JP5588714B2 - Conveyor cart system - Google Patents

Description

  The present invention relates to a transport cart system such as an AGV (Automated Guided Vehicle) that transports members and commodities in factories and stores.

  Conventionally, AGV which conveys a member and goods in a factory, a store, etc. is used. For example, as shown in Patent Document 1, this AGV is usually designed and manufactured specially so as to correspond to the shape and weight of a passage in a factory and a conveyance object.

JP 2006-159370 A

  The AGV provided by a conventional transport device manufacturer is specially designed and manufactured as described above, and there is a problem that the packages to be transported and the environment in which they can be used are extremely limited. In other words, the AGV that has been provided so far is merely a high-cost special vehicle designed and manufactured so as to be adapted to the shape of a normal luggage to be transported. For this reason, the conventional AGV has a problem that it cannot handle a small number of special packages that are not handled in a normal transport operation, for example, a bag that is longer than usual or a bag that has a larger plane area than usual (such a number). AGV for special packages with a small amount of cargo is difficult to put into practical use because it is a large vehicle with high cost. In addition, the AGV that has been provided so far is only a special vehicle designed and manufactured to fit the size and shape of the transport path (passage), so it cannot be used in places or environments that were not anticipated. was there.

  The present invention has been made paying attention to such problems of the prior art, and there is no limitation on the shape or usage environment of a package to be transported, for example, a long thin package or a large plane area It is an object of the present invention to provide a transport cart system that can transport a special baggage such as a low cost and can be used in a special environment such as a narrow passage.

The transport cart system according to the present invention for solving the problems of the prior art as described above is configured to be movable in all directions by driving a plurality of omnidirectional wheels attached to the bottom thereof. And a plurality of carriages on which at least a part of the object to be transported is placed, and each carriage is provided with a current traveling speed and a current position and direction relating to itself (which will be described later). Self-information acquisition means for acquiring self-information such as the current relative position and direction with respect to a master described later in the case of a slave of the above, and one of the plurality of carts set as a master in advance provided a truck (hereinafter referred to as "master") transmits a master control signal to start or stop the master drive of the omnidirectional wheels of the master A master control unit for controlling the operation of each omnidirectional wheel of said master, provided in the master, the start or stop for a plurality of carriages which are set as a slave other than the master (hereinafter referred to as "slave") A slave instruction signal transmitting means for transmitting the master control signal to each of the plurality of slaves wirelessly at substantially the same time as transmitting the master control signal to the driving unit of each omnidirectional wheel of the master; and the master The master-side broadcast transmission means that periodically broadcasts its own information to each of the plurality of slaves, and the slave-side broadcast transmission means provided in the master, which will be described later. Master side broadcast receiving means for receiving broadcast-related information on each of the plurality of slaves (each slave's own information), and the master Autonomously controls the operation of each omnidirectional wheel based on self-information about itself and information on each of the plurality of slaves (each self-information of each slave) broadcast from each of the plurality of slaves. A master-side autonomous control means for controlling, and a plurality of slaves, each other control means for controlling the operation of each omnidirectional wheel based on the slave instruction signal transmitted from the master; Each of the plurality of slaves is provided with each of the slaves, and the self-information of the slave is periodically broadcast to the master and each of one or more other slaves. The master and the other one or a plurality provided by each of the plurality of slaves and broadcast from the master and each other one or a plurality of slaves. Slave-side broadcast receiving means for receiving information on each of the slaves (master and each self-information on each slave) and each of the plurality of slaves. Based on information on the master and one or more other slaves broadcast from each slave (self-information on each master and each slave), the operation of each omnidirectional wheel is autonomously performed. It is characterized by comprising slave side autonomous control means for controlling and autonomously changing its position, traveling direction, and traveling speed.

  Further, in the transport cart system according to the present invention, the self-information acquiring means may be prerecorded by itself when the cart provided with the slave is a slave. `` Relative position and direction '', based on the movement amount and movement direction from the start of its own conveyance, and the movement amount and movement direction from the start of conveyance of the master received by the broadcast receiving means, It is desirable to obtain the current relative position and orientation of each slave relative to the master.

