TRANSPORT SYSTEM AND TRANSPORT VEHICLE

One aspect of a transport system of the present invention includes a plurality of transport vehicles that cooperatively transport an object; and a transport control unit that controls the plurality of transport vehicles to transport the object. Each of the plurality of transport vehicles includes a load measuring unit that measures a load applied from the object. In a case where there is a plurality of moving routes of the plurality of transport vehicles when transporting the object from a current location to a predetermined destination, the transport control unit selects each of the moving routes of the plurality of transport vehicles based on a measurement result of the load measuring unit.

FIELD OF THE INVENTION

The present invention relates to a transport system and a transport vehicle.

BACKGROUND

A transport system by a transport vehicle is known. For example, there is known a traveling system of an unmanned vehicle that selects a via-point on a traveling route for the purpose of improving workability of loading work.

As a transport system, a transport system that transports an object by coordinating a plurality of transport vehicles can be considered. In this case, when the route selection of the plurality of transport vehicles is performed in the same manner as in the case of performing the route selection in one transport vehicle, there is a case where the transport efficiency of the entire transport system cannot be sufficiently improved.

SUMMARY

One aspect of an exemplary transport system of the present invention includes a plurality of transport vehicles that cooperatively transport an object; and a transport control unit that controls the plurality of transport vehicles to transport the object. Each of the plurality of transport vehicles includes a load measuring unit that measures a load applied from the object. In a case where there is a plurality of moving routes of the plurality of transport vehicles when transporting the object from a current location to a predetermined destination, the transport control unit selects each of the moving routes of the plurality of transport vehicles based on a measurement result of the load measuring unit.

One aspect of an exemplary transport vehicle of the present invention includes: a transport control unit that transports an object in cooperation with another transport vehicle; and a load measuring unit that measures a load applied from the object. According to one aspect of the transport vehicle of the present invention, in a case where there is a plurality of moving routes of the other transport vehicle when transporting the object from the current location to a predetermined destination, the transport control unit selects the moving route of the other transport vehicle based on a measurement result of the load measuring unit included in the transport vehicle and a measurement result of the load measuring unit included in the other transport vehicle.

DETAILED DESCRIPTION

A Z-axis direction appropriately illustrated in each drawing is a vertical direction. The positive side in the Z-axis direction is a vertically upper side. A negative side in the Z-axis direction is a vertically lower side. The X-axis direction and the Y-axis direction appropriately illustrated in each drawing are horizontal directions orthogonal to the vertical direction, and are directions orthogonal to each other. In the following description, the Z-axis direction that is the vertical direction is referred to as a “vertical direction Z”. In the following description, the vertically upper side and the vertically lower side will be referred to simply as the “upper side” and the “lower side”, respectively. The X-axis direction in the horizontal direction is referred to as a “first horizontal direction X”, and the Y-axis direction in the horizontal direction is referred to as a “second horizontal direction Y”.

In the following embodiment, an example will be described in which a transport system1transports an object T from a current location PL to a predetermined destination DE in a workplace A illustrated inFIG. 1. As illustrated inFIG. 1, the workplace A has passages A1, A2, A3, and A4. The passage A1extends from the current location PL to one side (+Y side) in the second horizontal direction Y. The passage A2extends from an end of the passage A1on one side in the second horizontal direction Y to one side (+X side) in the first horizontal direction X. The passage A3extends from the middle of the passage A1to one side in the first horizontal direction X. The passage A4extends from an end of the passage A3on one side in the first horizontal direction X to one side in the second horizontal direction Y. An end of the passage A4on one side in the second horizontal direction Y is connected to an end of the passage A2on one side in the first horizontal direction X. A place where the passage A2and the passage A4are connected is the destination DE.

