Article transport system

Abstract

The present application provides an article conveying system. A control unit (50) selectively performs either: first control, in a holding state in which the unmanned carrier (10) holds the conveying body (20) in the holding unit (15), at least one of charging the first power storage device (11) and supplying electric power to the traveling unit (14) by receiving electric power supply from the second power storage device (21) via the second power transmission unit (23) and the first power receiving unit (12); and second control, in the holding state, charging the second power storage device (21) by receiving electric power supply from the first power storage device (11) via the first power transmission unit (13) and the second power receiving unit (22).

Description

Technical Field

[0001] The present invention relates to an article transport system comprising multiple transport bodies for carrying or accommodating articles, multiple unmanned transport vehicles for transporting the transport bodies, and a control unit for controlling the transport bodies and the unmanned transport vehicles. Background Technology

[0002] An example of such an article transport system is disclosed in Japanese Patent Application Publication No. 2014-117067 (Patent Document 1). In the following description of this background art, the symbols and names from Patent Document 1 are referenced in parentheses.

[0003] Patent Document 1 describes an article transport system comprising an unmanned transport vehicle (10) with a first energy storage device (vehicle-side battery 14) and a transport vehicle (pallet 20) with a second energy storage device (pallet-side battery 24). The transport vehicle (20) is equipped with a power supply unit capable of supplying power from the second energy storage device (24) to an external source, and the unmanned transport vehicle (10) is equipped with a power receiving unit capable of receiving power from the power supply unit of the transport vehicle (20). Furthermore, the unmanned transport vehicle (10) operates and charges the first energy storage device (14) using power from the second energy storage device (24) when carrying the transport vehicle (20), and operates using power from the first energy storage device (14) when not carrying the transport vehicle (20). The first energy storage device (14) and the second energy storage device (24) are charged by a charging device (charger 40) located at a station (ST) where the unmanned transport vehicle (10) loads or unloads the transport vehicle (20). Summary of the Invention

[0004] The problem that the invention aims to solve

[0005] However, in the goods transport system of Patent Document 1, although it depends on the overall layout of the system, for example, if the number of transported items actually used is too large compared to the number of charging devices, there may be transported items whose charging capacity of the second energy storage device is still insufficient. As a result, there may be a situation where the power supply to the automated guided vehicle cannot be adequate. If such a situation occurs, the utilization efficiency of the automated guided vehicle will decrease. Moreover, this situation is more likely to occur during busy periods when the transported items using the automated guided vehicle are transported in large quantities. On the other hand, if many charging devices are set up in conjunction with busy periods, there will be a surplus of charging devices during idle periods, and the cost of the goods transport system will increase. Furthermore, the space required to install the charging devices will encroach on the space of the facilities where the goods transport system is installed.

[0006] Therefore, there is a need for a material handling system that does not require an excessive number of charging devices and can also suppress the reduction in the efficiency of unmanned transport vehicles during busy periods.

[0007] Solution for solving the problem

[0008] The goods transport system disclosed herein comprises multiple transport bodies that carry or accommodate goods, multiple unmanned transport vehicles that transport the aforementioned transport bodies, and a control unit that controls the aforementioned transport bodies and the aforementioned unmanned transport vehicles. The aforementioned unmanned transport vehicles include: a first energy storage device; a driving unit that receives power from the aforementioned first energy storage device to drive; a holding unit that holds the aforementioned transport body; a first power receiving unit that receives power from an external power source to charge the aforementioned first energy storage device and supply power to the aforementioned driving unit at least one of the following: and a first power transmission unit that supplies power from the aforementioned first energy storage device to the outside. The aforementioned transport body includes: a second energy storage device; a second power receiving unit that receives power from an external power source to charge the aforementioned first energy storage device and supply power to the aforementioned driving unit. The control unit selectively executes the following: a first control, which, in a holding state where the aforementioned unmanned transport vehicle holds the aforementioned transport body in the aforementioned holding section, receives power from the aforementioned second energy storage device via the aforementioned second power transmission unit and the aforementioned first power receiving unit to charge the aforementioned first energy storage device and supply power to the aforementioned travel unit; and a second control, which, in the aforementioned holding state, receives power from the aforementioned first energy storage device via the aforementioned first power transmission unit and the aforementioned second power receiving unit to charge the aforementioned second energy storage device.

[0009] According to this configuration, both a first control to supply power from the second energy storage device of the transport vehicle to at least one of the first energy storage device and the driving unit, and a second control to supply power from the first energy storage device of the unmanned transport vehicle to the second energy storage device of the transport vehicle can be selectively executed. Therefore, the balance of the charging capacity of each of the first energy storage devices of the multiple unmanned transport vehicles and the second energy storage devices of the multiple transport vehicles in the overall goods transport system can be appropriately adjusted at any time. Thus, for example, during idle periods, actively supplying power from the first energy storage device of the unmanned transport vehicle (which has not been assigned a transport task) to the second energy storage device of the transport vehicle can reduce the number of times the transport vehicle is moved to the charging device, while simultaneously rapidly increasing the charging capacity of the second energy storage device of the transport vehicle. Furthermore, during busy periods, actively supplying power from the second energy storage device of the transport vehicle (which has already increased its charging capacity) to the first energy storage device of the unmanned transport vehicle can reduce the number of times the unmanned transport vehicle is moved to the charging device, while simultaneously transporting more items and transport vehicles. Therefore, the number of charging devices will not be excessive, and the efficiency of unmanned transport vehicles during busy periods can be reduced.

[0010] Further features and advantages of the goods transport system become clear from the following description of the embodiments illustrated with reference to the accompanying drawings. Attached Figure Description

[0011] Figure 1 This is a schematic top view of the material handling equipment applicable to the material handling system.

[0012] Figure 2 It is a control block diagram.

[0013] Figure 3 This is an illustration of the transporting action performed by an unmanned transport vehicle.

[0014] Figure 4 It is an explanatory diagram showing the transport actions of the transported objects by the unmanned transport vehicle in sequence.

[0015] Figure 5 This is a side view of the unmanned transport vehicle and transport body in the non-holding state according to the first embodiment.

[0016] Figure 6 This is a side view of the unmanned transport vehicle and the transport body in the holding state according to the first embodiment.

[0017] Figure 7 This is a perspective view of a portion of the unmanned transport vehicle and transport body involved in the first embodiment.

[0018] Figure 8 This is a side view of the unmanned transport vehicle, transport body, and charging equipment involved in the first embodiment.

[0019] Figure 9 This is a side view of the unmanned transport vehicle and transport body in the non-holding state according to the second embodiment.

[0020] Figure 10 This is a side view of the unmanned transport vehicle and transport body in the holding state according to the second embodiment.

[0021] Figure 11 This is a perspective view of the unmanned transport vehicle and transport body involved in the second embodiment.

[0022] Figure 12 This is a side view of the unmanned transport vehicle, transport body, and charging equipment involved in the second embodiment. Detailed Implementation

[0023] <First Implementation Method>

[0024] Refer to the attached diagram ( Figures 1-8 The first implementation of the goods transport system will be described below.

[0025] Item transport system 1 is for transporting item 2 (see reference) Figure 5 The system is suitable for, for example, the goods handling system 1. Figure 1Examples of such item transport equipment are shown below. Figure 1 As shown in the diagram, the goods transport system 1 is equipped with a device for loading or accommodating goods 2 (see reference). Figure 5 The goods transport system 1 includes multiple transport vehicles 20 and multiple unmanned transport vehicles 10 for transporting the transport vehicles 20. The goods transport system 1 also includes a charging device 60 for charging the unmanned transport vehicles 10 (specifically, the first power storage device 11 described later) and the transport vehicles 20 (specifically, the second power storage device 21 described later). In this embodiment, the item 2 is a container for holding goods (not shown). The item 2 may be, for example, a container or a corrugated cardboard box.

[0026] like Figure 5 As shown, the automated guided vehicle 10 includes a driving unit 14 and a holding unit 15 for holding the transport body 20. The automated guided vehicle 10 is an autonomously moving transport vehicle. In this embodiment, the driving unit 14 has driving wheels that roll on the floor surface 4, and the automated guided vehicle 10 moves autonomously on the floor surface 4. Regarding the automated guided vehicle 10, the driving wheels are rotated by the driving force of a driving source such as an electric motor, thereby causing the driving unit 14 to move. The movement of the automated guided vehicle 10 is achieved by the driving action of the driving unit 14.

[0027] In this embodiment, the holding part 15 holds the transport body 20 by supporting it from below. Specifically, the unmanned transport vehicle 10 (specifically, the holding part 15) includes a mounting part 16 for placing the transport body 20. The mounted part 24 of the transport body 20, described later, is mounted in the mounting part 16. The transport body 20 is held by the holding part 15 while mounted in the mounting part 16. In this embodiment, the holding part 15 is supported by the traveling part 14 and is vertically movable. The unmanned transport vehicle 10 uses the driving force of a driving source such as an electric motor to raise and lower the holding part 15.

