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present invention. In addition, the components in the above embodiments may be arbitrarily combined within the scope of the invention.

[0230] For example, the conveying system 1 of the first embodiment conveys an object 90 such as luggage stored in the storage section 10a of the first moving body 10 from a first point P1 to a second point P2, and the conveying system 1A of the second embodiment and the conveying system 1B of the third embodiment convey energy stored in the energy storage device 11 built into the main body section 10f of the first moving body 10, for example, electricity stored in the secondary battery 11a of the energy storage device 11, to the second point P2. However, the conveying system 1 of the first embodiment may convey energy stored in the energy storage device 11 provided in the first moving body 10, for example, electricity stored in the secondary battery 11a of the energy storage device 11, to the second point P2, and the conveying system 1A of the second embodiment and the conveying system 1B of the third embodiment may convey an object 90 such as luggage stored in the first moving body 10 from the first point P1 to the second point P2.

[0231] Also, for example, the transported object 90 is not limited to an article such as luggage, but may be a person. For example, a specific person may enter the storage unit 10a of the first moving body 10, and the specific person may be transported from the first point P1 to the second point P2 by the transport system 1, 1A, 1B. For example, a recipient B of a package or the like may enter the storage unit 10a of the first moving body 10, and the transport system 1, 1A, 1B may transport the package or the like to a point (second point P2) where the package or the like is to be received by the recipient B, or an owner of the package or the like may enter the storage unit 10a of the first moving body 10 at the first point P1 together with the package or the like, and the transport system 1, 1A, 1B may transport the owner of the package or the like together with the package or the like to the second point P2 such as his / her home.

[0232] Also, for example, in the first embodiment, the first moving body side connection part 18 is provided on the upper part of each first moving body 10, and the second moving body side connection part 25 of the second moving body 20 is connected to one or more first assembly side connection positions 61 selected from the first moving body side connection parts 18 of the multiple first moving bodies 10 that constitute the first assembly 60 and whose relative positions are fixed, but for example, the second moving body 20 may be provided with an arm member, and the arm member may be connectable to any position on the underside of the first moving body 10 that constitutes the first assembly 60. In this case, the first assembly side connection position 61 of the first assembly 60 can be set to any position on the underside of the first moving body 10 that constitutes the first assembly 60.

[0233] In this case, when the first determination unit 38a determines that the number of second moving bodies 20 to be used is one, it is preferable that the third determination unit 38c determines the first assembly side connection position 61 so as to coincide with the center of gravity position of the entire first assembly 60 based on center of gravity position information indicating the center of gravity position of the entire first assembly 60 contained in the second center of gravity information calculated by the calculation unit 36.

[0234] This allows the second moving body 20 to support and transport the first assembly 60 at the center of gravity of the entire first assembly 60, thereby improving the stability of the second moving body 20 when transporting multiple first moving bodies 10 as the first assembly 60.

[0235] In addition, when the first determination unit 38a determines that the number of second moving bodies 20 to be used is multiple, it is preferable that the third determination unit 38c determines a plurality of first assembly side connection positions 61 based on center of gravity position information indicating the center of gravity position of the entire first assembly 60 contained in the second center of gravity information calculated by the calculation unit 36, so that the centers of the multiple first assembly side connection positions 61 connecting to the second moving body 20 coincide with the center of gravity position of the entire first assembly 60.

[0236] As a result, the second moving body 20 can support and transport the first assembly 60 so that the centers of the multiple first moving body side connection parts 18 connecting to the second moving body 20 coincide with the center of gravity of the entire first assembly 60, thereby improving the stability of the second moving body 20 when transporting the multiple first moving bodies 10 as the first assembly 60.

[0237] Furthermore, for example, the transport of the transport object 90 shown in the first and second embodiments may be performed by executing a transport program capable of executing the processing operations of the transport system shown in the first and second embodiments.

[0238] Also, for example, the transport program capable of executing the processing operations of the transport system shown in the first and second embodiments may be stored in a storage medium, so that the transport program stored in the storage medium can be easily executed by having a computer read the transport program.