The transport system1of this embodiment includes a plurality of transport vehicles10, a plate member30, and a transport control unit20. The transport control unit20controls the plurality of transport vehicles10to transport the object T. In this embodiment, the transport control unit20is provided separately from the plurality of transport vehicles10. The plurality of transport vehicles10are unmanned transport vehicles that cooperatively transport the object T. In this embodiment, the plurality of transport vehicles10cooperatively hold and transport the object T. In this embodiment, two transport vehicles10, i.e., a transport vehicle11and a transport vehicle12, are provided. In this embodiment, the transport vehicle11and the transport vehicle12have the same structure.

As illustrated inFIG. 2, each of the plurality of transport vehicles10includes a vehicle body13, a plurality of wheels14, a motor17, a battery18, a cargo bed15, a lifting device19, and a load measuring unit16. The plurality of wheels14are attached to the vehicle body13. The plurality of wheels14are, for example, wheels rotatable in a plurality of directions of the horizontal direction. Therefore, the transport vehicle10of this embodiment can move in a plurality of horizontal directions without changing the direction. For example, the transport vehicle10can move in each of the first horizontal direction X and the second horizontal direction Y without changing the direction.

The motor17is disposed inside the vehicle body13. The motor17drives the wheels14. In this embodiment, the motor17is provided for each wheel14. The battery18is disposed inside the vehicle body13. The battery18supplies power to the motor17. In this embodiment, the battery18supplies power to the plurality of motors17. The battery18may be provided for each motor17.

The cargo bed15is located on the upper side of the vehicle body13. The object T is loaded on the cargo bed15. The object T is loaded on the cargo bed15of this embodiment via the plate member30. That is, in this embodiment, the plurality of transport vehicles10transport the object T loaded on the plate member30. The lifting device19is disposed inside the vehicle body13. As illustrated inFIGS. 2 and 3, the lifting device19moves the cargo bed15in the vertical direction Z.

In this embodiment, the load measuring unit16is disposed inside the cargo bed15. The load measuring unit16measures a load applied from the object T to the transport vehicle10. In the present specification, the “load applied from the object to the transport vehicle” includes a load applied from the object and another member to the transport vehicle when the object is transported via another member. In this embodiment, the load measuring unit16measures the load applied from the object T loaded on the cargo bed15and the plate member30as another member.

The load measuring unit16is not particularly limited as long as it can measure the load applied to the transport vehicle10. The load measuring unit16may be, for example, a one-axis force sensor or a six-axis force sensor. In a case where the load measuring unit16is a six-axis force sensor, the load measuring unit16may detect a force, a moment, and the like applied to the transport vehicle10in addition to the load applied from the object T to the transport vehicle10.

The plate member30is a plate-like member whose plate surface faces the vertical direction Z. The material of the plate member30is not particularly limited. The plate member30extends in one direction of the horizontal direction. InFIGS. 1 to 3, the plate member30extends, for example, in the first horizontal direction X. As illustrated inFIG. 1, the plate member30has a rectangular shape when viewed along the vertical direction Z. In the following description, a direction in which the plate member30extends is referred to as a “longitudinal direction”.

As illustrated inFIG. 3, the plate member30is supported from the lower side by the plurality of transport vehicles10. In this embodiment, the plate member30is supported from the lower side by the cargo bed15of the transport vehicle11and the cargo bed15of the transport vehicle12. Through the plate member30, it is easy to hold the object T in cooperation by the plurality of transport vehicles10, and it is easy to transport the object T. In this embodiment, the plate member30is not fixed to the transport vehicle10in a state of being supported by the plurality of transport vehicles10from the lower side. In this embodiment, when moving each transport vehicle10, the transport control unit20controls the speed and the like of each transport vehicle10to maintain the relative position and the relative posture between each transport vehicle10and the plate member30.