Furthermore, in the transport cart system according to the present invention, each trolley is equipped with a wheel rotation speed acquisition means for acquiring the rotation speed per unit time of each omnidirectional wheel , and each trolley is provided with each omnidirectional wheel. Roller rotation speed acquisition means for acquiring the rotation speed per unit time of each of the plurality of rollers having a rotation axis in a direction different from the axle of the wheel, and the self-information acquisition means includes the wheel rotation speed acquisition means and the roller rotation It is desirable to include means for acquiring the own traveling speed based on data from the number acquisition means.

  According to the present invention, since a plurality of carriages move in cooperation with each other to carry a baggage, even a special baggage such as a long thin baggage or a large plane area can be handled flexibly and at low cost. (The object to be conveyed is not limited as in the prior art). In addition, according to the present invention, since a plurality of carriages move in cooperation with each other to carry a load, they can be used in various environments including a narrow passage or a place with a step (as in the past). The place and environment where it can be used will no longer be limited). As described above, according to the present invention, a special baggage such as a long thin baggage or a baggage having a large plane area, or a special item such as a narrow passage is not limited. It becomes possible to provide a transport cart system that can transport at low cost in an environment.

It is a schematic block diagram which shows the basic composition of the conveyance trolley system by embodiment of this invention. It is a schematic diagram when the conveyance cart system by Example 1 of this invention is seen from upper direction. It is a perspective view which shows the state which is conveying the certain load A by the present Example 1. FIG. It is a figure for demonstrating the structure for each slave to move following a master in the present Example 1. FIG. It is a figure for demonstrating the structure for each trolley | bogie to operate | move autonomously by each transmitting the present state mutually (broadcast transmission) in the present Example 1. FIG. It is a figure for demonstrating the structure for synchronizing the start or stop operation | movement of each slave with a master in the present Example 1. FIG. It is a perspective view which shows the state which is conveying the other load (elongate load) by the present Example 1. FIG.

  FIG. 1 is a block diagram showing a schematic configuration of a preferred embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a truck serving as a master (parent), and 2 denotes a truck serving as a slave (child). In this embodiment, there is only one master 1 in the system, but there may be one slave 2 or a plurality of slaves 2.

  In FIG. 1, reference numeral 3 denotes the state of each carriage, for example, the traveling speed of each carriage, the amount and direction of movement on the route from the start of conveyance, the current position coordinates and direction, and the remaining capacity of the built-in battery (charged state). ) And the like. For example, when the cart equipped with the self-information acquisition unit 3 is the slave 2, the self-information acquisition unit 3 records the “relative to the master 1 when the slave 2 starts transporting” "Position and direction", amount of movement and movement direction on the route from the start of own conveyance (which can be obtained from the advance speed, movement time and movement direction from the start of conveyance), and the master received wirelessly from the master 1 The current relative position and direction with respect to the master 1 are acquired based on the movement amount and movement direction from the start of conveyance of 1 or the current position. For example, when the cart equipped with the self-information acquiring unit 3 is the master 1, the self-information acquiring unit 3 records in advance “the position and direction of the self (the master 1) at the start of conveyance”. The current position and direction of the user are acquired based on the movement amount and the movement direction on the route from the start of the conveyance.

  That is, for example, the self-information acquisition unit 3 has a rotational speed per unit time (wheel rotational speed) of each omni wheel and a rotational axis in a direction different from the axis of each omni wheel attached to the vicinity of the outer periphery of each omni wheel. Based on the rotation speed per unit time (roller rotation speed) of each of the plurality of rollers, the traveling speed of each carriage, the movement amount on the route from the start of conveyance, the movement direction, and the like are acquired. In addition, the self-information acquisition unit 3 may be, for example, a relative positional relationship (distance and direction) of the self (each slave 2) recorded with respect to the master 1 at the start of conveyance and the measurement data (the wheel rotation). Number and the number of roller rotations), the traveling speed of each carriage, the amount and direction of movement on the route from the start of conveyance, the current positional relationship (distance and distance) with respect to the master 1 when each carriage is a slave. Direction) and so on.

