High-altitude walking type unmanned carrier transport system and unmanned carrier

Abstract

The application discloses a high-altitude walking type unmanned carrier conveying system and unmanned carrier, which comprises a track, a storage rack and an unmanned carrier. The storage rack is arranged adjacent to one side of the track and is used for storing a to-be-loaded object. The unmanned carrier can move on the track. The unmanned carrier comprises a control device, a body and a moving module. The body comprises a containing space used for containing the to-be-loaded object. The moving module comprises a lifting mechanism, a transverse moving mechanism and a holding mechanism. The control device can control the holding mechanism, the lifting mechanism and the transverse moving mechanism, so that the to-be-loaded object arranged in the containing space is moved from the containing space to the storage rack for storage. The control device can control the holding mechanism, the lifting mechanism and the transverse moving mechanism, so that the to-be-loaded object arranged in the storage rack is moved from the storage rack to the containing space for storage.

Description

Technical Field

[0001] This application relates to a handling system and an unmanned transport vehicle, particularly a handling system and an unmanned transport vehicle for aerial work platforms. Background Technology

[0002] Most existing automated factories are equipped with related automated unmanned material handling systems. Generally, these systems are divided into ground-based material handling systems and overhead material handling systems installed near the ceiling. Ground-based systems are easy to install and maintain, but they occupy factory floor space. Overhead material handling systems do not occupy factory floor space, but they are more difficult to install and maintain, and have relatively higher installation costs. In practical applications, even with overhead material handling systems installed, manufacturers may still encounter problems due to various factors, such as insufficient floor space for storing related items. Summary of the Invention

[0003] This application discloses a high-altitude mobile unmanned transport vehicle system and an unmanned transport vehicle, which is mainly used to improve the problem that there is still insufficient ground space to store related items in existing factories with high-altitude transport systems due to various factors.

[0004] One embodiment of this application discloses a transport system for a high-altitude mobile unmanned transport vehicle. The transport system includes: at least one track; at least one storage rack disposed adjacent to one side of the track, the storage rack for storing at least one object to be transported; at least one unmanned transport vehicle capable of moving along the track in a traveling direction, the unmanned transport vehicle including: a control device; a body including a receiving space for receiving at least one object to be transported; a drive module electrically connected to the control device, the drive module disposed on the body, the drive module for causing the body to move along the track; and a transfer module including: a lifting mechanism disposed on the body, the lifting mechanism for lifting the object to be transported located in the receiving space relative to... The main body can rise or fall; a lateral moving mechanism is provided on the main body and connected to the lifting mechanism. The lateral moving mechanism is used to carry the object to be loaded and to move the object located in the accommodating space relative to the main body in a lateral direction; the lateral direction is not parallel to the direction of travel; a holding mechanism is provided on the main body and is used to hold the object to be loaded in the accommodating space; wherein, the control device can control the holding mechanism, the lifting mechanism and the lateral moving mechanism to move the object to be loaded in the accommodating space from the accommodating space to the storage rack for storage; wherein, the control device can control the holding mechanism, the lifting mechanism and the lateral moving mechanism to move the object to be loaded in the storage rack from the storage rack to the accommodating space for storage.

[0005] Optionally, the body has two openings in the lateral direction, and the two openings are connected to the accommodating space; the lateral moving mechanism enables the object to be carried to leave the accommodating space through one of the openings, or to enter the accommodating space through one of the openings; the body also includes two blocking walls, which are used to prevent the object to be carried in the accommodating space from leaving the accommodating space in the direction of travel.

[0006] Optionally, the holding mechanism includes two fixed members, two movable components, and two clamping members. The two fixed members are disposed on the main body and are spaced apart by a preset distance. Each movable component is disposed on one of the fixed members, and each clamping member is disposed on one of the movable components. The control device can control the two movable components to move relative to the fixed members, thereby causing each clamping member to hold or release the object to be loaded.

[0007] Optionally, at least one storage rack is provided on one side of a section of the track, and at least one storage rack is provided on the other side of a section of the track. The unmanned transport vehicle includes two transfer modules, which are arranged side by side on the main body. The control device can control each transfer module to operate independently, so that the two transfer modules can store the items to be carried with the adjacent storage rack respectively.