As illustrated inFIG. 2, the plate member30is arranged on the placing table40in a state of not being supported by the transport vehicle10, and is supported from the lower side by the placing table40. Although not illustrated, the placing table40is disposed at the current location PL and the destination DE, for example. The horizontal dimension of the placing table40is smaller than the longitudinal dimension of the plate member30. The dimension of the placing table40in the vertical direction Z is larger than the dimension of the transport vehicle10in the vertical direction Z in a state where the cargo bed15is located on the lowermost side, and is smaller than the dimension of the transport vehicle10in the vertical direction Z in a state where the cargo bed15is located on the uppermost side. The plate member30protrudes from the placing table40to both sides in the longitudinal direction in a state of being arranged on the placing table40.

The transport system1of this embodiment transports the object T from the current location PL to the destination DE along Steps S1to S10illustrated inFIG. 4. Step S1is a step in which the transport control unit20transmits a loading instruction to each transport vehicle10. Specifically, in Step S1, the transport control unit20transmits an instruction to load the object T on the cargo bed15to each transport vehicle10. Step S2is a step in which each transport vehicle10receives a loading instruction from the transport control unit20.

Step S3is a step in which each transport vehicle10that has received the loading instruction loads the object T in cooperation with the other transport vehicles10. In Step S3, as illustrated inFIG. 2, the transport vehicle10moves to the lower side of the plate member30arranged on the placing table40at the current location PL. At this time, the object T is loaded on the plate member30. The transport vehicle11and the transport vehicle12move to positions on the lower side of the plate member30and sandwiching the placing table40in the longitudinal direction. Next, as illustrated inFIG. 3, each transport vehicle10moves the cargo bed15upward by the lifting device19and lifts the plate member30together with the object T. As a result, each transport vehicle10can load the object T on the plurality of load cargo beds15via the plate member30.

Step S4is a step in which each transport vehicle10measures the load applied from the object T by the load measuring unit16. As illustrated inFIG. 3, for example, when the object T is disposed on the plate member30so as to be shifted to one side in the longitudinal direction with respect to the center of the plate member30in the longitudinal direction, loads applied from the object T to the respective transport vehicles10may be different from each other. For example, inFIG. 3, a load M2 applied from the object T to the transport vehicle12is larger than a load M1 applied from the object T to the transport vehicle11.

Step S5is a step in which each transport vehicle10transmits the measurement result of the load measuring unit16and the current location to the transport control unit20. The current location transmitted from the transport vehicle10to the transport control unit20in Step S5is the position of the transport vehicle10when the object T is loaded in Step S4. Step S6is a step in which the transport control unit20receives the measurement result of the load measuring unit16and the current location from each transport vehicle10.

Step S7is a step in which the transport control unit20selects a moving route of each transport vehicle10. First, in Step S7, the transport control unit20extracts a transport route for transporting the object T from the current location PL to the destination DE in the workplace A. A method of extracting the transport route is not particularly limited. In this embodiment, the transport control unit20extracts the transport route using, for example, the A* algorithm.

In the transport control unit20, for example, information of the passages A1to A4in the workplace A and position information of the current location PL and the destination DE are stored in advance. For example, the transport control unit20extracts two transport routes R1and R2illustrated inFIG. 1as the transport routes. The transport route R1is a route for transporting the object T from the current location PL to the destination DE through the passage A1and the passage A2. The transport route R1is a route for transporting the object T from the current location PL to the destination DE through the passage A1, the passage A3, and the passage A4.

Next, the transport control unit20extracts a moving route of each transport vehicle10when the object T is transported along each of the transport routes R1and R2. A method of extracting the moving route is not particularly limited. In this embodiment, the transport control unit20extracts the moving route using, for example, the A* algorithm. Note that, in the present specification, the “transport route” is a selection pattern of a passage through which the object T is transported, and the “moving route” is a traveling track of the transport vehicle10when the object T is transported from the current location PL to the destination DE.