[0028] After the unmanned transport vehicle 10 moves downwards from the transport body 20 with the holding part 15 already lowered (see reference...), Figure 5 This causes the holding part 15 to rise and lifts the conveyor body 20 from the floor surface 4 (see reference). Figure 6 The unmanned transport vehicle 10 moves while the transport body 20 is held by the holding part 15 (in other words, while the transport body 20 is placed on the placement part 16), thereby transporting the transport body 20. Furthermore, after the unmanned transport vehicle 10 moves to the position of the transport target D, it lowers the holding part 15 and unloads the transport body 20 onto the floor surface 4 (see reference 16). Figure 5 Accordingly, in this embodiment, the holding action of the conveying body 20 carried out by the holding part 15 is performed by the upward movement of the holding part 15, and the holding release action of the conveying body 20 carried out by the holding part 15 is performed by the downward movement of the holding part 15.

[0029] like Figure 2 and Figure 5 As shown, the unmanned transport vehicle 10 includes a first power storage device 11, a first power receiving unit 12, and a first power transmitting unit 13. In this embodiment, the first power receiving unit 12 and the first power transmitting unit 13 are disposed in the holding unit 15 (specifically, the mounting unit 16) (see reference 15). Figure 5 The first energy storage device 11 is electrically connected to the driving unit 14. Furthermore, "electrical connection" refers to both wired and wireless (in other words, contactless) connections. In this embodiment, the first energy storage device 11 is disposed in the driving unit 14 (see reference 14). Figure 5 The driving unit 14 receives power from the first energy storage device 11 to drive. The driving force source of the driving unit 14 (e.g., an electric motor) generates the driving force of the driving unit 14 using the power supplied from the first energy storage device 11. The driving unit 14 can also receive power from the first power receiving unit 12 to drive. The first energy storage device 11 is a chargeable and dischargeable energy storage device, such as a battery or capacitor. A sensor for detecting the amount of charge is provided in the first energy storage device 11.

[0030] The first power receiving unit 12 receives power from an external power source (outside the unmanned transport vehicle 10) to charge the first energy storage device 11 and supply power to the driving unit 14, at least one of these functions. In this embodiment, it is configured to supply power received by the first power receiving unit 12 directly to the driving unit 14 without going through the first energy storage device 11. The first power receiving unit 12 (specifically, the power receiving circuit included in the first power receiving unit 12) is electrically connected to the first energy storage device 11 and electrically connected to the driving unit 14. The first power receiving unit 12 includes a first power receiving connection 12a (see reference 12a) for receiving power from an external power source. Figure 7 The first power receiving connection 12a supplies power to the target (first power storage device 11 or driving unit 14). In this embodiment, the first power receiving connection 12a is disposed in the holding part 15 (specifically, the mounting part 16). The power receiving operation performed by the first power receiving part 12 (specifically, the operation of the power receiving circuit electrically connected to the first power receiving connection 12a) is controlled by a controller (power receiving controller) provided in the unmanned transport vehicle 10. The power receiving operation performed by the first power receiving part 12 includes the charging operation of the first power storage device 11 using the power received by the first power receiving part 12 and the supply operation of the power received by the first power receiving part 12 to the driving unit 14. These charging and supply operations are sometimes performed in parallel.

[0031] Power can be supplied to the first power receiving unit 12 from an external power source (e.g., the conveyor 20 or the charging device 60) using either a non-contact (wireless) method, such as electromagnetic induction or magnetic field resonance, or a contact (wired) method. When the power supply from the external power source to the first power receiving unit 12 is performed non-contactly, the first power receiving connection part 12a includes a non-contact connection part (e.g., a receiving coil), and power is supplied in a non-contact electrical connection between this non-contact connection part and the non-contact connection part (e.g., a transmission coil) of the external power source. When the power supply from the external power source to the first power receiving unit 12 is performed contactively, the first power receiving connection part 12a includes a contact connection part (e.g., a receiving terminal), and power is supplied in a contact electrical connection between this contact connection part and the contact connection part (e.g., a transmission terminal) of the external power source. It can also be configured such that the first power receiving connection 12a has both a non-contact connection and a contact connection, allowing power to be supplied from an external power source to the first power receiving unit 12 in either a non-contact or contact manner. For example, it can be configured such that power is supplied from the conveyor 20 (specifically, the second energy storage device 21 described later) to the first power receiving unit 12 in a non-contact manner, while power is supplied from the charging device 60 to the first power receiving unit 12 in a contact manner.

[0032] The first power transmission unit 13 supplies power from the first energy storage device 11 to the outside. The first power transmission unit 13 (specifically, the power transmission circuit included in the first power transmission unit 13) is electrically connected to the first energy storage device 11. The first power transmission unit 13 includes a first power transmission connection portion 13a (see reference 13a) for supplying power to the outside. Figure 7 The first power storage device 11 supplies power to the outside through the first power transmission connection 13a. In this embodiment, the first power transmission connection 13a is disposed in the holding part 15 (specifically, the mounting part 16). The power transmission operation performed by the first power transmission part 13 (specifically, the operation of the power transmission circuit electrically connected to the first power transmission connection 13a) is controlled by a controller (power transmission controller) provided in the unmanned transport vehicle 10.

[0033] Power can be supplied from the first power transmission unit 13 to an external power supply object (e.g., the conveyor 20) using either a non-contact or contact method. When power supply from the first power transmission unit 13 to the external power supply object is performed non-contactly, the first power transmission connection unit 13a includes a non-contact connection portion (e.g., a power transmission coil), and power is supplied while the non-contact connection portion and the non-contact connection portion (e.g., a receiving coil) of the external power supply object are electrically connected without contact. When power supply from the first power transmission unit 13 to the external power supply object is performed in a contact manner, the first power transmission connection unit 13a includes a contact connection portion (e.g., a power transmission terminal), and power is supplied while the contact connection portion and the contact connection portion (e.g., a receiving terminal) of the external power supply object are electrically connected by contact. Alternatively, the first power transmission connection unit 13a can have both a non-contact connection portion and a contact connection portion, allowing power supply from the first power transmission unit 13 to the external power supply object to be performed using either a non-contact or contact method.

[0034] In this embodiment, such as Figure 7 As shown, the unmanned transport vehicle 10 includes a first power receiving unit 19 that serves as both a first power receiving unit 12 and a first power transmitting unit 13. The first power receiving unit 19 includes a first power receiving connection 19a that serves as both a first power receiving connection 12a and a first power transmitting connection 13a. The first power receiving connection 19a includes at least one of a non-contact connection (e.g., a power receiving coil) and a contact connection (e.g., a power receiving terminal). The first power receiving unit 19 is capable of operating as either a power receiving circuit or a power transmitting circuit. When operating as a power receiving circuit, the first power receiving unit 19 functions as the first power receiving unit 12; when operating as a power transmitting circuit, the first power receiving unit 19 functions as the first power transmitting unit 13. The power transmission and receiving operations performed by the first power transmission and receiving unit 19 (specifically, the operation of the power transmission and receiving circuit electrically connected to the first power transmission and receiving connection unit 19a) are controlled by a controller (power transmission and receiving controller) installed on the unmanned transport vehicle 10. The power transmission and receiving operations performed by the first power transmission and receiving unit 19 include the power receiving operations performed by the first power receiving unit 12 and the power transmission operations performed by the first power transmission unit 13.

[0035] like Figure 6As shown in the diagram, in this embodiment, the conveyor 20 includes a loading portion 24 that is placed on the loading portion 16 of the unmanned transport vehicle 10. In this embodiment, the conveyor 20 is a receiving rack 30 for holding items 2. The receiving rack 30 includes a receiving portion 31 for holding items 2. The receiving rack 30 includes a shelf plate 32 for holding items 2, and the receiving portion 31 is formed by the shelf plate 32. Here, the receiving rack 30 has shelf plates 32 at multiple positions (specifically, two positions) in the vertical direction V, and multiple receiving portions 31 (specifically, two receiving portions 31) are formed side by side in the vertical direction V. Accordingly, in this embodiment, the conveyor 20 (receiving rack 30) includes multiple levels of receiving portions 31 arranged side by side in the vertical direction V, and items 2 can be held in each of the multiple levels of receiving portions 31.

[0036] like Figure 5 As shown in the diagram, in this embodiment, the receiving rack 30 has a foot 33 extending downward from the loading portion 24, and the receiving rack 30 is placed on the floor surface 4 such that the foot 33 contacts the floor surface 4. The vertical length V of the foot 33 is set such that when the receiving rack 30 is placed on the floor surface 4, a space that the unmanned transport vehicle 10 can enter is formed between the loading portion 24 and the floor surface 4.

[0037] like Figure 2 and Figure 5 As shown, the conveyor 20 includes a second energy storage device 21, a second power receiving section 22, and a second power transmitting section 23. The second energy storage device 21 is an energy storage device capable of being charged and discharged, such as a battery or capacitor. A sensor for detecting the amount of charge is provided in the second energy storage device 21. The second energy storage device 21 is, for example, an energy storage device with a capacity corresponding to that of the first energy storage device 11.