[0008] Optionally, the storage rack includes at least one positioning unit, and the automated guided vehicle (AGV) includes at least one sensing module. Each sensing module can sense the positioning unit and generate corresponding sensing information. The control device can control the transfer module to operate based on the sensing information to place the object to be loaded onto the storage rack or remove the object from the storage rack. If the control device determines based on the sensing information that the AGV is not in the correct position next to the storage rack, the control device can execute a position correction procedure. When the control device executes the position correction procedure, it will first perform a first correction step: control the drive module to operate, so that the AGV moves a predetermined distance in a first direction, and then control the sensing module to operate again to move the AGV a predetermined distance in a first direction. Based on the sensing information, the system determines whether the automated guided vehicle (AGV) is in the correct position next to the storage rack. If the control device still determines that the AGV is not in the correct position next to the storage rack after performing the first correction step, the control device will perform the second correction step: control the drive module to move the AGV twice the predetermined distance in the second direction, and then control the sensing module to act again to determine whether the AGV is in the correct position next to the storage rack based on the sensing information. If the control device still determines that the AGV is not in the correct position next to the storage rack after performing the second correction step, the control device will issue a warning signal. The first direction and the second direction are opposite directions to each other.

[0009] Optionally, the lateral moving mechanism includes a platform, a slide rail assembly, and an auxiliary frame. The platform is connected to the slide rail assembly and can move relative to the main body via the slide rail assembly. The auxiliary frame is detachably mounted on the platform. The platform is used to carry the object to be carried, and the width of the auxiliary frame is smaller than the width of the object to be carried. The storage rack includes multiple support structures, each of which includes a notch that can accommodate a portion of the auxiliary frame. When the control device controls the lateral moving mechanism to move toward one of the support structures so that a portion of the auxiliary frame carrying the object to be carried is located in one of the notches, a portion of the object to be carried will be positioned on the support structure. The control device then controls the lifting mechanism to move the platform away from the storage rack, and the object to be carried will be placed on the storage rack.

[0010] Optionally, the track is defined as the main track. The transport system of the aerial work platform unmanned transport vehicle also includes a first branch track, a second branch track, and a track-changing mechanism. The track-changing mechanism connects the first connecting track and the second connecting track. The track-changing mechanism can be controlled to make the first connecting track translate and at the same time make the second connecting track rotate, so that the main track can be connected to the first branch track or the second branch track through the first connecting track or the second connecting track.

[0011] Optionally, the track includes a sliding structure and a supporting structure. The sliding structure includes a first wide side, a second wide side, a first narrow side, and a second narrow side. The first wide side and the second wide side are arranged opposite to each other, and the first narrow side and the second narrow side are arranged opposite to each other. One end of the supporting structure is fixedly disposed on the second wide side. The supporting structure and the sliding structure together form a first receiving notch and a second receiving notch, and the supporting structure is located between the first receiving notch and the second receiving notch. The unmanned transport vehicle includes a drive wheel and an auxiliary guide wheel module. The drive wheel can be driven, and the first wide side... The movable auxiliary guide wheel module includes two first guide wheels, two second guide wheels, a first side guide wheel, and a second side guide wheel. The two first guide wheels are arranged side by side, and each first guide wheel is used for movement on a first wide side. The two second guide wheels are arranged side by side, and each second guide wheel is used for movement on a second wide side. One second guide wheel is located in a first receiving notch, and the other second guide wheel is located in a second receiving notch. The first side guide wheel is disposed on the frame assembly and is used for movement on a first narrow side. The second side guide wheel is disposed on the frame assembly and is used for movement on a second narrow side.