Here, even when the object T is transported along the same transport route, there may be a plurality of moving routes of each transport vehicle10. For example, when each transport vehicle10turns from the passage A1to the passage A3on the transport route R2, a case where each transport vehicle travels in the first horizontal direction X and turns without changing the direction, and a case where each transport vehicle10turns while changing the direction as illustrated inFIGS. 5 and 6, can be considered. In these cases, the moving routes of the transport vehicle10in the transport route R2are different from each other.

Even when each transport vehicle10changes its direction and turns, the moving route of each transport vehicle10may be different depending on the way of turning. Specifically, it is conceivable that when each transport vehicle10turns while changing its direction from the second horizontal direction Y to the first horizontal direction X, the transport vehicle10turns as illustrated inFIG. 5, and turns as illustrated inFIG. 6.

In the case illustrated inFIG. 5, the transport vehicle11moves along a moving route P1a, and the transport vehicle12moves along a moving route P2a. The moving route P1ais a route that travels straight in a direction parallel to the first horizontal direction X. The moving route P2ais a route that travels straight in a direction obliquely inclined to one side (+Y side) of the second horizontal direction Y with respect to the first horizontal direction X. Each of the transport vehicles11and12changes its direction by rotating counterclockwise as viewed from above while traveling straight along each of the moving routes P1aand P2a. In the case of the turning illustrated inFIG. 5, the plate member30and the object T rotate counterclockwise as viewed from above.

In the case illustrated inFIG. 6, the transport vehicle11moves along a moving route P1b, and the transport vehicle12moves along a moving route P2b. The moving route P1bis a route that travels straight in a direction obliquely inclined to one side (+Y side) of the second horizontal direction Y with respect to the first horizontal direction X. The moving route P2bis a route that travels straight in a direction parallel to the first horizontal direction X. Each of the transport vehicles11and12changes its direction by rotating clockwise as viewed from above while traveling straight along each of the moving routes P1band P2b. In the case of the turning illustrated inFIG. 6, the plate member30and the object T rotate clockwise as viewed from above.

As described above, the moving route P1aof the transport vehicle11when turning as illustrated inFIG. 5is different from the moving route P1bof the transport vehicle11when turning as illustrated inFIG. 6. The moving route P2aof the transport vehicle12when turning as illustrated inFIG. 5is different from the moving route P2bof the transport vehicle12when turning as illustrated inFIG. 6.

As described above, in this embodiment, the transport control unit20holds the relative position and the relative posture between each transport vehicle10and the plate member30when moving each transport vehicle10. Therefore, when each transport vehicle10changes its direction and turns, the direction of the object T and the direction of the plate member30also change in accordance with the direction of the transport vehicle10. On the other hand, when each transport vehicle10turns without changing the direction, the direction of the object T and the direction of the plate member30do not change.

The transport control unit20extracts all the moving routes considered as the moving routes of the transport vehicles10for each of the transport routes R1and R2. In this embodiment, the transport control unit20extracts the moving route in consideration of the direction of the object T at the destination DE. For example, when the object T is transported to the destination DE along the transport route R1, if the object T travels in the first horizontal direction X and turns without changing the direction of each transport vehicle10when turning from the passage A1to the passage A2, the object T can be transported to the destination DE without changing the direction of each transport vehicle10. However, as indicated by a two-dot chain line inFIG. 1, when it is necessary to change the direction of the object T at the destination DE to the direction of the object T at the current location PL, it is necessary to change the direction of each transport vehicle10at least once. Therefore, the transport control unit20does not extract the moving route for transporting the object T without changing the direction of the transport vehicle10even once.

As illustrated inFIGS. 5 and 6, the first horizontal direction X in which the object T after turning faces is reversed depending on the difference in the way of turning. Therefore, for example, even when the transport route R1is bent as illustrated inFIG. 5, the direction of the object T in the first horizontal direction X is opposite to the direction of the object T in the first horizontal direction X indicated by the two-dot chain line inFIG. 1. Therefore, for example, the transport control unit20does not extract a moving route that turns as illustrated inFIG. 5in the transport route R1.