[0038] like Figure 5 As shown in the diagram, in this embodiment, the second receiving section 22 and the second transmitting section 23 are disposed below the lowest-level receiving section 31 in the conveyor body 20. In other words, the second receiving section 22 and the second transmitting section 23 are disposed below the lowest-level receiving section 31 in the conveyor body 20, overlapping with the receiving section 31 when viewed from above (along the vertical direction V). Here, the conveyor body 20 includes an energy storage unit 25, which unitizes the second energy storage device 21, the second receiving section 22, and the second transmitting section 23. Furthermore, the energy storage unit 25 is disposed below the lowest-level receiving section 31 in the conveyor body 20.

[0039] The second power receiving unit 22 receives power from an external power source (outside the conveyor body 20) to charge the second energy storage device 21. The second power receiving unit 22 (specifically, the power receiving circuit included in the second power receiving unit 22) is electrically connected to the second energy storage device 21. The second power receiving unit 22 includes a second power receiving connection portion 22a (see reference 22a) for receiving power from an external power source. Figure 7 The second power receiving connection 22a supplies power to the second energy storage device 21. In this embodiment, the second power receiving connection 22a is disposed on the mounting portion 24. Figure 5 In the example shown, the mounted portion 24 and the energy storage unit 25 are distinguished, but the mounted portion 24 may also be part of the energy storage unit 25. Figure 7 In the example shown, the lower part of the energy storage unit 25 is the mounting part 24. The power receiving operation performed by the second power receiving part 22 (specifically, the operation of the power receiving circuit electrically connected to the second power receiving connection part 22a) is controlled by a controller (power receiving controller) provided on the conveyor body 20.

[0040] Power can be supplied to the second power receiving unit 22 from an external power source (e.g., the automated guided vehicle 10 or the charging device 60) using either a non-contact or contact method. When the power supply from the external power source to the second power receiving unit 22 is performed non-contactly, the second power receiving connection part 22a includes a non-contact connection part (e.g., a receiving coil), and power is supplied while the non-contact connection part and the non-contact connection part (e.g., a transmission coil) of the external power source are electrically connected without contact. When the power supply from the external power source to the second power receiving unit 22 is performed in a contact manner, the second power receiving connection part 22a includes a contact connection part (e.g., a receiving terminal), and power is supplied while the contact connection part and the contact connection part (e.g., a transmission terminal) of the external power source are electrically connected by contact. Alternatively, the second power receiving connection part 22a can have both a non-contact connection part and a contact connection part, allowing power to be supplied to the second power receiving unit 22 from an external power source using either a non-contact or contact method. For example, it can be configured such that power is supplied from the unmanned transport vehicle 10 (specifically, the first power storage device 11) to the second power receiving unit 22 in a non-contact manner, and power is supplied from the charging device 60 to the second power receiving unit 22 in a contact manner.

[0041] The second power transmission unit 23 supplies power from the second energy storage device 21 to the outside. The second power transmission unit 23 (specifically, the power transmission circuit included in the second power transmission unit 23) is electrically connected to the second energy storage device 21. The second power transmission unit 23 includes a second power transmission connection portion 23a (see reference 23a) for supplying power to the outside. Figure 7The second power storage device 21 supplies power to the outside through the second power transmission connection 23a. In this embodiment, the second power transmission connection 23a is disposed on the mounting portion 24. The power transmission operation performed by the second power transmission unit 23 (specifically, the operation of the power transmission circuit electrically connected to the second power transmission connection 23a) is controlled by a controller (power transmission controller) provided on the conveyor body 20.

[0042] Power can be supplied from the second power transmission unit 23 to an external power supply object (e.g., the unmanned transport vehicle 10) using either a non-contact or contact method. When power supply from the second power transmission unit 23 to the external power supply object is performed non-contactly, the second power transmission connection unit 23a includes a non-contact connection portion (e.g., a power transmission coil), and power is supplied while the non-contact connection portion and the non-contact connection portion (e.g., a receiving coil) of the external power supply object are electrically connected without contact. When power supply from the second power transmission unit 23 to the external power supply object is performed in a contact manner, the second power transmission connection unit 23a includes a contact connection portion (e.g., a power transmission terminal), and power is supplied while the contact connection portion and the contact connection portion (e.g., a receiving terminal) of the external power supply object are electrically connected by contact. Alternatively, the second power transmission connection unit 23a can have both a non-contact connection portion and a contact connection portion, allowing power supply from the second power transmission unit 23 to the external power supply object to be performed using either a non-contact or contact method.

[0043] In this embodiment, such as Figure 7 As shown, the conveyor 20 includes a second power receiving section 29 that combines a second power receiving section 22 and a second power transmitting section 23. The second power receiving section 29 includes a second power receiving connection section 29a that combines a second power receiving connection section 22a and a second power transmitting connection section 23a. The second power receiving connection section 29a includes at least one of a non-contact connection section (e.g., a power receiving coil) and a contact connection section (e.g., a power receiving terminal). The second power receiving section 29 is capable of operating as either a power receiving circuit or a power transmitting circuit. When operating as a power receiving circuit, the second power receiving section 29 functions as a second power receiving section 22; when operating as a power transmitting circuit, the second power receiving section 29 functions as a second power transmitting section 23. The power transmission and receiving operations performed by the second power transmission and receiving unit 29 (specifically, the operation of the power transmission and receiving circuit electrically connected to the second power transmission and receiving connection unit 29a) are controlled by a controller (power transmission and receiving controller) provided on the conveyor body 20. The power transmission and receiving operations performed by the second power transmission and receiving unit 29 include the power receiving operations performed by the second power receiving unit 22 and the power transmission operations performed by the second power transmission unit 23.

[0044] In this goods transport system 1, power can be supplied bidirectionally between the unmanned transport vehicle 10 and the transport body 20. As described above, the first power receiving unit 12 has a first power receiving connection 12a, the first power transmitting unit 13 has a first power transmitting connection 13a, the second power receiving unit 22 has a second power receiving connection 22a, and the second power transmitting unit 23 has a second power transmitting connection 23a. Moreover, when power is supplied from the transport body 20 to the unmanned transport vehicle 10, the first power receiving connection 12a and the second power transmitting connection 23a are electrically connected, and when power is supplied from the unmanned transport vehicle 10 to the transport body 20, the first power transmitting connection 13a and the second power receiving connection 22a are electrically connected. Accordingly, the first power receiving connection 12a is electrically connected to the second power transmission unit 23, the first power transmission connection 13a is electrically connected to the second power receiving unit 22, the second power receiving connection 22a is electrically connected to the first power transmission unit 13, and the second power transmission connection 23a is electrically connected to the first power receiving unit 12. Here, "connection" means connection during power transmission between the unmanned transport vehicle 10 and the transport body 20.

[0045] Here, the unmanned transport vehicle 10 holds the transport body 20 in the holding part 15 (see reference). Figure 6 The unmanned transport vehicle 10 is in a holding state. This holding state includes both the state where the unmanned transport vehicle 10 is moving and the state where the unmanned transport vehicle 10 is stopped. In the holding state, the first power receiving connection 12a and the second power transmission connection 23a are electrically connected, and the first power transmission connection 13a and the second power receiving connection 22a are electrically connected. Therefore, in the holding state, power can be transmitted bidirectionally between the unmanned transport vehicle 10 and the transport body 20. In this embodiment, the power transmission between the unmanned transport vehicle 10 and the transport body 20 is performed in a non-contact manner. Therefore, even when the unmanned transport vehicle 10 is not holding the transport body 20 in the holding part 15 (see reference...), the power transmission is still possible. Figure 5 Specifically, when the mounting portion 16 is arranged opposite the mounted portion 24 with a gap between it, the first power receiving connection portion 12a and the second power transmission connection portion 23a can be electrically connected, and the first power transmission connection portion 13a and the second power receiving connection portion 22a can be electrically connected to transmit power bidirectionally between the unmanned transport vehicle 10 and the transport body 20.

[0046] In this embodiment, as in Figure 7As schematically shown, each of the first power transmission and receiving connection portion 19a and the second power transmission and receiving connection portion 29a has a power transmission and receiving coil as a non-contact connection portion. Power transmission between the unmanned transport vehicle 10 and the transport body 20 is performed non-contactly in a state where the power transmission and receiving coils of the first power transmission and receiving connection portion 19a and the second power transmission and receiving connection portion 29a are facing each other (specifically, facing each other along the vertical direction V). Figure 7 In the example shown, each of the first power transmission and receiving connection portion 19a and the second power transmission and receiving connection portion 29a has a plurality (specifically, four) power transmission and receiving coils, and each of the plurality of power transmission and receiving coils of the first power transmission and receiving connection portion 19a is configured to be opposite to a corresponding power transmission and receiving coil of the plurality of power transmission and receiving coils of the second power transmission and receiving connection portion 29a.

[0047] exist Figure 7 In the example shown, an identification information holder 34 for holding identification information of the conveyor 20 is provided in the central portion of the mounting section 24 when viewed from above, and a reading device 17 for reading the identification information held by the identification information holder 34 is provided in the central portion of the mounting section 16 when viewed from above. The identification information holder 34 is a storage medium such as a barcode (one-dimensional code), a QR code (registered trademark), or an RF (Radio Frequency) tag. Furthermore, the power transmission and receiving coil of the first power transmission and receiving connection section 19a is arranged away from the arrangement area of ​​the reading device 17, so that the reading device 17 is not arranged inside the power transmission and receiving coil when viewed from above, and the power transmission and receiving coil of the second power transmission and receiving connection section 29a is arranged away from the arrangement area of ​​the identification information holder 34, so that the identification information holder 34 is not arranged inside the power transmission and receiving coil when viewed from above. Therefore, the effect of the radiated magnetic field from the power transmission and receiving coil on the reading device 17 is minimized.