[0012] One embodiment of this application discloses an unmanned transport vehicle, applicable to a transport system for aerial work platform unmanned transport vehicles. The transport system includes a track and at least one storage rack, with the storage rack disposed adjacent to one side of the track. The unmanned transport vehicle can move along the track in a traveling direction. The unmanned transport vehicle includes: a control device; a body comprising a accommodating space for accommodating at least one object to be transported; a drive module electrically connected to the control device, disposed on the body, and used to move the body along the track; and a transfer module comprising: a lifting mechanism disposed on the body, used to raise or lower the object to be transported located in the accommodating space relative to the body. A lateral moving mechanism, which is located on the main body and connected to a lifting mechanism, is used to carry the object to be loaded and to move the object located in the accommodating space relative to the main body in a lateral direction; the lateral direction is not parallel to the direction of travel; a holding mechanism, which is located on the main body, is used to hold the object to be loaded in the accommodating space; wherein, a control device can control the holding mechanism, the lifting mechanism, and the lateral moving mechanism to move the object to be loaded in the accommodating space from the accommodating space to the storage rack for storage; wherein, the control device can control the holding mechanism, the lifting mechanism, and the lateral moving mechanism to move the object to be loaded in the storage rack from the storage rack to the accommodating space for storage.

[0013] Optionally, the body has two openings in the lateral direction, and the two openings are connected to the accommodating space; the lateral moving mechanism enables the object to be carried to leave the accommodating space through one of the openings, or to enter the accommodating space through one of the openings; the body also includes two blocking walls, which are used to prevent the object to be carried in the accommodating space from leaving the accommodating space in the direction of travel.

[0014] Optionally, the holding mechanism includes two fixed members, two movable components, and two clamping members. The two fixed members are disposed on the body and are spaced apart by a preset distance. Each movable component is disposed on one of the fixed members, and each clamping member is disposed on one of the movable components. The control device can control the two movable components to move relative to the fixed members, thereby causing each clamping member to hold or release the object to be loaded.

[0015] Optionally, at least one storage rack is provided on one side of a section of the track, and at least one storage rack is provided on the other side of a section of the track. The unmanned transport vehicle includes two transfer modules, which are arranged side by side on the main body. The control device can control each transfer module to operate independently, so that the two transfer modules can store the items to be carried with the adjacent storage rack respectively.

[0016] Optionally, the storage rack includes at least one positioning unit, and the automated guided vehicle (AGV) includes at least one sensing module. Each sensing module can sense the positioning unit and generate corresponding sensing information. The control device can control the transfer module to operate based on the sensing information to place the object to be loaded onto the storage rack or remove the object from the storage rack. If the control device determines based on the sensing information that the AGV is not in the correct position next to the storage rack, the control device can execute a position correction procedure. When the control device executes the position correction procedure, it will first perform a first correction step: control the drive module to operate, so that the AGV moves a predetermined distance in a first direction, and then control the sensing module to operate again to move the AGV a predetermined distance in a first direction. Based on the sensing information, the system determines whether the automated guided vehicle (AGV) is in the correct position next to the storage rack. If the control device still determines that the AGV is not in the correct position next to the storage rack after performing the first correction step, the control device will perform the second correction step: control the drive module to move the AGV twice the predetermined distance in the second direction, and then control the sensing module to act again to determine whether the AGV is in the correct position next to the storage rack based on the sensing information. If the control device still determines that the AGV is not in the correct position next to the storage rack after performing the second correction step, the control device will issue a warning signal. The first direction and the second direction are opposite directions to each other.

[0017] Optionally, the lateral moving mechanism includes a platform, a slide rail assembly, and an auxiliary frame. The platform is connected to the slide rail assembly and can move relative to the main body via the slide rail assembly. The auxiliary frame is detachably mounted on the platform. The platform is used to carry the object to be carried, and the width of the auxiliary frame is smaller than the width of the object to be carried. The storage rack includes multiple support structures, each of which includes a notch that can accommodate a portion of the auxiliary frame. When the control device controls the lateral moving mechanism to move toward one of the support structures so that a portion of the auxiliary frame carrying the object to be carried is located in one of the notches, a portion of the object to be carried will be positioned on the support structure. The control device then controls the lifting mechanism to move the platform away from the storage rack, and the object to be carried will be placed on the storage rack.