[0239] Also, for example, in the first and second embodiments, the first moving body 10 is an unmanned vehicle capable of autonomously traveling on a road, and the second moving body 20 is an unmanned aerial vehicle (UAV) such as a drone, but the first moving body 10 and the second moving body 20 may be any moving body, such as a vehicle, an aircraft, a ship, or general-purpose equipment. Also, the movement routes of the first moving body 10 and the second moving body 20 may be any route, such as on the ground, in the air, on the sea, underwater, or in space.

[0240] Also, for example, in the first and second embodiments, the first assembly 60 is formed by connecting multiple first moving bodies 10 in a direction perpendicular to the vertical direction, but the first assembly 60 may be formed by connecting multiple first moving bodies 10 in the vertical direction.

[0241] Also, for example, in the second embodiment, in the second moving body 20, four propeller devices 26 are connected to the storage section 20a, but any number of propeller devices 26 may be connected to the storage section 20a.

[0242] Also, for example, in the second embodiment, the main body 10f descends toward the floor surface of the storage section 20a, and the engaging member 19 engages with the engaged portion 27 of the second moving body 20, thereby fixing the first moving body 10 to the storage section 20a of the second moving body 20, but the term "fixing" as used herein may refer to a state in which the position of the first moving body 10 relative to the second moving body 20 is maintained. In other words, even if the engaging member 19 of the first moving body 10 and the engaged portion 27 of the second moving body 20 are omitted, the first moving body 10 can be said to be fixed to the storage section 20a of the second moving body 20 as long as the position of the first moving body 10 relative to the second moving body 20 is maintained, for example, during the movement of the second moving body 20, by static friction force between the first moving body 10 and the second moving body 20 or the like. Therefore, for example, if the position of the first moving body 10 relative to the second moving body 20 is maintained even while the second moving body 20 is moving, the engaging member 19 of the first moving body 10 and the engaged portion 27 of the second moving body 20 can be omitted.

[0243] Similarly, in the third embodiment, the main body 10f descends toward the floor surface of the container 80 or container section 83, and the engaging member 19 engages with the engaged portion 81 of the container 80 or container section 83, thereby fixing the first moving body 10 to the container 80 or container section 83. However, the term "fixing" as used herein may refer to a state in which the position of the first moving body 10 is maintained relative to the container 80 or container section 83. In other words, even if the engaging member 19 of the first moving body 10 and the engaged portion 81 of the container 80 or container section 83 are omitted, it can be said that the first moving body 10 is fixed to the container 80 or container section 83 as long as the position of the first moving body 10 is maintained relative to the container 80 or container section 83, for example, during the movement of the container 80 or container section 83 by the second moving body 20 due to static friction force between the first moving body 10 and the container 80 or container section 83. Therefore, for example, if the position of the first moving body 10 relative to the container 80 or container section 83 is maintained even during movement of the second moving body 20, the engaging member 19 of the first moving body 10 and the engaged portion 81 of the container 80 or container section 83 can be omitted.

[0244] Also, for example, in the third embodiment, instead of extracting the first moving bodies 10 forming the first assembly 60, selecting an arrangement pattern of the first moving bodies 10 forming the first assembly 60, forming the first assembly 60 in the selected arrangement pattern, and then determining the first assembly side connection position 61 at which the second moving body 20 is connected in the first assembly 60, the first moving bodies 10 forming the first assembly 60 may be extracted after the second moving body 20 is connected to the first assembly side connection position 61 of the first assembly 60, and an arrangement pattern of the first moving bodies 10 forming the first assembly 60 may be selected, and the first assembly 60 may be formed in the selected arrangement pattern. Specifically, the calculation unit 36 ​​calculates the second center of gravity information of each arrangement pattern when the first assembly 60 is formed by specifying the relative positions of each of the first moving bodies 10 extracted by the extraction unit 34, i.e., the multiple first moving bodies 10 constituting the first assembly 60, in multiple arrangement patterns. The selection unit 37 selects one arrangement pattern based on one or more first assembly side connection positions 61 of the first assembly 60 to which the second moving body 20 is connected and the second center of gravity information in each arrangement pattern of the multiple first moving bodies 10 calculated by the calculation unit 36.