[0048] Alternatively, when the reading device 17 is not raised or lowered together with the mounting portion 16, but is positioned below the power transmission and receiving coil of the first power transmission and receiving connection portion 19a while the mounting portion 16 is raised, and the influence of the radiated magnetic field from the power transmission and receiving coil on the reading device 17 can be suppressed, the power transmission and receiving coil of the first power transmission and receiving connection portion 19a can be configured such that the reading device 17 is disposed inside the power transmission and receiving coil when viewed from above, and the power transmission and receiving coil of the second power transmission and receiving connection portion 29a can be configured such that the identification information holder 34 is disposed inside the power transmission and receiving coil when viewed from above.

[0049] like Figure 8As shown, the charging device 60 includes a power supply unit 61 that supplies power to the first power receiving unit 12 and the second power receiving unit 22. Power can be supplied from the power supply unit 61 to the first power receiving unit 12 and the second power receiving unit 22 in either a contactless or contact manner. When the power supply from the power supply unit 61 to the first power receiving unit 12 is performed in a contactless manner, the first power receiving connection unit 12a includes a contactless connection portion (e.g., a receiving coil); when the power supply from the power supply unit 61 to the first power receiving unit 12 is performed in a contact manner, the first power receiving connection unit 12a includes a contact connection portion (e.g., a receiving terminal). Similarly, when the power supply from the power supply unit 61 to the second power receiving unit 22 is performed in a contactless manner, the second power receiving connection unit 22a includes a contactless connection portion (e.g., a receiving coil); when the power supply from the power supply unit 61 to the second power receiving unit 22 is performed in a contact manner, the second power receiving connection unit 22a includes a contact connection portion (e.g., a receiving terminal).

[0050] In this embodiment, the charging device 60 is configured to simultaneously charge both the first energy storage device 11 of the unmanned transport vehicle 10 and the second energy storage device 21 of the transport body 20. Specifically, as... Figure 8 As shown, in the charging device 60, the power supply unit 61 is configured to be positioned between the mounting portion 16 and the mounted portion 24 in the vertical direction V. The power supply unit 61 is positioned between the mounting portion 16 and the mounted portion 24 in the vertical direction V, supported by the support portion 62 provided in the charging device 60. Furthermore, in this configuration, the power supply unit 61 is electrically connected to both the first power receiving connection portion 12a and the second power receiving connection portion 22a, enabling simultaneous power supply to both the first power receiving portion 12a and the second power receiving portion 22a.

[0051] exist Figure 8 In this scenario, we envision a situation where power is supplied from the power supply unit 61 to each of the first power receiving unit 12 and the second power receiving unit 22 in a contactless manner. Therefore, detailed information is omitted, but... Figure 8 In the example shown, the power supply unit 61 includes a transmission coil configured to face the receiving coil (in this embodiment, the transmission receiving coil) of each of the first power receiving connection unit 12a and the second power receiving connection unit 22a. The power supply unit 61 may also include a transmission coil configured to face the receiving coil (in this embodiment, the transmission receiving coil) of the first power receiving connection unit 12a and a transmission coil configured to face the receiving coil (in this embodiment, the transmission receiving coil) of the second power receiving connection unit 22a.

[0052] like Figure 2As shown, the goods handling system 1 includes a control unit 50 that controls the unmanned transport vehicle 10 and the transport body 20. The control unit 50 is connected to each of the unmanned transport vehicle 10 and the transport body 20 in a manner capable of communication. The control unit 50 includes a processing unit such as a CPU and peripheral circuitry such as a memory; the functions of the control unit 50 are realized through the cooperation of this hardware and a program executing on the processing unit or similar hardware. Figure 2 This specification illustrates a case where the control unit 50 is separately installed from the automated guided vehicle 10 and the transport vehicle 20. However, at least a portion of the control unit 50 (e.g., a portion of the control unit 50 that has at least the function of controlling the automated guided vehicle 10) can also be installed on the automated guided vehicle 10. Similarly, at least a portion of the control unit 50 (e.g., a portion of the control unit 50 that has at least the function of controlling the transport vehicle 20) can also be installed on the transport vehicle 20. Furthermore, the technical features of the control unit 50 disclosed in this specification can also be applied to the control methods of the automated guided vehicle 10 and the transport vehicle 20 in the goods transport system 1. This specification also discloses control methods for the automated guided vehicle 10 and the transport vehicle 20.

[0053] The automated guided vehicle 10, under the control of the control unit 50, performs the following actions: driving of the driving unit 14; holding and releasing of the transport body 20 by the holding unit 15 (in this embodiment, lifting and lowering of the holding unit 15); receiving power by the first power receiving unit 12; and transmitting power by the first power transmitting unit 13. A controller (machine controller) provided on the automated guided vehicle 10 controls each of these actions in accordance with commands from the control unit 50. Furthermore, the transport body 20, under the control of the control unit 50, performs receiving power by the second power receiving unit 22 and transmitting power by the second power transmitting unit 23. A controller provided on the transport body 20 controls each of these actions in accordance with commands from the control unit 50.

[0054] The control unit 50 manages information on the current position of each of the multiple unmanned transport vehicles 10 and the charge level of the first power storage device 11. Additionally, the control unit 50 manages information on the current position of each of the multiple transport bodies 20, information on the items 2 placed or contained within the transport body 20 (e.g., information on the type and quantity of goods contained within the items 2), and information on the charge level of the second power storage device 21. The charge level of the first power storage device 11 or the second power storage device 21 is expressed, for example, as a percentage relative to the charge level in a fully charged state. Furthermore, the control unit 50 controls the movement of the unmanned transport vehicles 10 (specifically, the movement of the driving unit 14 and the holding and releasing actions of the transport body 20 performed by the holding unit 15) in accordance with the transport task, so that the transport body 20, as the transport target, is transported to the transport destination D. Here, a transport task is an instruction assigned to each of the multiple unmanned transport vehicles 10, specifically designating the transport vehicle 20 as the transport object and the transport target D of the transport vehicle 20. The transport task is generated by the control unit 50 or by other control units (e.g., a superior control unit of the control unit 50) that can communicate with the control unit 50.

[0055] In this embodiment, a picking operation is performed in the item transport equipment of the applicable item transport system 1. Therefore, in the transport task, the transport body 20 containing the item 2 that becomes the object of the picking operation is specifically designated as the transport body 20 for transport, and the operation area A2 (refer to) for the picking operation is used. Figure 1 The item 20 is specifically designated as the transport target D of the transporter 20. Therefore, the transporter 20, containing the item 2 that will be the object of the picking operation, is transported to the operation area A2, where a picking operation is performed to retrieve the type and quantity of goods specified in the order from the item 2. The order is generated by the control unit 50 or other control units, for example, based on an order from the shipping target. Figure 1 The example illustrates the case where the picking operation is performed by operator P, but the picking operation can also be performed by a robot or other means instead of operator P.

[0056] exist Figure 1 In the example shown, in addition to the operation area A2, a storage area A1 and a charging area A3 are provided. The transport body 20, which does not need to be moved to the operation area A2, is basically located in the storage area A1. A charging device 60 is provided in the charging area A3. By transporting the transport body 20 to the charging area A3, the second energy storage device 21 of the transport body 20 can be charged at the charging device 60. By moving the unmanned transport vehicle 10 to the charging area A3, the first energy storage device 11 of the unmanned transport vehicle 10 can be charged at the charging device 60. Figure 1In the example shown, a charging device 60 is also provided in the operation area A2, which can charge the second energy storage device 21 of the conveyor 20 containing the item 2 that is the object of the picking operation during the picking operation.

[0057] In this goods transport system 1, power can be transmitted bidirectionally between the unmanned transport vehicle 10 and the transport body 20, at least in a held state. Furthermore, the control unit 50 is configured to selectively execute a first control and a second control. Here, the first control is the control of receiving power from the second energy storage device 21 via the second power transmission unit 23 and the first power receiving unit 12 in the held state to charge the first energy storage device 11 and supply power to the driving unit 14, at least one of the following:

[0058] The second control is the control of charging the second energy storage device 21 by receiving power supply from the first energy storage device 11 via the first power transmission unit 13 and the second power receiving unit 22 while in a holding state. In the second control, the control unit 50 controls the power transmission operation performed by the first power transmission unit 13 and the power receiving operation performed by the second power receiving unit 22, so as to receive power supply from the first energy storage device 11 to charge the second energy storage device 21. For example, the control unit 50 can be configured such that, when performing the second control, power is supplied from the first power transmission unit 13 to the second power receiving unit 22 from the first power transmission unit 13, corresponding to the transport task assigned to the unmanned transport vehicle 10, within the range of power required for the execution of the transport task stored in the first energy storage device 11.

[0059] The specific control content performed by the control unit 50 of this embodiment will be described below, but the control unit 50 may also be configured not to perform at least any of the controls described below.