[0018] Optionally, the track includes a sliding structure and a supporting structure. The sliding structure includes a first wide side, a second wide side, a first narrow side, and a second narrow side. The first wide side and the second wide side are arranged opposite to each other, and the first narrow side and the second narrow side are arranged opposite to each other. One end of the supporting structure is fixedly disposed on the second wide side. The supporting structure and the sliding structure together form a first receiving notch and a second receiving notch. The supporting structure is located between the first receiving notch and the second receiving notch. The unmanned transport vehicle also includes a drive wheel and an auxiliary guide wheel module. The drive wheel can be driven, and the first wide side... The movable auxiliary guide wheel module includes two first guide wheels, two second guide wheels, a first side guide wheel, and a second side guide wheel. The two first guide wheels are arranged side by side, and each first guide wheel is used for movement on a first wide side. The two second guide wheels are arranged side by side, and each second guide wheel is used for movement on a second wide side. One second guide wheel is located in a first receiving notch, and the other second guide wheel is located in a second receiving notch. The first side guide wheel is disposed on the frame assembly and is used for movement on a first narrow side. The second side guide wheel is disposed on the frame assembly and is used for movement on a second narrow side.

[0019] In summary, the aerial work platform unmanned transport vehicle (ATV) system and the ATV itself, through the design of the transfer module and storage rack, allow relevant personnel to place the items to be transported onto the storage rack located in the air above the factory building according to their needs. This not only avoids problems such as temporary storage of items on the factory floor leading to factory congestion, but also makes fuller use of the overall factory space. Furthermore, the transfer module of the ATV can also remove items from the storage rack, and the items placed on the storage rack can be handled entirely without manual intervention.

[0020] To further understand the features and technical content of this application, please refer to the following detailed description and drawings of this application. However, these descriptions and drawings are only used to illustrate this application and are not intended to limit the scope of protection of this application in any way. Attached Figure Description

[0021] Figure 1 This is a three-dimensional schematic diagram of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0022] Figure 2 This is a side view of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0023] Figure 3 This is a front view of the track of the aerial work platform unmanned transport vehicle of this application.

[0024] Figure 4 This is a front view of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0025] Figure 5This is a bottom view of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0026] Figure 6 This is a bottom view of the unmanned transport vehicle of this application.

[0027] Figure 7 This is a top view of the two tracks of the aerial work platform unmanned transport vehicle of this application.

[0028] Figure 8 This is a front view schematic diagram of the operation of another embodiment of the unmanned transport vehicle of this application.

[0029] Figure 9 A schematic diagram of two aerial work platform unmanned transport vehicles is provided for the transport system of the aerial work platform unmanned transport vehicle of this application.

[0030] Figure 10 This is a schematic diagram showing the connection between the first connecting rail, the main rail, and the first branch rail of the rail-changing mechanism of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0031] Figure 11 This is a schematic diagram showing the connection between the second connecting rail, the main rail, and the second branch rail of the rail-changing mechanism of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0032] Figure 12 This is a schematic diagram showing that the rail-changing mechanism of the transport system of the aerial work platform unmanned transport vehicle of this application does not have a first connecting rail and a second connecting rail.

[0033] Figure 13 and Figure 14 The diagram shows the operation of the rail-changing mechanism of the transport system of the aerial work platform unmanned transport vehicle of this application, which does not include the first connecting rail and the second connecting rail.

[0034] Figure 15 A schematic diagram showing the operation of the track-changing mechanism with a first connecting rail and a second connecting rail, which is another embodiment of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0035] Figure 16 This is a schematic diagram of the storage rack and track of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0036] Figure 17 This is a schematic diagram of the unmanned transport vehicle and track of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0037] Figure 18 This is a top view of the unmanned transport vehicle and its track for the transport system of the aerial work platform unmanned transport vehicle of this application.

[0038] Figure 19This is a side view schematic diagram of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0039] Figure 20 This is a partially enlarged schematic diagram of the transport system of the aerial walking unmanned transport vehicle of this application. Detailed Implementation

[0040] In the following description, if it is indicated that a specific diagram is referred to or as shown in a specific diagram, it is only to emphasize that most of the relevant content mentioned in the following description appears in that specific diagram, but does not limit the following description to refer only to that specific diagram.