[0245] As a result, even if the second moving body 20 is connected to the first assembly side connection position 61 of the first assembly 60 and then the first moving body 10 is accommodated in the container 80 connected to the first assembly side connection position 61 of the container 80 or the container vehicle 800, or the container section 83 of the container vehicle 800 to form the first assembly 60, the first moving body 10 can be arranged in an optimal arrangement pattern to form the first assembly 60.

[0246] Furthermore, for example, in the second and third embodiments, while the second moving body 20 is transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2, the relative positions of the multiple first moving bodies 10 that make up the first assembly 60 are always fixed, but the relative positions of the multiple first moving bodies 10 that make up the first assembly 60 may change depending on the situation.

[0247] For example, in the second and third embodiments, while the second moving body 20 is transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2, the arrangement pattern of the first moving bodies 10 forming the first assembly 60 may be changed based on at least one of the motion state or motion prediction of the second moving body 20 transporting the first assembly 60. Specifically, for example, in the second embodiment, while the second moving body 20 is transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2, the arrangement pattern of the first moving bodies 10 forming the first assembly 60 may be changed by predicting the attitude of the storage unit 20a and the inertial force that the storage unit 20a receives due to turning or the like based on at least one of the motion state or motion prediction of the second moving body 20 transporting the first assembly 60. Also, for example, in the third embodiment, while the second moving body 20 is transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2, the arrangement pattern of the first moving body 10 forming the first assembly 60 may be changed by predicting the attitude of the container 80 or the container vehicle 800 and the inertial force that the container 80 or the container vehicle 800 receives due to turning, etc., based on at least one of the motion state of the second moving body 20 transporting the first assembly 60 or the motion state predicted at a predetermined time point after the present. The motion state is, for example, the attitude, speed, acceleration, etc., in each direction of the pitch direction, roll direction, and yaw direction of the second moving body 20. The motion state predicted at a predetermined time point after the present is predicted based on the movement route of the second moving body 20 from the first relay point TP1 to the second relay point TP2, etc.

[0248] As a result, while the second moving body 20 is transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2, the first assembly 60 can be formed in which the first moving bodies 10 are arranged in an optimal arrangement pattern based on at least one of the motion state of the second moving body 20 transporting the first assembly 60 or the motion state predicted at a specified point in time later than the present, thereby improving the stability of the first assembly 60 and the second moving body 20 while the second moving body 20 is transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2.

[0249] In this way, the multiple first moving bodies 10 may be controlled so that a first arrangement pattern, which is the arrangement pattern of the multiple first moving bodies 10 in the first assembly 60 at a first point in time, is different from a second arrangement pattern, which is the arrangement pattern of the multiple first moving bodies 10 in the first assembly 60 at a second point in time later than the first point in time.

[0250] In this case, the second time point is a time point later than the present, and the second arrangement pattern is determined based on a target arrangement pattern of the multiple first moving objects at the second time point.

[0251] The target arrangement pattern is determined based on at least one of the first assembly side connection position 61, which is the position where the second moving body 20 is connected to the first assembly 60 at the second time point, the target value of the center of gravity position of the entire first assembly 60 at the second time point, and the motion state of the second moving body 20 predicted at the second time point.

[0252] This makes it possible to control the first moving bodies 10 and form the first assembly 60 in which a plurality of first moving bodies 10 are arranged in an optimal arrangement pattern in response to changes in conditions.

[0253] Furthermore, at a predetermined time later than the present, a first assembly 60 can be formed in which a plurality of first moving bodies 10 are arranged in a desired arrangement pattern.

[0254] Furthermore, since the target arrangement pattern is determined based on at least one of the first assembly side connection position 61, which is the position at which the second moving body 20 is connected to the first assembly 60 at the second time point, the target value of the center of gravity position of the entire first assembly 60 at the second time point, and the motion state of the second moving body 20 predicted at the second time point, the stability of the first assembly 60 and the second moving body 20 can be improved while the second moving body 20 is transporting the first assembly 60 from the first relay point TP1 to the second relay point TP2.