  In FIG. 1, reference numeral 4 indicates that each of the carts 1 and 2 transmits and receives its own information to and from the other carts 1 and 2 periodically and broadcastly by a predetermined short-range wireless means. This is a broadcast transmission / reception unit. In addition, 5 is the self-information (the current position and direction of the vehicle, the traveling speed, the remaining battery capacity, etc.) obtained by the self-information acquisition unit 1 and other information received by the broadcast transmission / reception unit 4 It is an autonomous control unit for controlling its own omni-wheel drive unit (motor) 6 based on the self-information of the cart (current position and direction of other carts, traveling speed, remaining battery capacity, etc.). .

  In FIG. 1, 7 is a master for controlling the motor 6 of the omni wheel so that the master 1 starts or stops (based on information such as self-information from the self-information acquisition unit 3). It is a control unit. Reference numeral 8 designates a slave instruction signal corresponding to the operation of the omni wheel of the master 1 controlled by the master control unit 7 to the slave 2 for I / O telecontrol communication (wireless remote control in radio control or the like). A slave instruction signal transmission unit for wireless transmission by a communication method used for communication. The master control unit 7 and the slave instruction signal transmission unit 8 are provided only in the master 1 (a program for the slave 2 to exhibit the same functions as the master control unit 7 and the slave instruction signal transmission unit 8) Etc. are built in, but their functions are stopped in advance).

  In FIG. 1, reference numeral 9 denotes a slave instruction signal receiving unit for receiving the slave instruction signal transmitted from the slave instruction signal transmitting unit 8 of the master 1 on the slave 2 side. In addition, reference numeral 10 denotes a unilateral control unit for controlling the omni wheel motor 6 of the slave 2 based on the slave instruction signal (and the self information from the self information acquisition unit 3) received by the slave instruction signal receiving unit 9. . The slave instruction signal receiving unit 9 and the other control unit 10 are provided only in the slave 2 (the master 1 exhibits the same function as the slave instruction signal receiving unit 9 and the other control unit 10). These programs are built in, but their functions are stopped in advance). Although only one slave 2 is shown in FIG. 1, a plurality of slaves 2 may exist in this embodiment. When there are a plurality of slaves 2 in this way, the broadcast transmission / reception unit 4 of the slave 2 in FIG. 1 communicates not only with the broadcast transmission / reception unit 4 of the master 1 but also with the broadcast transmission / reception units 4 of other slaves. Further, when there are a plurality of slaves 2 in this way, the slave instruction signal transmission unit 8 of the master 1 in FIG. 1 simultaneously transmits a slave instruction signal to the plurality of slaves 2.

  In the present embodiment, the autonomous control unit 5 allows a plurality of carriages 1 and 2 that can be moved in all directions by an omni wheel to cooperate with each other to carry luggage and the like. Further, in the present embodiment, among the plurality of carriages 1 and 2, the master 1 and the slave 2 each perform either a master or a slave operation in advance by an operator (or by an initial setting at the time of manufacture). Is set. Each of the carts of the master 1 and the slave 2 records in advance its own position coordinates at the start of conveyance and the position coordinates of other carriages in its own memory. That is, at the start of conveyance, each slave 2 records in advance the relative positional relationship (distance and direction with respect to the master 1) relative to the master 1 as position coordinate data.

  Then, when the master control unit 7 of the master 1 decides matters such as start or stop of itself (a matter where the operation of the slave needs to be synchronized with the master) (the change in the state or the operation content of the master 1) When it occurs, a signal instructing the start or stop of the master 1 is transmitted by the master control unit 7 to the drive unit of the master 1 (the motor 6 that drives the omni wheel of the master). At substantially the same time, a signal instructing the start or stop of the slave 2 from the slave instruction signal transmission unit 8 to synchronize the slave 2 with the start or stop of the master 1 is directed to all the slaves 2. , Transmitted by I / O telecontrol communication. The slave 2 is controlled in other ways based on the transmitted slave instruction signal. Thereby, the master 1 and the slave 2 are controlled in synchronization with operations such as start or stop (that is, each slave 2 is synchronized with the start or stop of the master 1. Is controlled in other ways). In addition, the master 1 automatically acquires a route based on, for example, destination information for conveyance and floor plan information in the factory, and automatically or autonomously determines start or stop. Therefore, in the present embodiment, when the master 1 decides to start or stop itself, the master 1 controls the driving unit (motor) of its own omni wheel based on a signal indicating them, and at the same time, each slave 2 The slave control signal is transmitted using I / O telecontrol communication to control each slave 2 so that each slave 2 starts or stops in synchronization with the operation of the master 1.