As described above, after all the moving routes of the transport vehicles10capable of transporting the object T from the current location PL to the destination DE in the predetermined posture are extracted, the transport control unit20estimates the sum of energy consumed when the plurality of transport vehicles10are moved along the extracted moving routes. In this embodiment, the transport control unit20estimates the sum of energy consumed based on the measurement result of the load measuring unit16and the distance traveled by the transport vehicle10from the current location PL to the destination DE. The transport control unit20assumes that a value obtained by multiplying the measurement result of the load measuring unit16of the transport vehicle10by the distance of the moving route corresponds to the consumed energy, and estimates the sum of energy consumed by the plurality of transport vehicles10for each moving route.

For example, a sum E1 of energy consumed by the transport vehicles11and12when turning as illustrated inFIG. 5is expressed by the following Expression 1, and a sum E2 of energy consumed by the transport vehicles11and12when turning as illustrated inFIG. 6is expressed by the following Expression 2.

M1 is a load applied to the transport vehicle11measured by the load measuring unit16of the transport vehicle11. M2 is a load applied to the transport vehicle12measured by the load measuring unit16of the transport vehicle12. L1a is a travel distance on the moving route P1a. L2a is a travel distance on the moving route P2a. L1b is a travel distance on the moving route P1b. L2b is a travel distance on the moving route P2b.

The transport control unit20calculates and estimates the sum of energy consumed by the transport vehicle10in the entire moving routes as in the above Expressions 1 and 2. The transport control unit20selects moving routes of the plurality of transport vehicles10based on the sum of the estimated energy. In this embodiment, the transport control unit20selects a moving route having the smallest total sum of estimated energy from among the extracted moving routes.

Note that, for example, when there is a large deviation in the load applied from the object T to each transport vehicle10, the sum of consumed energy tends to be the smallest by selecting the moving route in which the travel distance of the transport vehicle10having the larger load applied from the object T is the smallest. Therefore, in many cases, the transport control unit20selects the moving route in which the travel distance of the transport vehicle10having the larger load applied from the object T becomes the smallest.

Further, for example, as a result of extracting the moving route as described above, when there is only one moving route of each transport vehicle10, the transport control unit20selects one extracted moving route without estimating the sum of energy consumed.

Step S8is a step in which the transport control unit20transmits the selected moving route to each transport vehicle10. Step S9is a step in which each transport vehicle10receives the moving route from the transport control unit20. Step S10is a step in which each transport vehicle10moves to the destination along the received moving route. As a result, the plurality of transport vehicles10can transport the object T to the destination DE. At the destination DE, the plurality of transport vehicles10arrange the plate member30and the object T on the placing table40arranged at the destination DE.

For example, even when the moving route of each transport vehicle10in which the sum of the travel distances of the plurality of transport vehicles10is the smallest is selected and the object T is transported from the current location PL to the destination DE, the energy consumed in the entire transport system1is not necessarily the smallest when the load applied from the object T to each transport vehicle10is different. This is because, in a case where the loads applied to the transport vehicles10are greatly different, even if the travel distance of the transport vehicle10having the smaller applied load is increased to increase the sum of the travel distances of the plurality of transport vehicles10, energy consumed as a whole may be reduced by reducing the travel distance of the transport vehicle10having the larger applied load as much as possible. Therefore, the transport efficiency of the entire transport system1may not be sufficiently improved. In the present specification, the “transport efficiency” includes energy efficiency, time efficiency, cost efficiency, and the like when transporting an object to a destination.

On the other hand, according to this embodiment, in a case where there is a plurality of moving routes of the plurality of transport vehicles10when transporting the object T from the current location PL to the predetermined destination DE, the transport control unit20selects each of the moving routes of the plurality of transport vehicles10based on the measurement result of the load measuring unit16. Therefore, even when the loads applied from the object T to the transport vehicles10are different, it is easy to appropriately select the moving route in which the energy consumed by the entire transport system1is reduced in consideration of the difference in the applied loads. Therefore, energy consumed when the object T is transported can be reduced, and the transport efficiency of the entire transport system1can be improved.