[0255] Also, for example, in the second and third embodiments, the first moving body 10, which is a moving body capable of autonomous movement, may be replaced with a transported object that does not move autonomously, such as luggage. In this case, humans, forklifts, robots, robot arms, and the like may be arranged inside the container 80 of the second embodiment and in the container section 83 of the container vehicle 800 of the third embodiment, and these may move the transported object that does not move autonomously according to a determined arrangement pattern.

[0256] This specification describes at least the following items. In parentheses, components corresponding to the above-described embodiment are shown as examples, but the present invention is not limited to these.

[0257] (1) A plurality of first moving bodies (first moving bodies 10) capable of moving autonomously; A conveyance system (conveyance system 1) comprising: a second moving body (second moving body 20) that conveys the plurality of first moving bodies as a first assembly (first assembly 60) in which relative positions of the first moving bodies are specified.

[0258] According to (1), since a plurality of autonomously movable first moving bodies can be transported by the second moving body as a first assembly in which the relative positions of the first moving bodies are specified, a greater number of first moving bodies can be transported with a smaller number of second moving bodies, and the number of second moving bodies in the transport system can be reduced. Furthermore, since the plurality of first moving bodies are transported as a first assembly in which the relative positions of the first moving bodies are specified, the center of gravity positions of the plurality of first moving bodies are stabilized when transported by the second moving body. This improves the stability of the second moving body when transporting the plurality of first moving bodies.

[0259] (2) The conveying system according to (1), A transportation system comprising a calculation unit (calculation unit 36) that calculates second center of gravity information, which is center of gravity-related information of the first assembly, based on first center of gravity information, which is center of gravity-related information of each of the multiple first moving bodies that constitute the first assembly.

[0260] According to (2), by calculating the second center of gravity information, which is center of gravity related information of the first assembly, it is possible to optimally position the second moving body according to the center of gravity related information of the first assembly, and transport multiple first moving bodies as the first assembly by the second moving body.

[0261] (3) The conveying system according to (2), the calculation unit calculates the second center of gravity information for each of a plurality of arrangement patterns when the first assembly is formed by specifying relative positions of the plurality of first moving bodies in a plurality of arrangement patterns; The transfer system includes a selection unit (selection unit 37) that selects one of the arrangement patterns based on the second center of gravity information of each of the plurality of arrangement patterns calculated by the calculation unit.

[0262] According to (3), when the calculation unit determines the relative positions of multiple first moving bodies in multiple placement patterns to form a first cluster, the calculation unit calculates second center of gravity information for each of the multiple placement patterns, and the selection unit selects one placement pattern based on the second center of gravity information for each placement pattern of the multiple first moving bodies calculated by the calculation unit, thereby forming a first cluster by arranging the multiple first moving bodies in the optimal placement pattern from among the multiple placement patterns.

[0263] (4) The conveying system according to (3), A conveying system, wherein the selection unit selects one of the arrangement patterns based on a reference center of gravity position, which is the center of gravity position of the entire first assembly when the multiple first moving bodies constituting the first assembly all have the same weight and center of gravity, and the second center of gravity information of each of the multiple arrangement patterns.

[0264] According to (4), the selection unit can select the optimal arrangement pattern based on the reference center of gravity position and the second center of gravity information of each arrangement pattern.

[0265] (5) The conveying system according to (4), the second center of gravity information includes center of gravity position information indicating a center of gravity position of the entire first collection, The selection unit selects, from among the plurality of arrangement patterns, one arrangement pattern in which the center of gravity position information of the second center of gravity information is closest to the reference center of gravity position.

[0266] According to (5), the selection unit selects one arrangement pattern from the multiple arrangement patterns in which the center of gravity position information of the second center of gravity information is closest to the reference center of gravity position, so that the first collection can be formed so that the center of gravity position is closest to the reference center of gravity position.

[0267] (6) A conveying system according to any one of (3) to (5), A conveying system comprising a transmitting unit (communication unit 31) that transmits to a plurality of first moving bodies information indicating the one arrangement pattern selected by the selection unit, or information indicating the positions of each of the plurality of first moving bodies in the one arrangement pattern selected by the selection unit.