  Each of the carts 1 and 2 has a sensor that detects the number of rotations per unit time of each omni wheel body, and a sensor that detects the number of rotations per unit time of each roller attached to each omni wheel. ing. The master 1 obtains its own traveling speed, amount of movement on the route, and the like based on each detection data from each of these sensors and its own position and direction data at the start of conveyance. Further, each slave 2 is based on each detection data from each sensor and a relative positional relationship (relative distance and direction with respect to the master) relative to the master 1 at the start of conveyance recorded by itself. The relative positional relationship with respect to the current master 1 is obtained. The traveling speed, current position, and direction (relative positional relationship with respect to the current master 1 in the case of a slave) obtained by each of the above-mentioned carriages are periodically broadcast to each other. Wirelessly transmitted and received and shared. As a result, each bogie autonomously determines its own position, direction, traveling speed, etc. so that its own movement can be matched and matched with the movement of other bogies based on information from both itself and the other bogie. (See the autonomous control unit 5 in FIG. 1).

  For example, each of the carts 1 and 2 covers the other carts that are adjacent to each other suddenly stopped (so that the cargo is not dropped or falls due to the sudden halt of the other carts). It autonomously changes its position, direction of travel, or speed of travel. In addition, the broadcast transmission / reception unit 4 also transmits the remaining capacity of the built-in battery of each cart to each other cart, and each cart monitors the remaining capacity of the built-in battery of the other cart, If there is a possibility that the cart will stop due to running out of battery, cover it in advance (so that even if the other cart stops due to running out of the battery, its position and progress) The direction or speed is changed autonomously. Therefore, in this embodiment, even if there is a trouble such as one of a plurality of trucks suddenly stopping by the autonomous control of each carriage, it is possible to avoid inconveniences such as dropping or falling of luggage. .

  As described above, according to the present embodiment, since a plurality of carriages move in cooperation with each other to carry a baggage, even a special baggage such as a long thin baggage or a large baggage can be flexibly reduced. It can be transported correspondingly at a cost (the transport object is not limited as in the prior art). In addition, according to the present embodiment, since a plurality of carriages move in cooperation with each other to carry a load, it can be used in various environments including a narrow passage and a place with a step (conventional). The place and environment where it can be used will not be limited.

  FIG. 2 is a schematic plan view when the transport cart system according to the first embodiment of the present invention is viewed from above. FIG. 3 is a schematic perspective view showing a state when the cargo A is transported by each cart according to the first embodiment. It is. In FIG. 2, reference numerals 11, 12, 13, 14, and 15 denote carts that constitute the first embodiment. In the first embodiment, as shown in FIG. 2, the carts 11, 12, 14, and 15 are arranged so as to face a total of four corners of the load A having a substantially rectangular plane, The carriage 13 is disposed so as to face the substantially central portion of the luggage A.

  In FIG. 2, 11a, 11b, 11c, and 11d are omni wheels 12a, 12b, 12c, and 12d, which are rotatably attached to four locations at equal intervals in the vicinity of the outer periphery of the carriage 11, respectively. Omniwheels 13a, 13b, 13c, and 13d, which are rotatably attached to four locations having an equal interval in the vicinity of the outer periphery of the carriage 12, are four locations having an equal interval in the vicinity of the outer periphery of the carriage 13. Omni wheels 14a, 14b, 14c, and 14d are rotatably attached to the four outer peripheral portions of the carriage 14, respectively, and are rotatably attached to four locations that are equally spaced from each other, 15a, 15b, Reference numerals 15c and 15d denote four equal intervals in the vicinity of the outer periphery of the carriage 15. Each rotatably mounted omni-wheel where a.