[0041] Please refer to the following: Figures 1 to 6 , Figure 1 This is a three-dimensional schematic diagram of the transport system of the aerial work platform unmanned transport vehicle of this application. Figure 2 This is a side view of the transport system of the aerial work platform unmanned transport vehicle of this application. Figure 3 This is a front view of the track of the aerial work platform unmanned transport vehicle of this application. Figure 4 This is a front view of the transport system of the aerial work platform unmanned transport vehicle of this application. Figure 5 This is a bottom view of the transport system of the aerial work platform unmanned transport vehicle of this application. Figure 6 This is a bottom view of the unmanned transport vehicle of this application.

[0042] The overhead hoist transfer (OHT) system A of this application includes: at least one track 100 and at least one unmanned transport vehicle 2. The track 100 includes: a sliding structure 11, a support structure 12, and a power supply assembly 13. The sliding structure 11 may be a generally rectangular plate-like structure, and the sliding structure 11 includes a first wide side 111, a second wide side 112, a first narrow side 113, and a second narrow side 114. The first wide side 111 and the second wide side 112 are arranged opposite to each other, and the first narrow side 113 and the second narrow side 114 are arranged opposite to each other. Here, a wide side refers to a side of the sliding structure 11 with a relatively long width, and a narrow side refers to a side of the sliding structure 11 with a relatively short width.

[0043] One end of the support structure 12 is fixedly disposed on the second wide side 112. The support structure 12 and the sliding structure 11 together form the first receiving notch 115 and the second receiving notch 116, and the support structure 12 is located between the first receiving notch 115 and the second receiving notch 116. Simply put, the front view of the track 100 is roughly T-shaped.

[0044] It should be noted that in practical applications, the support structure 12 is used to connect with relevant components and is suspended in the factory building near the ceiling, while the first wide side 111 of the sliding structure 11 is set facing the ceiling.

[0045] The power supply component 13 may include two electrical rails 131, which may be disposed in two grooves 117 of the sliding structure 11 of the rail 100. One electrical rail 131 may serve as a live wire, and the other electrical rail 131 may serve as a ground wire. Each groove 117 may be formed by the recess of the first wide side 111 of the sliding structure 11, and the electrical rails 131 disposed in each groove 117 do not protrude from the first wide side 111, and there may be a gap between each electrical rail 131 and the first wide side 111.

[0046] The unmanned transport vehicle 2 includes: a body 21, a drive module 22, a drive wheel 23, two auxiliary guide wheel modules 24, and four current collectors 25. In the drawings of this embodiment, the unmanned transport vehicle 2 is shown as having two auxiliary guide wheel modules 24, but the number of auxiliary guide wheel modules 24 included in the unmanned transport vehicle 2 is not limited to two. In different embodiments, the unmanned transport vehicle 2 may also include only a single auxiliary guide wheel module 24. In embodiments where the unmanned transport vehicle 2 includes only a single auxiliary guide wheel module 24, the unmanned transport vehicle 2 may also include only two current collectors 25.

[0047] The main body 21 is primarily used to provide space for the drive module 22, the drive wheel 23, and the auxiliary guide wheel module 24. The shape of the main body 21 can be varied according to requirements. In practice, a carrier can also be mounted on top of the main body 21 to hold the cargo to be carried.

[0048] The drive module 22 is disposed on the main body 21, and the drive wheel 23 is disposed on the main body 21. The drive wheel 23 is electrically connected to the drive module 22. For example, the drive module 22 may include components such as a controller, a motor, and a belt. The controller is electrically connected to the motor, and the motor is connected to the drive wheel 23 via a belt. The controller can receive external signals (such as control signals transmitted from the central control device in the factory) to control the motor to actuate, thereby causing the drive wheel 23 to rotate. When the unmanned transport vehicle 2 is disposed on the track 100, the drive wheel 23 abuts against the first wide side 111 of the track 100, and the drive wheel 23 is used to move on the first wide side 111.