[0268] According to (6), by the transmitting unit transmitting information indicating one arrangement pattern selected by the selection unit, or information indicating the position of each of the multiple first moving bodies in one arrangement pattern selected by the selection unit, to each of the first moving bodies constituting the first collection, it becomes possible for each of the first moving bodies constituting the first collection to move autonomously to form the first collection in the arrangement pattern selected by the selection unit.

[0269] (7) A conveying system according to any one of (2) to (6), A conveying system comprising a determination unit (determination unit 38) that determines the number of the second moving bodies to be used and / or a first assembly side connection position (first assembly side connection position 61), which is the position at which the second moving bodies are connected in the first assembly, based on the second center of gravity information calculated by the calculation unit.

[0270] According to (7), the determination unit can determine the optimal number of second moving bodies to be used and / or the optimal connection position on the first assembly side based on the second center of gravity information, i.e., center of gravity related information of the first assembly.

[0271] (8) The conveying system according to (7), the second center of gravity information includes center of gravity position information indicating a center of gravity position of the entire first collection, The determination unit is When the number of the second moving bodies to be used is determined to be one, Based on the center of gravity position information of the second center of gravity information, determining the first assembly side connection position so as to coincide with a center of gravity position of the entire first assembly, or, when selecting the first assembly side connection position from a plurality of preset positions, determining the position closest to the center of gravity position of the entire first assembly as the first assembly side connection position; When it is determined that the number of the second moving bodies to be used is more than one, Based on the center of gravity position information of the second center of gravity information, a conveying system which determines a plurality of first assembly side connection positions such that centers of the plurality of first assembly side connection positions coincide with a center of gravity of the entire first assembly, or, when selecting the plurality of first assembly side connection positions from a plurality of preset positions, determines as the plurality of first assembly side connection positions a plurality of positions whose centers are closest to the center of gravity of the entire first assembly.

[0272] According to (8), when the number of second moving bodies to be used is determined to be one, the second moving body can support and transport the first assembly by using a position closest to the center of gravity of the entire first assembly as the first assembly side connecting position when selecting from the center of gravity of the entire first assembly or a plurality of preset positions. Also, when the number of second moving bodies to be used is determined to be multiple, the second moving body can support and transport the first assembly by using a plurality of positions at which the center of the plurality of first assembly side connecting positions to be connected to the second moving body is closest to the center of gravity of the entire first assembly or a plurality of preset positions when selecting from the center of gravity of the entire first assembly as the first assembly side connecting positions. This improves the stability of the second moving body when transporting a plurality of first moving bodies as the first assembly.

[0273] (9) A conveying system according to (7) or (8), the second center of gravity information includes weight information indicating a weight of the first aggregate, The determination unit determines the number of the second movable bodies to be used based on the weight information of the second center of gravity information.

[0274] According to (9), the determination unit can determine the optimal number of second moving bodies to be used in accordance with the weight of the first assembly.

[0275] (10) A conveying system according to any one of (2) to (9), A transportation system in which, when the number of the first moving bodies constituting the first assembly changes, the calculation unit calculates the second center of gravity information based on the first center of gravity information of each of the multiple first moving bodies constituting the first assembly after the change.

[0276] According to (10), when the number of first moving bodies constituting the first collection changes, the calculation unit calculates the second center of gravity information based on the first center of gravity information of each of the multiple first moving bodies constituting the first collection after the change. Therefore, even if the number of first moving bodies constituting the first collection changes, it is possible to form a first collection arranged in an optimal arrangement pattern according to the first moving bodies constituting the first collection after the number change.

[0277] (11) A conveying system according to any one of (2) to (9), the first moving body is capable of carrying a load, A transportation system in which, when a state of the cargo loaded on the first moving body that constitutes the first assembly changes, the calculation unit calculates the second center of gravity information based on the first center of gravity information of each of the multiple first moving bodies that constitute the first assembly after the change.

[0278] According to (11), even if the state of the cargo on the first moving body that constitutes the first assembly changes and the weight of the first moving body that constitutes the first assembly changes, it is possible to form a first assembly arranged in an optimal arrangement pattern according to the first moving bodies that constitute the first assembly after the change.