  Next, FIG. 3 shows an operation of transporting the load A by a total of five carts as shown in FIG. In FIG. 3, the central carriage 13 in FIG. 2 is not shown for reasons of illustration convenience. In FIG. 3, 11e, 12e, 14e, and 15e are top plates disposed above the respective carriages 11, 12, 14, and 15, and 11f, 12f, 14f, and 15f are the top plates 11e, 12e, 14e, and 15e, respectively. A turntable mounted on the upper surface so as to be rotatable in parallel with the upper surface. 3 is a table having four legs as shown in the figure, and the four legs of the table A are the turntables 11f and 4f of the four carriages 11, 12, 14, and 15, respectively. It is mounted on 12f, 14f, 15f.

  Next, the platoon control operation and the configuration for each trolley during normal platooning in the first embodiment (the process of platooning) will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 is a diagram for explaining a configuration for each slave to move following the master in the first embodiment. As shown in FIG. 4, in the first embodiment, for example, when there are four carriages 11, 12, 14, and 15, each of the carriages becomes a master (parent) in advance by the operator before the start of transportation. A cart 11 and other carts 12, 14, and 15 serving as slaves (children) are determined. The cart 11 set as a master is preset so that its built-in program operates as a master, and the position coordinates at the start of transport and the transport path coordinates to the destination are recorded in advance in the memory (note that The master 11 simply records the position coordinates of the current location and the destination at the start of transportation, and the transportation route to the destination has a configuration similar to that of a conventional car navigation system and a map or sketch including the transportation route. The optimum route may be calculated at any time during the course of traveling while referring to the information. In addition, each of the carts 12, 14, and 15 that are set as slaves is set in advance so that the built-in program operates as a slave, and the relative position coordinates with respect to the master 11 at the start of conveyance are recorded in the memory in advance. Is done.

  During normal operation for transportation, the master 11 determines the operation content such as the traveling direction (direction of the formation) (the built-in program is set as such). Each slave 12, 14, 15 follows the operation of the master 11 at a traveling speed instructed by the master 11 while maintaining a relative position (distance) and direction with the master 11 by a configuration described later.

  In FIG. 5, each of the slaves 12, 14, 15 performs an operation of following the master 11 at the same traveling speed as the master 11 while maintaining the relative position (distance) and direction with the master 11. It is a figure for demonstrating the structure for that, respectively, each trolley | bogie 11-15 each operate | moves autonomously, mutually transmitting (broadcast transmission) each other's present state.

  As shown in FIG. 5, in the first embodiment, each of the trolleys 11 to 15 includes a sensor that detects the number of wheel rotations per unit time of each omni wheel and a roller of each omni wheel (near the outer periphery of each omni wheel). And a sensor that detects the number of rotations per unit time of a roller attached to a plurality of locations of the portion and having a rotation axis in a direction orthogonal to the axle of each omni wheel. Further, in the first embodiment, each of the carriages 11 to 15 is based on the position coordinates at the start of conveyance and the data from each of the sensors. A movement amount and a moving direction, and a current position and a traveling direction are obtained. For the current position and the traveling direction, for example, position coordinate data at the start of conveyance is recorded in advance, and a relative distance and direction with respect to the position coordinate data is calculated based on each rotation speed data. (In addition to this, for example, a GPS-like system in the premises (for example, based on the difference in arrival time until three or more radio wave transmitters are installed indoors and each radio wave is received) It is also possible to obtain the current position coordinates of each carriage by adopting a system that identifies the position of the receiving device). Moreover, in the present Example 1, each trolley | bogie 11-15 is also provided with the sensor which measures the weight of the load which has respectively hung on itself. Moreover, in the present Example 1, each trolley | bogie 11-15 is also provided with the sensor which measures the remaining capacity of the battery for the drive motor of each omni wheel of each itself.

  In the first embodiment, as shown in FIG. 5, each of the carriages 11 to 15 has the rotational speeds, traveling speeds, and transport routes (movement amounts) of the omni wheels obtained as described above. And the direction of movement), current position and direction, load amount, battery remaining capacity and other information (information on each carriage) at a predetermined time (for example, once per second) Means (for example, Bluetooth etc.) are used, and it mutually transmits / receives to / from other carts (communication between vehicles).