Further, according to this embodiment, in a case where there is a plurality of moving routes of the plurality of transport vehicles10when transporting the object T from the current location PL to the destination DE, the transport control unit20selects the moving routes of the plurality of transport vehicles10based on the measurement result of the load measuring unit16and the distance by which the transport vehicle10moves from the current location PL to the destination DE. Therefore, in consideration of the difference in the load applied to each transport vehicle10and the difference in the distance in which each transport vehicle10moves, it is easy to more appropriately select the moving route in which the energy consumed in the entire transport system1is reduced. Therefore, energy consumed when the object T is transported can be further reduced, and the transport efficiency of the entire transport system1can be improved.

In addition, according to this embodiment, the transport control unit20estimates the sum of energy consumed until the plurality of transport vehicles10move from the current location PL to the destination DE based on the measurement result of the load measuring unit16and the distance by which the transport vehicle10moves from the current location PL to the destination DE. Then, the transport control unit20selects moving routes of the plurality of transport vehicles10based on the sum of the estimated energy. Therefore, it is possible to more appropriately select the moving route in which the energy consumed in the entire transport system1is reduced, and to further reduce the energy consumed when the object T is transported. As a result, the transport efficiency of the entire transport system1can be further improved.

In addition, according to this embodiment, the transport control unit20selects a moving route in which the sum of estimated energy is the smallest. Therefore, the energy consumed by the entire transport system1is easily minimized, and the energy efficiency of the entire transport system1is easily optimized. As a result, the transport efficiency of the entire transport system1can be further improved.

The present invention is not limited to the above-described embodiment, and following other structures and methods may be adopted. The transport control unit20is not particularly limited as long as it selects each of moving routes of the plurality of transport vehicles10based on the measurement result of the load measuring unit16. The estimation of the sum of energy by the transport control unit20may be performed using a table stored in advance in the transport control unit20. The table stores an estimated value of a sum of energy with respect to a load applied to the transport vehicle10and a travel distance of the transport vehicle10.

The transport control unit20may consider energy required for rotation of the transport vehicle10when estimating energy consumed in the transport vehicle10. In this case, the transport control unit20may regard a sum of a value obtained by multiplying the measurement result of the load measuring unit16of the transport vehicle10by the distance of the moving route and a value obtained by multiplying the inertia of the transport vehicle10in a state where the load is applied by the rotation angle of the transport vehicle10as the consumed energy. In this case, the energy consumed in each transport vehicle10can be estimated more accurately. The energy required for the rotation is sufficiently smaller than the energy required for the movement. Therefore, even when the energy required for rotation is not considered as in the above-described embodiment, the transport control unit20can estimate the energy consumed in the transport vehicle10sufficiently accurately.

The transport control unit20may select the moving route without estimating the sum of energy consumed while the plurality of transport vehicles10move from the current location PL to the destination DE. The transport control unit20may select the moving routes of the plurality of transport vehicles10not based on the distance by which the transport vehicle10moves from the current location PL to the destination DE.

The transport control unit20may select the moving routes of the plurality of transport vehicles10based on the remaining power amount of the battery18in the plurality of transport vehicles10. According to this configuration, for example, when there is a deviation in the remaining power amount of the battery18in the plurality of transport vehicles10, the moving distance of the transport vehicle10having a small remaining power amount of the battery18can be shortened. As a result, it is possible to suppress battery exhaustion of only some transport vehicles10among the plurality of transport vehicles10, and it is possible to improve the transport efficiency of the transport system. Note that, also in this case, the transport control unit20may estimate the sum of consumed energy and select the moving route on the basis of the estimated sum of energy. The transport control unit20may select the moving route by giving priority to the sum of consumed energy, or may select the moving route by giving priority to the remaining power amount of the battery18.