[0279] (12) A conveying system according to any one of (1) to (11), a first arrangement pattern which is an arrangement pattern of the first moving objects in the first assembly at a first time point; a second arrangement pattern which is an arrangement pattern of the first moving objects in the first collection at a second time point which is later than the first time point; A transport system comprising a control unit (a central management server 30) that controls the plurality of first moving bodies so that the first moving bodies have different lengths.

[0280] According to (12), by controlling the first moving bodies, a first assembly can be formed in which a plurality of first moving bodies are arranged in an optimal arrangement pattern in response to a change in state.

[0281] (13) The conveying system according to (12), the second time point is a time point later than the present; A transportation system, wherein the second arrangement pattern is determined based on a target arrangement pattern of the plurality of first moving bodies at the second time point.

[0282] According to (13), at a predetermined time point later than the present, a first assembly can be formed in which a plurality of first moving objects are arranged in a desired arrangement pattern.

[0283] (14) A conveying system according to (13), The target arrangement pattern is a first assembly side connection position (first assembly side connection position 61) which is a position where the second moving body is connected in the first assembly at the second time point; A target value of the center of gravity position of the entire first assembly at the second time point; A motion state of the second moving object predicted at the second time point; and A transport system defined based on at least one of the above.

[0284] According to (14), the target arrangement pattern is determined based on at least one of the first assembly side connection position, which is the position at which the second moving body is connected to the first assembly at the second time point, the target value of the center of gravity position of the entire first assembly at the second time point, and the motion state of the second moving body predicted at the second time point, thereby improving the stability of the first assembly and the second moving body while the first assembly is being transported by the second moving body.

[0285] (15) A conveying system according to any one of (1) to (14), The first moving body is a vehicle equipped with wheels (wheels WH), A transportation system, wherein the second moving body is an air vehicle.

[0286] According to (15), the first moving body, which is a vehicle equipped with wheels, can be transported by the second moving body, which is an aircraft. Furthermore, since the first moving bodies are transported as a first assembly in which the relative positions of the first moving bodies are specified, the center of gravity positions of the first moving bodies are stabilized during the flight of the second moving body transporting the first moving bodies, and the stability of the second moving body is improved.

[0287] (16) An information processing device (central management server 30) that performs a process of transporting a plurality of first moving bodies (first moving bodies 10) capable of autonomous movement as a first assembly (first assembly 60) in which relative positions of the first moving bodies are specified, by a second moving body (second moving body 20), A process of acquiring first center-of-gravity information, which is center-of-gravity-related information of each of the first moving bodies constituting the first assembly; and calculating second center of gravity information, which is information related to the center of gravity of the first collection, based on the first center of gravity information.

[0288] According to (16), by performing a process of acquiring second center-of-gravity information, which is center-of-gravity-related information of the first assembly, based on first center-of-gravity information, which is center-of-gravity-related information of the first moving body, it is possible to optimally arrange the second moving body according to the center-of-gravity-related information of the first assembly and transport multiple first moving bodies by the second moving body as a first assembly. This makes it possible to transport a larger number of first moving bodies with a smaller number of second moving bodies, and improves the stability of the second moving bodies when transporting multiple first moving bodies.

[0289] (17) A method of transporting a plurality of first moving bodies (first moving bodies 10) capable of autonomous movement as a first assembly (first assembly 60) in which relative positions of the first moving bodies are specified, by a second moving body (second moving body 20), comprising: acquiring first center-of-gravity information, which is center-of-gravity-related information of each of the first moving bodies constituting the first assembly; and calculating second center of gravity information, which is information related to the center of gravity of the first aggregate, based on the first center of gravity information.

[0290] According to (17), by calculating the second center of gravity information, which is the center of gravity related information of the first assembly, based on the first center of gravity information, which is the center of gravity related information of the first moving body, it is possible to optimally arrange the second moving body according to the center of gravity related information of the first assembly and transport multiple first moving bodies by the second moving body as a first assembly. This makes it possible to transport a larger number of first moving bodies with a smaller number of second moving bodies, and improves the stability of the second moving bodies when transporting multiple first moving bodies.