[0060] In this embodiment, the control unit 50 performs a busy / idle period determination process based at least on the number of transport tasks to determine whether it is a busy or idle period. Here, "transport task" can be a transport task that has been assigned to any one of the automated guided vehicles 10, or it can be determined that the transport task assigned to any one of the automated guided vehicles 10 is assigned to it. For example, it can be configured such that the proportion of automated guided vehicles 10 with transport tasks assigned to them is used as the task allocation rate, and the control unit 50 determines that it is an idle period when the task allocation rate is lower than a predetermined busy / idle period determination threshold, and determines that it is a busy period when the task allocation rate is higher than or equal to the busy / idle period determination threshold.

[0061] Furthermore, when the control unit 50 determines that a period is idle based on the busy / idle period determination process, it executes the second control more frequently than the first control. As a result, during idle periods, the unmanned transport vehicle 10, which is not assigned any transport tasks, can actively supply power from its first power storage device 11 to the second power storage device 21 of the transport vehicle 20. Consequently, the number of times the transport vehicle 20 is transported to the charging device 60 is reduced, while simultaneously increasing the charging capacity of the second power storage device 21 of the transport vehicle 20. Additionally, when the control unit 50 determines that a period is busy based on the busy / idle period determination process, it executes the first control more frequently than the second control. Therefore, during peak periods, the increased charge capacity of the conveyor 20 allows for active power supply from the second energy storage device 21 of the conveyor 20 to the first energy storage device 11 of the unmanned transport vehicle 10. As a result, the number of times the unmanned transport vehicle 10 needs to be moved to the charging device 60 can be reduced, allowing for the simultaneous transport of more items 2 and the conveyor 20. Therefore, the item transport system 1 of this embodiment is particularly suitable for situations where the number of conveyor 20 is greater than the number of unmanned transport vehicles 10.

[0062] Here, the transporter 20, which is the object to be transported according to the transport task, is designated as the object transporter, and the unmanned transport vehicle 10 that transports the object transporter is designated as the object transport vehicle. In this embodiment, when the charging amount of the second energy storage device 21 provided by the object transporter is below a predetermined first charging threshold (here, the charging amount is below the first charging threshold and is greater than the second charging threshold described below), and the transport target D of the object transporter using the object transport vehicle is not the charging device 60, the control unit 50 performs a second control to charge the second energy storage device 21 of the object transporter using the power of the first energy storage device 11 of the object transport vehicle. In addition, in this embodiment, when there is a transport body 20 whose charging amount of the second energy storage device 21 is below a second charging threshold set to be smaller than the first charging threshold, i.e. a transport body that needs to be charged, the control unit 50 performs control to assign the transport task of the transport body that needs to be charged as the transport object and the charging device 60 as the transport target D to any one of the multiple unmanned transport vehicles 10, and the charging device 60 charges the second energy storage device 21 of the transport body that needs to be charged.

[0063] Figure 3 The following situation is illustrated: a transport task is assigned to a first unmanned transport vehicle 10A, with the first transport body 20A having a charge level of the second energy storage device 21 below a first charging threshold, and the storage area A1 being the transport target D. Furthermore, a second transport body 20B exists as a transport body requiring charging. Figure 3 In the image, within the frame showing the conveyor 20, the energy storage capacity of the second energy storage device 21 provided by the conveyor 20 is schematically shown. Figure 3 In the situation shown, the first unmanned transport vehicle 10A is controlled to transport the first transport body 20A to the storage area A1, and the first unmanned transport vehicle 10A and the first transport body 20A are controlled to perform the second control. Additionally, a transport task is assigned to the second unmanned transport vehicle 10B, with the second transport body 20B as the transport object and the charging device 60 as the transport target D. The second unmanned transport vehicle 10B is controlled to transport the second transport body 20B to the charging device 60.

[0064] Furthermore, in this embodiment, when the charge level of the second energy storage device 21 of the object transport body is below a predetermined third charging threshold (here, the charge level is below the third charging threshold but greater than the second charging threshold) and the charge level of the first energy storage device 11 of the object transport vehicle is below a predetermined fourth charging threshold, the control unit 50 performs a second control to charge the second energy storage device 21 of the object transport body using the power of the first energy storage device 11 of the unmanned transport vehicle 10 (hereinafter referred to as "specific transport vehicle") before starting to transport the object transport body by the object transport vehicle. For example, the unmanned transport vehicle 10 that sets the charge level of the first energy storage device 11 to a fifth charging threshold greater than the fourth charging threshold can be selected as the specific transport vehicle. In addition, it is suitable to select an unmanned transport vehicle 10 that is closer to the object transport body than the object transport vehicle (in other words, an unmanned transport vehicle 10 whose distance to the object transport body is shorter than the distance from the object transport vehicle to the object transport body). Furthermore, it is suitable that the second control for charging the second energy storage device 21 of the object being transported using the power of the first energy storage device 11 of the specific transport vehicle begins before the object transport vehicle arrives at the location where the object being transported exists. Additionally, in this embodiment, even when the unmanned transport vehicle 10 is not holding the transported body 20 in the holding section 15, power can be transferred between the unmanned transport vehicle 10 and the transported body 20. Therefore, charging the second energy storage device 21 of the object being transported using the power of the first energy storage device 11 of the specific transport vehicle can also be performed when the specific transport vehicle is not holding the object being transported in the holding section 15.

[0065] The control unit 50 terminates the second control, for example, when the charge level of the second energy storage device 21 of the object transporter reaches a sixth charging threshold, which is set to be greater than the third charging threshold. Alternatively, the control unit 50 terminates the second control, for example, when the charge level of the second energy storage device 21 of the object transporter is greater than the third charging threshold and the object transport vehicle arrives at the location where the object transporter is located. After terminating the second control, the control unit 50 performs the following first control: starting to transport the object transporter towards the transport target D, and charging the first energy storage device 11 of the object transport vehicle using the power of the second energy storage device 21 of the object transporter, and supplying that power to the driving unit 14. The third charging threshold may be the same as the first charging threshold or a different value.

[0066] On the other hand, if the charging amount of the second energy storage device 21 of the object transport body is below the third charging threshold and the charging amount of the first energy storage device 11 of the object transport vehicle is greater than the fourth charging threshold, the control unit 50 does not execute the second control to charge the second energy storage device 21 of the object transport body using the power of the first energy storage device 11 of the unmanned transport vehicle 10 other than the object transport vehicle. Instead, it executes the second control to start transporting the object transport body to the transport target D and charge the second energy storage device 21 of the object transport body using the power of the first energy storage device 11 of the object transport vehicle.

[0067] Figure 4 (a) The following situation is shown: the charge level of the second energy storage device 21 of the transport body 20, which is the object transport body, is below the third charging threshold, and the charge level of the first energy storage device 11 of the first unmanned transport vehicle 10A, which is the object transport vehicle, is below the fourth charging threshold. Figure 4 In the diagram, within the frame showing the unmanned transport vehicle 10, the energy storage capacity of the first energy storage device 11 of the unmanned transport vehicle 10 is schematically shown, and within the frame showing the transport body 20, the energy storage capacity of the second energy storage device 21 of the transport body 20 is schematically shown. Figure 4 In the situation shown, after the second unmanned transport vehicle 10B, which is an unmanned transport vehicle 10 other than the first unmanned transport vehicle 10A, is controlled to move to the location where the transport vehicle 20 exists, the second unmanned transport vehicle 10B and the transport vehicle 20 are controlled in order to perform the second control (see reference). Figure 4 (a)). If the second control ends, the second unmanned transport vehicle 10B is controlled to leave the location where the transport body 20 is located (see reference). Figure 4 (b)). Subsequently, the first unmanned transport vehicle 10A is controlled to transport the transport body 20 to the transport target D, and the first unmanned transport vehicle 10A and the transport body 20 are controlled to perform the first control (see reference). Figure 4 (c)).

[0068] <Second Implementation Method>

[0069] Refer to the attached diagram ( Figures 9-12 The second embodiment of the goods transport system will be described below. Hereinafter, the goods transport system of this embodiment will be described focusing on the differences from the first embodiment. Points not specifically marked will be assigned the same symbols as in the first embodiment, and detailed descriptions will be omitted.

[0070] like Figure 9 and Figure 11As shown in the diagram, in this embodiment, the conveying body 20 is a tray 40 formed in the shape of a rectangular plate with a predetermined thickness. Furthermore, the rectangle includes both oblong and square shapes. The tray 40 is the conveying body 20 for carrying articles 2 and has a mounting surface 41 for carrying articles 2. The mounting surface 41 is formed on the upper surface of the tray 40. Figure 11 As shown, with the thickness direction T being the direction orthogonal to the mounting surface 41, the conveying body 20 (pallet 40) has a pair of insertion holes 43 for fork insertion. Viewed along the thickness direction T, these insertion holes 43 are formed on at least one of the four side surfaces 42 that form the outer edge. When the pallet 40 is supported by a forklift, the forks of the forklift are inserted into the interior of the pallet 40 through the insertion holes 43. The pair of insertion holes 43 are formed on opposite sides of the side surfaces 42, sandwiched at a central portion (a central portion along the direction of the side surface 42, orthogonal to the thickness direction T). Regarding the pallet 40, the thickness direction T is oriented along the vertical direction V and is held by the holding portion 15. Therefore, with the pallet 40 held by the holding portion 15, the thickness direction view is synonymous with the top view.