  Therefore, in the first embodiment, during the normal transportation / operation, the master 11 determines the traveling direction (the direction of the platoon), the traveling speed, and the like based on the coordinate data of the transportation route recorded in advance in its own memory. Driving while determining the basic operation details. Further, in the first embodiment, each slave 12, 14, 15 is a master during the normal transportation / operation (that is, for operations and matters that do not require synchronization with the master such as starting or stopping). 11 travels autonomously while maintaining the same position and direction relative to the master 11 and the same speed as the master 11 based on information such as the position, direction and speed transmitted from the broadcast.

  In the first embodiment, the slaves 12, 14, and 15 share not only the information of the master 11 but also the information of other slaves in substantially real time (the slaves 12, 14, and 15 share their own information with each other). For example, in the process of transporting one load A in cooperation with each other, the other trucks adjacent to a certain truck suddenly become unmovable. If this happens, the truck will immediately recognize it and move closer to the carriage that has become immovable (incorporating a program that operates autonomously in advance). The baggage A is prevented from falling out of balance. In the first embodiment, the slaves 12, 14, and 15 share not only the information of the master 11 but also the information of other slaves in substantially real time (the slaves 12, 14, and 15 share their own information with each other). For example, when one cargo A is transported in cooperation with each other, if another cart next to a cart has almost no remaining battery capacity, The truck immediately recognizes that and moves closer to the truck that is almost out of battery power (with a built-in program that operates in an autonomous manner in advance). Can be prevented from suddenly stopping and the load A falling out of balance and falling.

  Next, a configuration for synchronizing the start or stop operation of each slave with the master in the first embodiment will be described with reference to FIG. In the first embodiment, as described above, the operations and matters related to the basics of the platoon operation such as start or stop of the platoon consisting of each of the trolleys 11 to 15 are determined based on various information by the program built in the master 11 in advance. It is transmitted to each slave 12, 14, 15. In the first embodiment, the operations and matters relating to the basics of the platoon operation such as starting or stopping are not performed by the normal short-distance wireless means for broadcasting (for example, Bluetooth) described with reference to FIG. Instead, I / O telecontrol communication (wireless remote control method used in radio control, etc.) is used to send signals from the master 11 to each of the slaves 12, 14, 15 (partly using "interrupt") Thus, the operation of the master 11 and each of the slaves 12, 14, and 15 is synchronized with each other.

  That is, in the first embodiment, the operations / items (operations / items related to the basics of platoon operation) that require “synchronization with the operation of the master” such as start and stop of each slave are shown in FIG. As described above, the start / stop operations of the master 11 and the slaves 12, 14, and 15 are synchronized with each other using the I / O tele-control communication (matching the timing) (other-order control in FIG. 1). Part 10). On the other hand, in the first embodiment, normal platooning operations such as starting and stopping such as matters other than those requiring “synchronization” (for example, relatively slow change in traveling speed, relatively slow change in traveling direction, etc.) 6 (b), as shown in FIG. 6 (b), between the carriages including the master 11 and the slaves 12, 14, and 15, their own speed, movement on the conveyance path after the conveyance is started. Various information such as quantity and moving direction, current position and direction, luggage weight, and remaining battery capacity are sent and received in a broadcast manner, and each cart is autonomous based on the information shared with each other by this broadcast transmission. In addition, the vehicle keeps moving while maintaining its distance from other carts and keeping the traveling directions coincident with each other (see the autonomous control unit 5 in FIG. 1).

  Next, FIG. 7 is a perspective view showing a state when another baggage B different from the baggage A of FIG. FIG. 7 shows a case in which an elongated baggage B is conveyed, unlike the baggage A having four legged tables as shown in FIG. In FIG. 7, since the elongated baggage B is transported, the transport is performed by only two carriages, the master 11 and the slave 12. Also regarding FIG. 7, the basic configuration and operation of the first embodiment are the same as those described with reference to FIGS. That is, FIG. 7 and FIGS. 2 to 6 differ in the number of carriages, but this is only a difference in the result corresponding to the shape of the luggage and the like, and only a difference in the usage mode of the same Example 1.