[0291] (18) A transportation program for transporting a plurality of first moving bodies (first moving bodies 10) capable of autonomous movement as a first assembly (first assembly 60) whose relative positions have been specified, by a second moving body (second moving body 20), A process of acquiring first center-of-gravity information, which is center-of-gravity-related information of each of the first moving bodies constituting the first assembly; and calculating second center of gravity information, which is information related to the center of gravity of the first aggregate, based on the first center of gravity information.

[0292] According to (18), by calculating the second center of gravity information, which is the center of gravity related information of the first assembly, based on the first center of gravity information, which is the center of gravity related information of the first moving body, it is possible to optimally arrange the second moving body according to the center of gravity related information of the first assembly and transport multiple first moving bodies by the second moving body as a first assembly. This makes it possible to transport a larger number of first moving bodies with a smaller number of second moving bodies, and improves the stability of the second moving bodies when transporting multiple first moving bodies.

[0293] (19) A storage medium storing the transport program according to (18).

[0294] According to (19), the transport program stored in the storage medium can be read into a computer, whereby the transport program can be easily executed.

[0295] This application is based on a Japanese patent application (Patent Application No. 2021-178374) filed on October 29, 2021, the contents of which are incorporated by reference into this application. [Explanation of symbols]

[0296] 1. Transport system 10 First Mobile Unit 18 First moving body side connection part 20 Second Mobile Unit 30 Central management server (information processing device, control unit) 31 Communication unit (transmission unit) 36 Calculation section 37 Selection Department 38 Decision Section 60 1st aggregate 61 First assembly side connection position WH Wheels

Claims

1. A plurality of first moving bodies capable of autonomous movement; a second moving body that transports the plurality of first moving bodies as a first assembly in which relative positions of the first moving bodies are specified; A transportation system comprising: a calculation unit that calculates second center of gravity information, which is center of gravity-related information of the first assembly, based on first center of gravity information, which is center of gravity-related information of each of the first moving bodies that constitute the first assembly.

2. 2. The transport system according to claim 1, the calculation unit calculates the second center of gravity information for each of a plurality of arrangement patterns in a case where the first assembly is formed by specifying relative positions of the plurality of first moving bodies in a plurality of arrangement patterns; The transfer system includes a selection unit that selects one of the arrangement patterns based on the second center of gravity information of each of the plurality of arrangement patterns calculated by the calculation unit.

3. 3. The transport system according to claim 2, A conveying system in which the selection unit selects one of the arrangement patterns based on a reference center of gravity position, which is the center of gravity position of the entire first assembly when the multiple first moving bodies constituting the first assembly all have the same weight and the same center of gravity, and the second center of gravity information of each of the multiple arrangement patterns.

4. 4. The transport system according to claim 3, the second center of gravity information includes center of gravity position information indicating a center of gravity position of the entire first collection, The selection unit selects, from among the plurality of arrangement patterns, one arrangement pattern in which the center of gravity position information of the second center of gravity information is closest to the reference center of gravity position.

5. A transport system according to any one of claims 2 to 4, A conveying system comprising a transmitting unit that transmits information indicating one of the arrangement patterns selected by the selection unit, or information indicating the positions of each of the multiple first moving bodies in the one of the arrangement patterns selected by the selection unit, to a plurality of first moving bodies.

6. A transport system according to any one of claims 1 to 4, A conveying system comprising a determination unit that determines the number of second moving bodies to be used and / or a first assembly side connection position, which is the position at which the second moving bodies are connected in the first assembly, based on the second center of gravity information calculated by the calculation unit.

7. 7. The transport system according to claim 6, the second center of gravity information includes center of gravity position information indicating a center of gravity position of the entire first collection, The determination unit is When the number of the second moving bodies to be used is determined to be one, Based on the center of gravity position information of the second center of gravity information, determining the first assembly side connection position so as to coincide with a center of gravity position of the entire first assembly, or, when selecting the first assembly side connection position from a plurality of preset positions, determining the position closest to the center of gravity position of the entire first assembly as the first assembly side connection position; When it is determined that the number of the second moving bodies to be used is more than one, Based on the center of gravity position information of the second center of gravity information, a conveying system which determines a plurality of first assembly side connection positions so that the centers of the plurality of first assembly side connection positions coincide with the center of gravity of the entire first assembly, or, when selecting the plurality of first assembly side connection positions from a plurality of predetermined positions, determines as the plurality of first assembly side connection positions a plurality of positions whose centers are closest to the center of gravity of the entire first assembly.