[0071] like Figure 11 As shown, the side 42 with a pair of insertion holes 43 is designated as the target side. Inside the tray 40, a pair of holes extending in a direction orthogonal to the target side are formed. Insertion holes 43 are formed in the opening portion of each of the pair of holes on the side 42. Since the pair of holes are formed to penetrate the tray 40, a pair of insertion holes 43 are formed on each of the pair of side 42 facing opposite sides. Furthermore, in this embodiment, inside the tray 40, the two sets of pairs of holes are formed in a direction orthogonal to each other. Therefore, in this embodiment, a pair of insertion holes 43 are formed on all four side 42s.

[0072] like Figure 11As shown, the aforementioned hole forming the insertion hole 43 is not formed in the central portion of the conveyor body 20 when viewed in the plate thickness direction. Furthermore, in this embodiment, the second receiving part 22 and the second transmitting part 23 are positioned in the central portion of the conveyor body 20 when viewed in the plate thickness direction. Correspondingly, in this embodiment, the first receiving part 12 and the first transmitting part 13 are positioned in the central portion of the holding part 15 (the mounting part 16) when viewed from above. Additionally, the second energy storage device 21 is positioned further outward than the second receiving part 22 and the second transmitting part 23 when viewed in the plate thickness direction, and at a position that does not interfere with the pair of insertion holes 43 (and thus, the pair of holes forming the pair of insertion holes 43). Furthermore, in this embodiment, similar to the first embodiment described above, the conveying body 20 (tray 40) includes a second power receiving section 29 that combines the second power receiving section 22 and the second power transmitting section 23, and the second power receiving section 29 includes a second power receiving connection section 29a that combines the second power receiving connection section 22a and the second power transmitting connection section 23a.

[0073] like Figure 9 As shown in the diagram, in this embodiment, the transport body 20 is placed on a support 3 that extends upward from the floor surface 4. Furthermore, after the unmanned transport vehicle 10 moves downward below the transport body 20 with the holding part 15 lowered (see reference...), Figure 9 This causes the holding part 15 to rise and lifts the conveyor body 20 from the support body 3 (see reference). Figure 10 The holding part 15 holds the transport body 20. Furthermore, after the unmanned transport vehicle 10 moves to the position of the transport target D, it lowers the holding part 15 and places the transport body 20 onto the support 3 (the support 3 provided on the transport target D), thereby unloading the transport body 20 to that position (see reference). Figure 9 Furthermore, since the support surface of the conveyor 20 in the support body 3 can be raised and lowered, the holding and releasing actions of the conveyor 20 performed by the holding part 15 can also be performed by the raising and lowering of the support surface. In this case, it can also be configured such that the holding part 15 is not supported by the traveling part 14 in a way that allows it to be raised and lowered, but rather the height of the holding part 15 is fixed.

[0074] In this embodiment, similar to the first embodiment described above, the charging device 60 is configured to simultaneously charge both the first energy storage device 11 of the unmanned transport vehicle 10 and the second energy storage device 21 of the transport body 20. Furthermore, in this embodiment, as... Figure 12As shown, the charging device 60 is configured to charge the second energy storage device 21 of each of the multiple transport bodies 20 in an overlapping arrangement. Each of the transport bodies 20 disposed between the lowest and highest level transport body 20 can supply power from the power supply unit 61 of the charging device 60 to each of the overlapping transport bodies 20 by supplying at least a portion of the power supplied from the lower level transport body 20 to the upper level transport body 20. Furthermore, power transfer between the overlapping transport bodies 20 can be performed in either a contactless or contact manner.

[0075] <Other Implementation Methods>

[0076] Next, other implementations of the goods transport system will be described.

[0077] (1) In the above embodiments, the configuration in which the power transmission between the unmanned transport vehicle 10 and the transport body 20 is performed in a non-contact manner has been described as an example. However, this disclosure is not limited to such a configuration, and it is also possible to configure the power transmission between the unmanned transport vehicle 10 and the transport body 20 to be performed in a contact manner.

[0078] (2) In the above embodiments, the configuration in which the power supply from the power supply unit 61 to each of the first power receiving unit 12 and the second power receiving unit 22 is performed in a non-contact manner has been described as an example. However, this disclosure is not limited to such a configuration, and it is also possible to configure one or both of the power supply from the power supply unit 61 to the first power receiving unit 12 and the power supply from the power supply unit 61 to the second power receiving unit 22 to be performed in a contact manner.

[0079] (3) In the above embodiments, the charging device 60 is described as an example in which it can charge both the first energy storage device 11 of the unmanned transport vehicle 10 and the second energy storage device 21 of the transport body 20 at the same time. However, this disclosure is not limited to such a configuration, and it is also possible to configure it as having a charging device 60 for charging the first energy storage device 11 and a charging device 60 for charging the second energy storage device 21 respectively.

[0080] (4) In the above embodiments, the following configuration is described as an example: the unmanned transport vehicle 10 has a first power receiving unit 19 that combines a first power receiving unit 12 and a first power transmitting unit 13, and the transport body 20 has a second power receiving unit 29 that combines a second power receiving unit 22 and a second power transmitting unit 23. However, this disclosure is not limited to this configuration, and it can also be configured as follows: the unmanned transport vehicle 10 has a first power receiving unit 12 and a first power transmitting unit 13, and the transport body 20 has a second power receiving unit 22 and a second power transmitting unit 23. In this case, a first power receiving connection 12a and a first power transmitting connection 13a are provided, and a second power receiving connection 22a and a second power transmitting connection 23a are provided.

[0081] (5) In the first embodiment described above, the configuration of the receiving rack 30 having multiple levels of receiving portions 31 arranged side by side in the vertical direction V was described as an example. However, this disclosure is not limited to this configuration, and the receiving rack 30 can also be configured to have only one level of receiving portion 31. Furthermore, in the first embodiment described above, the configuration of the receiving rack 30 being placed directly on the floor surface 4 was described as an example. However, this disclosure is not limited to this configuration, and the receiving rack 30 can also be configured to be placed on a support body (e.g., with) that extends upward from the floor surface 4. Figure 9 The structure of the support 3 shown in the figure is the same as that of the support.

[0082] (6) In the second embodiment described above, the example was given with a pair of insertion holes 43 formed in all four sides 42 of the tray 40. However, this disclosure is not limited to such a configuration. For example, it is also possible to have a configuration in which a pair of insertion holes 43 are formed only in two sides 42 of the four sides 42 of the tray 40 facing opposite sides.

[0083] (7) In the first embodiment described above, the conveyor 20 was described as being configured as a receiving rack 30, and in the second embodiment described above, the conveyor 20 was described as being configured as a tray 40. However, this disclosure is not limited to such configurations, and the conveyor 20 can also be used as an item other than the receiving rack 30 and the tray 40 (e.g., a container). Furthermore, the arrangement positions of the second energy storage device 21, the second power receiving part 22 (specifically, the second power receiving connection part 22a), and the second power transmission part 23 (specifically, the second power transmission connection part 23a) in the conveyor 20 are not limited to the positions described in the above embodiments, and can be appropriately modified to suit the configuration of the conveyor 20.

[0084] (8) In the above embodiments, the configuration in which the holding part 15 holds the conveyor 20 by supporting it from below (specifically, the holding part 15 has a mounting part 16 for placing the conveyor 20 and the conveyor 20 has a mounted part 24 placed on the mounting part 16) has been described as an example. However, this disclosure is not limited to this configuration, and the holding configuration of the conveyor 20 using the holding part 15 can be appropriately modified. In addition, in the above embodiments, the configuration in which the unmanned transport vehicle 10 autonomously travels on the floor surface 4 has been described as an example, but the configuration of the unmanned transport vehicle 10 can also be appropriately modified. Furthermore, the arrangement positions of the first energy storage device 11, the first power receiving part 12 (specifically, the first power receiving connection part 12a) and the first power transmission part 13 (specifically, the first power transmission connection part 13a) in the unmanned transport vehicle 10 are not limited to the positions described in the above embodiments, and can be appropriately changed to suit the configuration of the unmanned transport vehicle 10.

[0085] (9) Furthermore, as long as there is no contradiction, the configurations disclosed in the above embodiments can be combined with the configurations disclosed in other embodiments (including combinations of embodiments described as other embodiments). Regarding other configurations, the embodiments disclosed in this specification are merely illustrative at all points. Therefore, various changes can be made appropriately without departing from the spirit of this disclosure.

[0086] <Summary of the above embodiments>

[0087] The following is a summary of the goods transport system described above.