  As mentioned above, although each Example of this invention was described, this invention is not limited to what was described as each said Example, A various correction and change are possible. For example, in the first embodiment, the number of barrel-shaped rollers attached to the omni wheel is four, but the present invention is not limited to this. Further, in the first embodiment, each of the carriages 11 to 15 includes the position coordinates at the start of conveyance, the number of wheel rotations per unit time of each omni wheel being conveyed, and the number of rotations per unit time of each omni wheel roller. However, the present invention is not limited to this. For example, each carriage has three or more radio wave transmitters installed indoors, and each radio wave from them is set. The current position coordinates of each carriage may be acquired by a GPS-like system such as specifying the position of the receiving device based on the difference in arrival time of radio waves until receiving the signal.

11, 12, 13, 14, 15 Dolly 1 Master 12, 13, 14, 15 Slave 1 Self-information acquisition unit 3 Self-information acquisition unit 4 Broadcast transmission / reception unit 5 Autonomous control unit 6 Omni-wheel motor 7 Master control unit 8 Slave Instruction signal transmitting unit 9 Slave instruction signal receiving unit 10 Other control unit 11 Bogies 11e, 12e, 14e, 15e Each top plate 11f, 12f, 14f, 15f Turntable A, B Luggage

Claims (3)

Each of them is configured to be movable in all directions by driving a plurality of omnidirectional wheels attached to the lower side thereof, and a mounting portion for placing at least a part of the object to be conveyed is provided above the wheels. , Multiple carts,
Self-information such as the current traveling speed and current position and direction (including the current relative position and direction with respect to the master described later in the case of being a slave described later) Self-information acquisition means to
Wherein the plurality of single carriages that are set in advance as a master in the carriage (hereinafter referred to as "master") provided in the drive of the omnidirectional wheels of the said master control signal to start or stop the Master Master Master control means for controlling the operation of each omnidirectional wheel of the master by transmitting to the unit,
A slave instruction signal for instructing start or stop of a plurality of carts (hereinafter referred to as “slaves”) provided as a slave other than the master and provided as a slave other than the master, Slave instruction signal transmission means for wirelessly transmitting to each of the plurality of slaves substantially simultaneously with transmission to the drive unit of each omnidirectional wheel ,
The master side broadcast transmission means, which is provided in the master and periodically broadcasts the self-information of the self to each of a plurality of slaves;
A master-side broadcast receiving means that is provided in the master and receives information on each of the plurality of slaves (each self-information of each slave) broadcasted by a slave-side broadcast transmitting means described later ;
Provided in the master, based on the information (the self information of each slave) regarding each of the plurality of slaves that are broadcast transmitted from the self-information and the plurality of the slave regarding themselves, the operations of their respective omnidirectional wheels Master side autonomous control means for autonomous control,
Each of the plurality of slaves, each other control means for controlling the operation of each omnidirectional wheel based on the slave instruction signal transmitted from the master,
Each of the plurality of slaves is provided with each of the plurality of slaves, and the self-information of the slave is periodically broadcast to the master and each of the other one or more slaves.
Each of the plurality of slaves is provided with information on the master and one or more slaves broadcast from the master and one or more other slaves (the master and each of the slaves). Information), slave side broadcast receiving means,
Each of the plurality of slaves is provided with self-information about itself and information about the master and one or more other slaves broadcast from the master and one or more other slaves (master and A slave-side autonomous control means that autonomously controls the operation of each omnidirectional wheel based on each self information of each slave and autonomously changes its position, traveling direction, and traveling speed. ,
A carriage system characterized by comprising: In claim 1,
The self-information acquisition unit records, when the cart provided with the slave is a slave, “data indicating the relative position and direction of the slave relative to the master at the start of conveyance of the slave” ”, Based on the movement amount and movement direction from the start of its own conveyance, and the movement amount and movement direction of the master received from the broadcast receiving means from the start of conveyance. A transport cart system characterized by acquiring a current relative position and direction. In claim 1,
Wheel rotation speed acquisition means that is provided in each carriage and acquires the rotation speed per unit time of each omnidirectional wheel ;
Roller rotation speed acquisition means for acquiring the rotation speed per unit time of each of a plurality of rollers provided in each carriage and having a rotation axis in a direction different from the axis of each omnidirectional wheel ,
The self-information acquisition unit includes a unit that acquires its own traveling speed based on data from the wheel rotation number acquisition unit and the roller rotation number acquisition unit.

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