8. 7. The transport system according to claim 6, the second center of gravity information includes weight information indicating a weight of the first aggregate, The determination unit determines the number of the second movable bodies to be used based on the weight information of the second center of gravity information.

9. A transport system according to any one of claims 1 to 4, A transportation system in which, when the number of the first moving bodies constituting the first assembly changes, the calculation unit calculates the second center of gravity information based on the first center of gravity information of each of the first moving bodies constituting the first assembly after the change.

10. A transport system according to any one of claims 1 to 4, the first moving body is capable of carrying an object; A conveying system in which, when the state of the cargo loaded on the first moving body that constitutes the first assembly changes, the calculation unit calculates the second center of gravity information based on the first center of gravity information of each of the first moving bodies that constitute the first assembly after the change.

11. A transport system according to any one of claims 1 to 4, a first arrangement pattern which is an arrangement pattern of the first moving objects in the first collection at a first time point; a second arrangement pattern that is an arrangement pattern of the first moving objects in the first collection at a second time point that is later than the first time point; A control unit controls the plurality of first movable bodies so that the first movable bodies have different lengths.

12. 12. The transport system of claim 11, the second time point is a time point later than the present; A transport system, wherein the second arrangement pattern is determined based on a target arrangement pattern of the plurality of first moving bodies at the second time point.

13. A plurality of first moving bodies capable of autonomous movement; A second moving body that conveys a plurality of the first moving bodies as a first assembly in which relative positions of the first moving bodies are specified, The transport system includes: a first arrangement pattern which is an arrangement pattern of the first moving objects in the first collection at a first time point; a second arrangement pattern that is an arrangement pattern of the first moving objects in the first collection at a second time point that is later than the first time point; A control unit controls the plurality of first moving bodies so that the first moving bodies are different from each other. the second time point is a time point later than the present; the second arrangement pattern is determined based on a target arrangement pattern of the first moving bodies at the second time point; The target arrangement pattern is a first assembly side connection position at the second time point, which is a position at which the second moving body is connected in the first assembly; A target value of a center of gravity position of the entire first assembly at the second time point; a motion state of the second moving object predicted at the second time point; A transport system defined based on at least one of the above.

14. A plurality of first moving bodies capable of autonomous movement; A second moving body that conveys a plurality of the first moving bodies as a first assembly in which relative positions of the first moving bodies are specified, the first moving body is a vehicle equipped with wheels, A transportation system, wherein the second moving body is an air vehicle.

15. An information processing device that performs a process of transporting a plurality of first moving bodies capable of autonomous movement as a first assembly in which relative positions of the first moving bodies are specified, by a second moving body, A process of acquiring first center-of-gravity information, which is center-of-gravity-related information of each of the first moving bodies constituting the first assembly; and calculating second center of gravity information, which is information related to the center of gravity of the first collection, based on the first center of gravity information.

16. A transport method for transporting a plurality of autonomously movable first moving bodies by a second moving body as a first assembly in which relative positions of the first moving bodies are specified, the method comprising: acquiring first center-of-gravity information, which is center-of-gravity-related information of each of the first moving bodies constituting the first assembly; and calculating second center of gravity information, which is information related to the center of gravity of the first aggregate, based on the first center of gravity information.

17. A transportation program for transporting a plurality of autonomously movable first moving bodies by a second moving body as a first assembly in which relative positions of the first moving bodies are specified, A process of acquiring first center-of-gravity information, which is center-of-gravity-related information of each of the first moving bodies constituting the first assembly; and calculating second center of gravity information, which is information related to the center of gravity of the first aggregate, based on the first center of gravity information.

18. A storage medium storing the transport program according to claim 17.

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