[0049] The auxiliary guide wheel module 24 includes: a frame assembly 241, two first guide wheels 242, two second guide wheels 243, a first side guide wheel 244, and a second side guide wheel 245. The frame assembly 241 is fixedly mounted on one side of the main body 21. The frame assembly 241 is mainly used to connect the first guide wheels 242, second guide wheels 243, first side guide wheels 244, and second side guide wheels 245 to the main body 21. Therefore, the shape and size of the frame assembly 241 can vary according to the shape and size of the main body 21 and are not limited to those shown in the figure.

[0050] In a preferred embodiment, the frame assembly 241 may include a main frame 2411 and two auxiliary frame bodies 2412. The main frame 2411 is fixedly disposed on the body 21, and the two auxiliary frame bodies 2412 are disposed at both ends of the main frame 2411. More specifically, the main frame 2411 may include a fixing part 2411A and two connecting parts 2411B. The two connecting parts 2411B extend from the fixing part 2411A in a direction away from the body 21. In a front view of the frame assembly 241, the frame assembly 241 may have a generally U-shaped structure. The two auxiliary frame bodies 2412 are detachably connected to the two connecting parts 2411B. For example, each auxiliary frame body 2412 may be connected to the corresponding connecting part 2411B by at least one screw.

[0051] Two first guide wheels 242 are arranged side by side on the frame assembly 241, and the two first guide wheels 242 may be pivotally connected to both ends of the fixing part 2411A, and each first guide wheel 242 is used to move the first wide side 111.

[0052] Two second guide wheels 243 are arranged side-by-side on the frame assembly 241, and are pivotally connected to two connecting portions 2411B. One second guide wheel 243 is located at the first receiving notch 115, and the other second guide wheel 243 is located at the second receiving notch 116. Each second guide wheel 243 is arranged facing one of the first guide wheels 242. Each second guide wheel 243 is used for movement of the second wide side 112.

[0053] It is worth mentioning that, through the design of the first accommodating notch 115 and the second accommodating notch 116, the two first guide wheels 242 and the two second guide wheels 243 can be positioned approximately on opposite sides of the sliding structure 11. This allows the unmanned transport vehicle 2 to move more stably on the track 100 and effectively reduces the overall width of the unmanned transport vehicle 2.

[0054] A first side guide wheel 244 is pivotally connected to one of the auxiliary frames 2412 of the frame assembly 241, and the first side guide wheel 244 is used to move the first narrow side 113. A second side guide wheel 245 is pivotally connected to the other auxiliary frame 2412 of the frame assembly 241, and the second side guide wheel 245 is used to move the second narrow side 114.

[0055] Two current collectors 25 are arranged side by side on the frame assembly 241. The two current collectors 25 are used to contact the two electric rails 131, and the drive module 22 can obtain the power required for operation through the two current collectors 25 and the two electric rails 131.

[0056] like Figure 3 and Figure 4 As shown, when the unmanned transport vehicle 2 is installed on the track 100, the two current collectors 25 will contact the two electric rails 131 located on the track 100, and the unmanned transport vehicle 2 will obtain the power required for operation. The drive wheel 23 and the two first guide wheels 242 will contact the first wide side 111 of the sliding structure 11, the two second guide wheels 243 will contact the second wide side 112 of the sliding structure 11, the first side guide wheel 244 will contact the first narrow side 113, and the second side guide wheel 245 will contact the second narrow side 114. One of the first guide wheels 242, the first side guide wheel 244 and one of the second guide wheels 243 will jointly hold three adjacent sides of one end of the sliding structure 11, and the other first guide wheel 242, the second side guide wheel 245 and the other second guide wheel 243 will jointly hold three adjacent sides of the other end of the sliding structure 11.

[0057] like Figure 3 and Figure 4 As shown, in a preferred embodiment, the two current collectors 25 may be disposed between the two first guide wheels 242, and the distance between each first guide wheel 242 and the second guide wheel 243 disposed opposite to it is less than the thickness 11D of the sliding structure 11. When the two first guide wheels 242, the two second guide wheels 243, the first side guide wheel 244 and the second side guide wheel 245 together hold the track 100, the two current collectors 25 will be in close contact with the two electric rails 131.