[0088] This is an item transport system comprising multiple transport bodies that carry or contain items, multiple unmanned transport vehicles that transport the transport bodies, and a control unit that controls the transport bodies and the unmanned transport vehicles. The unmanned transport vehicles include: a first energy storage device; a driving unit that receives power from the first energy storage device to travel; a holding unit that holds the transport bodies; a first power receiving unit that receives power from an external power source to charge the first energy storage device and supply power to the driving unit at least once; and a first power transmission unit that supplies power from the first energy storage device to the outside. The transport bodies include: a second energy storage device; and a second power receiving unit that receives power from an external power source. The control unit selectively executes the following: a first control, which, in a holding state where the aforementioned unmanned transport vehicle holds the aforementioned transport body in the aforementioned holding section, receives power from the aforementioned second energy storage device via the aforementioned second energy transmission unit and the aforementioned first power receiving unit to perform at least one of charging the aforementioned first energy storage device and supplying power to the aforementioned travel unit; and a second control, which, in the aforementioned holding state, receives power from the aforementioned first energy storage device via the aforementioned first energy transmission unit and the aforementioned second power receiving unit to perform charging of the aforementioned second energy storage device.

[0089] According to this configuration, both a first control to supply power from the second energy storage device of the transport vehicle to at least one of the first energy storage device and the driving unit, and a second control to supply power from the first energy storage device of the unmanned transport vehicle to the second energy storage device of the transport vehicle can be selectively executed. Therefore, the balance of the charging capacity of each of the first energy storage devices of the multiple unmanned transport vehicles and the second energy storage devices of the multiple transport vehicles in the overall goods transport system can be appropriately adjusted at any time. Thus, for example, during idle periods, actively supplying power from the first energy storage device of the unmanned transport vehicle (which has not been assigned a transport task) to the second energy storage device of the transport vehicle can reduce the number of times the transport vehicle is moved to the charging device, while simultaneously rapidly increasing the charging capacity of the second energy storage device of the transport vehicle. Furthermore, during busy periods, actively supplying power from the second energy storage device of the transport vehicle (which has already increased its charging capacity) to the first energy storage device of the unmanned transport vehicle can reduce the number of times the unmanned transport vehicle is moved to the charging device, while simultaneously transporting more items and transport vehicles. Therefore, the number of charging devices will not be excessive, and the efficiency of unmanned transport vehicles during busy periods can be reduced.

[0090] Here, it is appropriate to take the instruction that is assigned to each of the aforementioned unmanned transport vehicles and specifically designates the transport vehicle and the transport target of the transport vehicle as a transport task. When the aforementioned control unit performs the aforementioned second control, it supplies the power of the aforementioned first power storage device from the aforementioned first power transmission unit to the aforementioned second power receiving unit in accordance with the aforementioned transport task that has been assigned to the aforementioned unmanned transport vehicle and within the range of the power required for the execution of the transport task that is reserved in the aforementioned first power storage device.

[0091] According to this configuration, even when power is supplied from the first energy storage device of the unmanned transport vehicle to the second energy storage device of the transport body, it is possible to avoid a situation where the unmanned transport vehicle is unable to complete the assigned transport task.

[0092] Additionally, it is appropriate to assign each of the aforementioned unmanned transport vehicles a transport vehicle and a transport target specifically designated as the transport object, as a transport task. The aforementioned control unit performs a busy / idle determination process based at least on the number of the aforementioned transport tasks to determine whether it is a busy period or an idle period. If the busy / idle determination process determines that it is an idle period, the proportion of executing the aforementioned second control is higher than the proportion of executing the aforementioned first control. If the busy / idle determination process determines that it is a busy period, the proportion of executing the aforementioned first control is higher than the proportion of executing the aforementioned second control.

[0093] According to this configuration, during off-peak periods, unassigned automated guided vehicles (AGVs) can be used to actively supply power from their first energy storage device to the second energy storage device of the transport vehicle. This reduces the number of times the transport vehicle is moved to the charging equipment while simultaneously increasing the charging capacity of the second energy storage device on the transport vehicle. Furthermore, during peak periods, transport vehicles with increased charging capacity can be used to actively supply power from their second energy storage device to the first energy storage device of the AGV. This reduces the number of times the AGV is moved to the charging equipment while simultaneously transporting more items and transport vehicles. Therefore, the number of charging devices is not excessive, and the reduction in the utilization efficiency of the AGV during peak periods is also prevented.

[0094] Additionally, it is suitable to also include a charging device for charging the aforementioned first energy storage device of the aforementioned unmanned transport vehicle and the aforementioned second energy storage device of the aforementioned transport body. The instructions assigned to each of the aforementioned unmanned transport vehicles, specifically designating the aforementioned transport body as the transport object and the transport target of that transport body, are designated as transport tasks. The aforementioned transport body, as the transport object according to the aforementioned transport task, is designated as the target transport body. The aforementioned unmanned transport vehicle transporting the aforementioned target transport body is designated as the target transport vehicle. The aforementioned control unit utilizes the aforementioned target transport vehicle when the charging amount of the aforementioned second energy storage device of the aforementioned target transport body is below a predetermined first charging threshold. If the target of the transport body is not the aforementioned charging device, the aforementioned second control is executed to charge the aforementioned second charging device of the aforementioned target transport body with the power of the aforementioned first charging device of the aforementioned target transport vehicle. If there is a transport body that needs charging, i.e. a transport body that requires charging, where the charging amount of the aforementioned second charging device is below a second charging threshold set to a value smaller than the aforementioned first charging threshold, the aforementioned transport task that takes the transport body that needs charging as the transport object and the aforementioned charging device as the transport target is assigned to any one of the aforementioned unmanned transport vehicles and the aforementioned charging device charges the aforementioned second charging device of the transport body that needs charging.

[0095] According to this configuration, when the charge level of the second energy storage device of the object being transported is relatively low, and when the target of the object being transported is not a charging device, during the transport of the object being transported by the object transport vehicle, a second control is executed to charge the second energy storage device of the object being transported using the power from the first energy storage device of the object transport vehicle, thereby increasing the charge level of the second energy storage device. Furthermore, when there is a transported object whose charge level of the second energy storage device further decreases and needs to be charged, any unmanned transport vehicle transports the transported object to the charging device, charging the second energy storage device of the transported object. Thus, the number of times the transported object is transported to the charging device can be reduced, while simultaneously and appropriately charging the second energy storage device of the transported object as needed.

[0096] Additionally, it is appropriate to use the instruction that is assigned to each of the aforementioned unmanned transport vehicles and specifically designates the transport body and the transport target of the transport body as a transport task, the aforementioned transport body that is the transport object according to the aforementioned transport task as the object transport body, the aforementioned unmanned transport vehicle that transports the aforementioned object transport body as the object transport vehicle, and the aforementioned control unit, when the charging amount of the aforementioned second energy storage device of the aforementioned object transport body is below a predetermined third charging threshold and the charging amount of the aforementioned first energy storage device of the aforementioned object transport vehicle is below a predetermined fourth charging threshold, execute the aforementioned second control to charge the aforementioned second energy storage device of the aforementioned object transport body with the power of the aforementioned first energy storage device of the aforementioned unmanned transport vehicle other than the aforementioned object transport vehicle before starting to transport the aforementioned object transport body by the aforementioned object transport vehicle.

[0097] According to this configuration, when the charge level of the second battery device of the object being transported in the transport task is low, and the charge level of the first battery device of the object transport vehicle involved in the transport task is also low, the second battery device of the object being transported can be pre-charged using the power of the first battery device of another unmanned transport vehicle before the start of the transport task. Therefore, even when the charge level of the first battery device of the object transport vehicle is low, the object transport vehicle will not be directed toward the charging device, and the transport task can be started quickly. During the transport, the first battery device of the object transport vehicle can be charged using the power of the second battery device of the object being transported. Thus, the transport task can be completed quickly.

[0098] Additionally, it is suitable that the aforementioned conveying body has multiple levels of receiving sections arranged side by side in the vertical direction, which can accommodate the aforementioned articles in each of the multiple levels of the aforementioned receiving sections, and the aforementioned second power receiving section and the aforementioned second power transmitting section are arranged below the lowest level of the aforementioned receiving section in the aforementioned conveying body.

[0099] According to this configuration, the conveyor body can be formed in the form of a frame with multiple levels of receiving sections arranged side by side in the vertical direction. When the conveyor body is supported from below and transported by an unmanned transport vehicle, it is easy to properly receive and supply power between the first power receiving section and the first power transmitting section of the unmanned transport vehicle and the second power receiving section and the second power transmitting section of the conveyor body.

[0100] Alternatively, the aforementioned conveying body is a tray formed of a rectangular plate with a specified thickness, with the direction orthogonal to the mounting surface on which the aforementioned article is placed as the plate thickness direction. It has a pair of insertion holes for fork insertion formed on at least one of the four sides that are the outer edge when viewed along the plate thickness direction. The aforementioned second receiving part and the aforementioned second transmitting part are disposed in the central part of the aforementioned conveying body when viewed along the plate thickness direction. The aforementioned second energy storage device is disposed in a position that is further outward than the aforementioned second receiving part and the aforementioned second transmitting part when viewed along the plate thickness direction, and does not interfere with the pair of aforementioned insertion holes.

[0101] According to this configuration, the conveyor body can be a pallet, and in the case where the conveyor body is supported from below and moved by an automated guided vehicle (AGV), it is easy and appropriate to receive and supply power between the first power receiving unit and the first power transmitting unit of the AGV and the second power receiving unit and the second power transmitting unit of the conveyor body. Furthermore, in such a configuration, the second energy storage device is appropriately positioned without impairing the function of the conveyor body, which is therefore suitable.