The transport control unit20may change the relative position in the longitudinal direction between the transport vehicle10and the plate member30based on the measurement result of the load measuring unit16. According to this configuration, the relative distance between the object T loaded on the plate member30and the transport vehicle10can be changed, and the load applied to each transport vehicle10can be changed. Therefore, for example, the energy consumption of the entire transport system is easily reduced and the transport efficiency of the entire transport system is easily improved by reducing the load applied to the transport vehicle10whose moving distance tends to be long. As a method of changing the relative position in the longitudinal direction between the transport vehicle10and the plate member30, as illustrated inFIG. 7, a method of returning the plate member30and the object T onto the placing table40, then changing the position in the longitudinal direction of the transport vehicle10, and loading the object T and the plate member30on the transport vehicle10again as illustrated inFIG. 8, can be adopted.

When changing the relative position in the longitudinal direction between the transport vehicle10and the plate member30, the transport control unit20may change the relative position in the longitudinal direction between the transport vehicle10and the plate member30to a position where the load applied from the object T is the same in each of the plurality of transport vehicles10. According to this configuration, it is possible to equalize the energy consumption in each transport vehicle10when the object travels the same moving distance. Therefore, it is easy to minimize the energy consumption of the entire transport system by simply selecting the moving route in which the sum of the travel distances of the plurality of transport vehicles10is the smallest. That is, when the load applied to each transport vehicle10measured by the load measuring unit16is the same, the transport control unit20may select, for each of the transport vehicles10, a moving route in which the sum of the travel distances of the plurality of transport vehicles10becomes the smallest. As a result, the transport efficiency of the entire transport system can be improved.

Specifically, for example, when the load applied to each transport vehicle10is different as in the example ofFIG. 3, the transport control unit20lowers the cargo bed15by the lifting device19, and again disposes the plate member30and the object T on the placing table40. In the example ofFIG. 3, since the load applied to the transport vehicle12is larger, the transport control unit20moves the transport vehicle12in a direction away from the object T (+X direction) in the longitudinal direction as illustrated inFIG. 7. Then, as illustrated inFIG. 8, the transport control unit20raises the cargo bed15by the lifting device19to load the object T and the plate member30on the plurality of transport vehicles10again. In this way, the transport control unit20changes the relative position between the transport vehicle10and the plate member30to make the load applied to each transport vehicle10the same.

The control of the relative position and the relative posture of each transport vehicle10may be performed in such a manner that any one of the transport vehicles10serves as a leader machine and follows the movement of the leader machine in accordance with an instruction from the transport control unit20, and the rest serves as a follower machine. In this case, information on the current position and posture is sequentially transmitted from the transport vehicle10serving as the leader machine to the transport vehicle10serving as the follower machine, and the transport vehicle10serving as the follower machine controls its own position and posture on the basis of the information. In addition, the transport vehicle10serving as the leader machine may select its own moving route and select the moving route of the transport vehicle10serving as the follower machine based on an instruction from the transport control unit20.

The transport control unit20may be provided in at least one of the plurality of transport vehicles10. In this case, the transport control unit20causes the transport vehicle10provided with the transport control unit20to transport the object T in cooperation with another transport vehicle10different from the transport vehicle10provided with the transport control unit20. In this case, in a case where there is a plurality of moving routes of other transport vehicles10when transporting the object T from the current location PL to the destination DE, the transport vehicle10including the transport control unit20selects the moving route of the other transport vehicle10based on the measurement result of the load measuring unit16provided in the transport control unit20and the measurement result of the load measuring unit16provided in the other transport vehicle10by the transport control unit20. In addition, in a case where there is a plurality of moving routes of the transport vehicle10including the transport control unit20when transporting the object T from the current location PL to the destination DE, the transport control unit20selects the moving route of the transport vehicle on the basis of the measurement result of the load measuring unit16included in the transport vehicle. As a result, energy consumption of the entire transport system can be reduced, and transport efficiency of the entire transport system can be improved, similarly to the above-described embodiment.