[0102] Additionally, it is suitable to also include a charging device for charging the aforementioned first energy storage device of the aforementioned unmanned transport vehicle and the aforementioned second energy storage device of the aforementioned transport body. The aforementioned unmanned transport vehicle includes a mounting part for carrying the aforementioned transport body. The aforementioned first power receiving part has a first power receiving connection part electrically connected to the aforementioned second power transmitting part. The aforementioned first power transmitting part has a first power transmitting connection part electrically connected to the aforementioned second power receiving part. The aforementioned second power receiving part has a second power receiving connection part electrically connected to the aforementioned first power receiving part. The aforementioned first power receiving connection part and the aforementioned second power receiving part... A power transmission connection is disposed in the aforementioned mounting section, and the aforementioned second power receiving connection and the aforementioned second power transmission connection are disposed in the mounted section of the aforementioned conveying body. The aforementioned charging device includes a power supply section that supplies power to the aforementioned first power receiving section and the aforementioned second power receiving section. The aforementioned power supply section is configured to be disposed between the aforementioned mounting section and the aforementioned mounted section in the vertical direction. Furthermore, in such a configuration, it is electrically connected to both the aforementioned first power receiving connection and the aforementioned second power receiving connection, so as to be configured to simultaneously supply power to both the aforementioned first power receiving section and the aforementioned second power receiving section.

[0103] According to this configuration, the charging device can simultaneously supply power to both the first and second power receiving units, and simultaneously charge both the first energy storage device of the unmanned transport vehicle and the second energy storage device of the transport body. Therefore, the number of charging devices can be reduced, and the required charging can be performed efficiently at the same time.

[0104] The material handling system disclosed herein is sufficient to achieve at least one of the aforementioned effects.

[0105] Symbol Explanation

[0106] 1: Goods transport system

[0107] 2: Items

[0108] 10: Unmanned delivery vehicle

[0109] 11: First energy storage device

[0110] 12: First power receiving unit

[0111] 12a: First power receiving connection part

[0112] 13: First Transmission Department

[0113] 13a: First transmission connection part

[0114] 14: Driving Department

[0115] 15: Maintaining section

[0116] 16: Loading section

[0117] 20: Transport body

[0118] 21: Second energy storage device

[0119] 22: Second power receiving unit

[0120] 22a: Second power receiving connection part

[0121] 23: Second Transmission Department

[0122] 23a: Second transmission connection part

[0123] 24: The part to be placed

[0124] 31: Reception Department

[0125] 40: Pallet

[0126] 41: Placement surface

[0127] 42: Side view

[0128] 43: Insertion Hole

[0129] 50: Control Department

[0130] 60: Charging equipment

[0131] 61: Power Supply Department

[0132] D: Delivery Target

[0133] T: Thickness direction

[0134] V: Up and down direction.

Claims

1. An article transport system that is an article transport system provided with a plurality of transport bodies on which or in which articles are placed or accommodated, a plurality of unmanned transport vehicles that transport the transport bodies, and a control section that controls the transport bodies and the unmanned transport vehicles, characterized in that the unmanned transport vehicle is provided with a first electric storage device, a traveling section that travels while receiving electric power supply from the first electric storage device, a holding section that holds the transport body, a first power receiving section that performs at least one of charging of the first electric storage device and electric power supply to the traveling section while receiving electric power supply from an external power source, and a first power transmission section that supplies electric power of the first electric storage device to the outside, the transport body is provided with a second electric storage device, a second power receiving section that performs charging of the second electric storage device while receiving electric power supply from an external power source, and a second power transmission section that supplies electric power of the second electric storage device to the outside, and the control section selectively performs first control that performs at least one of charging of the first electric storage device and electric power supply to the traveling section while receiving electric power supply from the second electric storage device via the second power transmission section and the first power receiving section in a holding state in which the unmanned transport vehicle holds the transport body in the holding section, and second control that performs charging of the second electric storage device while receiving electric power supply from the first electric storage device via the first power transmission section and the second power receiving section in the holding state.

2. The article transport system according to claim 1, wherein an instruction that particularly designates the transport body as a transport object and a transport target of the transport body is assigned to each of the plurality of unmanned transport vehicles as a transport task, and the control section supplies electric power of the first electric storage device from the first power transmission section to the second power receiving section within a range in which electric power required for execution of the transport task is left in the first electric storage device in accordance with the transport task that has been assigned to the unmanned transport vehicle in a case where the second control is performed.

3. The article transport system according to claim 1 or 2, wherein an instruction that particularly designates the transport body as a transport object and a transport target of the transport body is assigned to each of the plurality of unmanned transport vehicles as a transport task, and the control section supplies electric power of the first electric storage device from the first power transmission section to the second power receiving section within a range in which electric power required for execution of the transport task is left in the first electric storage device in accordance with the transport task that has been assigned to the unmanned transport vehicle in a case where the second control is performed. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The control section determines whether it is a busy period or a slack period based on at least the number of conveyance tasks, makes the proportion of execution of the second control higher than the proportion of execution of the first control in the case where it is determined by the busy-slack determination processing that it is the slack period, and makes the proportion of execution of the first control higher than the proportion of execution of the second control in the case where it is determined by the busy-slack determination processing that it is the busy period.

4. The article conveyance system according to claim 1 or 2, wherein a charging device that charges the first power storage device of the unmanned conveyance vehicle and the second power storage device of the conveyance body is further provided, an instruction that specifies a conveyance body as a conveyance object and a conveyance target of the conveyance body is allocated to each of a plurality of the unmanned conveyance vehicles as a conveyance task, the control section executes the second control that charges the second power storage device of the object conveyance body by the electric power of the first power storage device of the object conveyance vehicle in the case where the charge amount of the second power storage device of the object conveyance body is equal to or less than a predetermined first charge threshold value and the conveyance target of the object conveyance body by the object conveyance vehicle is not the charging device, in the case where there is a conveyance body whose charge amount of the second power storage device is equal to or less than a second charge threshold value that is set to a value smaller than the first charge threshold value, that is, a charge-required conveyance body, the control section executes control that allocates the conveyance task that specifies the charge-required conveyance body as a conveyance object and the charging device as a conveyance target to any one of the plurality of the unmanned conveyance vehicles and charges the second power storage device of the charge-required conveyance body by the charging device.

5. The article conveyance system according to claim 1 or 2, wherein an instruction that specifies a conveyance body as a conveyance object and a conveyance target of the conveyance body is allocated to each of a plurality of the unmanned conveyance vehicles as a conveyance task, the control section executes the second control that charges the second power storage device of the object conveyance body by the electric power of the first power storage device of the unmanned conveyance vehicle other than the object conveyance vehicle before starting conveyance of the object conveyance body by the object conveyance vehicle in the case where the charge amount of the second power storage device of the object conveyance body is equal to or less than a predetermined third charge threshold value and the charge amount of the first power storage device of the object conveyance vehicle is equal to or less than a predetermined fourth charge threshold value.

6. The article conveyance system according to claim 1 or 2, wherein the conveyance body is provided with a plurality of stages of housing portions arranged side by side in the up-down direction, the article can be housed in each of the plurality of stages of the housing portions, the article can be housed in each of the plurality of stages of the housing portions, The second power receiving portion and the second power transmission portion are disposed below the lowest level accommodation portion in the conveyance body.

7. The article conveyance system according to claim 1 or 2, wherein The conveyance body is a tray formed in a rectangular plate shape having a prescribed thickness, with a direction orthogonal to a placement surface on which the article is placed being a plate thickness direction, and is provided with a pair of insertion holes formed in at least one of four side surfaces that become outer edges for fork insertion when viewed in the plate thickness direction along the plate thickness direction, The second power receiving portion and the second power transmission portion are disposed in a central portion of the conveyance body when viewed in the plate thickness direction, The second power storage device is disposed at a position that is further outward than the second power receiving portion and the second power transmission portion when viewed in the plate thickness direction, without interfering with the pair of insertion holes.

8. The article conveyance system according to claim 1 or 2, wherein The unmanned conveyance vehicle is provided with a placement portion that places the conveyance body, The first power receiving portion is provided with a first power receiving connection portion that is electrically connected to the second power transmission portion, The first power transmission portion is provided with a first power transmission connection portion that is electrically connected to the second power receiving portion, The second power receiving portion is provided with a second power receiving connection portion that is electrically connected to the first power transmission portion, The second power transmission portion is provided with a second power transmission connection portion that is electrically connected to the first power receiving portion, The first power receiving connection portion and the first power transmission connection portion are disposed in the placement portion, The second power receiving connection portion and the second power transmission connection portion are disposed in a placed portion in the conveyance body that is placed on the placement portion, The charging device is provided with a power supply portion that supplies power to the first power receiving portion and the second power receiving portion, The power supply portion is configured in a manner that enables disposition between the placement portion and the placed portion in a vertical direction, and, in a state in which it is thus disposed, is electrically connected to both the first power receiving connection portion and the second power receiving connection portion, in a manner that enables simultaneous supply of power to both the first power receiving portion and the second power receiving portion. ​

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