When the transport control unit20is provided in the transport vehicle10, the transport vehicle10including the transport control unit20only needs to select a moving route of another transport vehicle10, and does not need to select its own moving route. In this case, the moving route of the transport vehicle10itself including the transport control unit20may be selected by the transport control unit20provided in another transport vehicle10or the like. In this case, as described above, each transport vehicle10may be separately controlled to be the leader machine and the follower machine.

In addition, for example, when the transport control unit20is mounted on each of the plurality of transport vehicles10, the transport control unit20of each transport vehicle10performs calculation on the moving routes of all the transport vehicles10. At this time, for example, when there is a variation in the calculation result of the transport control unit20of each transport vehicle10, the moving route of each transport vehicle10may be selected by the transport control unit20that has calculated a result estimated to be the most correct calculation result on the basis of each calculation result. As described above, when the calculation results vary, there is a case where it is easy to select the most suitable moving route by selecting the moving route by the transport control unit20provided in the other transport vehicle10. Therefore, the energy consumption of the entire transport system can be more easily reduced, and the transport efficiency of the entire transport system can be easily improved. Note that estimating the most correct calculation result on the basis of each calculation result includes, for example, a case where, in three or more transport vehicles10, when only the transport control unit20in one transport vehicle10calculates a calculation result different from the transport control unit20of the other transport vehicle10, it is estimated that the calculation result of the transport control unit20of the other transport vehicle10is the most correct.

In the above-described embodiment, the predetermined destination DE is set as the final destination to transport the object T, but the present invention is not limited thereto. For example, the transport control unit20may determine one or more provisional destinations to the destination DE and select a moving route with each provisional destination as a predetermined destination. When an obstacle or the like is provided in the passage, the transport control unit20may grasp the position of the obstacle or the like. In this case, the transport control unit20selects a moving route for avoiding an obstacle or the like for each transport vehicle10.

The transport vehicle10is not particularly limited as long as it can transport the object T in cooperation with the other transport vehicles10. The plate member30may be fixed to the transport vehicle10with a fastener or the like. The transport vehicle10may load the object T on the cargo bed15without interposing the plate member30. The transport vehicle10may have, for example, a hand that grips the object T. In this case, the object T may be gripped by the hands of the plurality of transport vehicles10and transported. In this case, the load measuring unit16may measure the load applied to the transport vehicle10by a suspension method. The wheel14of the transport vehicle10may be a wheel movable only in one of the horizontal directions. The structures of the plurality of transport vehicles10may be different from each other. The transport vehicle10may be a manned transport vehicle as long as it is controlled by the transport control unit20. The number of transport vehicles10included in the transport system is not particularly limited as long as it is two or more.

In the present specification, “a plurality of transport vehicles cooperatively transport an object” means that a plurality of transport vehicles10may cooperatively hold and transport an object T as in the above-described embodiment, or a plurality of transport vehicles10may transport one or more different objects T to transport a plurality of objects T. When each of the plurality of transport vehicles10transports one or more mutually different objects T, for example, the plurality of transport vehicles10transports the object T to the same destination DE through mutually different transport routes, and whereby the time for transporting the plurality of objects T can be shortened. In this case, by selecting the moving route of each transport vehicle10on the basis of the measurement result of the load measuring unit16, for example, the transport vehicle10that transports a heavy object T can move on a transport route having a relatively short movement distance, and the transport vehicle10that transports a light object T can move on a transport route having a relatively long movement distance. As a result, the energy consumption of the entire transport system can be reduced, and the transport efficiency of the entire transport system can be improved.

The environment in which the transport system of the above-described embodiment is used is not particularly limited. The object T transported by the transport system is not particularly limited. The structures described in the present specification can be combined as appropriate within a scope that does not give rise to mutual contraction.