[0058] In other words, when the unmanned transport vehicle 2 is installed on the track 100, each of the first guide wheels 242 and each of the second guide wheels 243 applies a force to the track 100, thereby ensuring that each current collector 25 is in close contact with the two electric rails 131. This ensures that during the movement of the unmanned transport vehicle 2 on the track 100, both current collectors 25 are in contact with the two electric rails 131, thus ensuring that the unmanned transport vehicle 2 can obtain the power required for operation without interruption.

[0059] As described above, through the design of track 100 and auxiliary guide wheel module 24, when the unmanned transport vehicle 2 travels on track 100, it can move in a relatively stable state. Furthermore, when the unmanned transport vehicle 2 passes through a turn on track 100, it does not need to significantly reduce its speed to pass through the turn smoothly. Therefore, the unmanned transport vehicle 2 can have relatively better carrying efficiency. Traditional unmanned transport vehicles must significantly reduce their speed before passing through a turn on the track, and must travel at a relatively low speed when passing through the turn.

[0060] More specifically, in traditional automated guided vehicles (AGVs), the speed of the AGV decreases by 10-15% when preparing to pass through the straight section before a turn on the track. Then, as the AGV enters the turn, its speed decreases by another 10-15%. Finally, when the AGV passes through the turn, it travels at approximately 70-80% of its original speed. In contrast, the aerial work platform AGV system A and AGV 2 of this application, through the design of the track 100 and the auxiliary guide wheel module 24 of AGV 2, allow AGV 2 to travel at 80-90% of its original speed when passing through a turn on track 100.

[0061] like Figure 6 As shown, it should be particularly emphasized that, in a preferred embodiment, the four current collectors included in the unmanned transport vehicle 2 can be a first current collector 25A, a second current collector 25B, a third current collector 25C, and a fourth current collector 25D. The first current collector 25A and the second current collector 25B are located side-by-side between the two second guide wheels 243 of one of the auxiliary guide wheel modules 24, and the third current collector 25C and the fourth current collector 25D are located side-by-side between the two second guide wheels 243 of another auxiliary guide wheel module 24. The drive wheel 23 is located between the two auxiliary guide wheel modules 24. The first current collector 25A and the second current collector 25B are on the same axis, and the second current collector 25B and the fourth current collector 25D are on the same axis. Furthermore, the first current collector 25A and the third current collector 25C are spaced apart by a predetermined distance C, and the second current collector 25B and the fourth current collector 25D are also spaced apart by a predetermined distance C. It should be noted that, as... Figure 4 As shown, since each of the first guide wheels 242 is arranged facing each other with one of the second guide wheels 243, therefore, Figure 6In the top view of the unmanned transport vehicle 2 shown, each of the first guide wheels 242 is covered by each of the second guide wheels 243. Therefore, the first current collector 25A and the second current collector 25B are also located between the two first guide wheels 242 of one of the auxiliary guide wheel modules 24, and the third current collector 25C and the fourth current collector 25D are also located between the two first guide wheels 242 of another auxiliary guide wheel module 24.

[0062] As described above, through the design of the first current collector 25A, the second current collector 25B, the third current collector 25C, the fourth current collector 25D, and the predetermined distance C, it can be ensured that when the unmanned transport vehicle 2 passes through the connection point of the two electric rails of the track 100, the unmanned transport vehicle 2 can still obtain the power required for operation through the first current collector 25A or the third current collector 25C, and the second current collector 25B or the fourth current collector 25D. In other words, the placement position of the first current collector 25A, the second current collector 25B, the third current collector 25C, and the fourth current collector 25D on the main body 21 and the predetermined distance C are designed based on the interval distance of the connection point of the two electric rails of the track 100.

[0063] Please refer to the above as well. Figure 6 and Figure 7 , Figure 7 This is a top view of the two tracks of the aerial work platform unmanned transport vehicle of this application. In practical applications, the two tracks 100 are interconnected, and the two grooves of each track 100 can be defined as a first groove 117A and a second groove 117B, respectively. The first grooves 117A of the two interconnected tracks 100 are mutually connected, and the second grooves 117B are also mutually connected. The mutually connected first grooves 117A can be provided with two first electric rails 131A, and the mutually connected second grooves 117B can be provided with two second electric rails 131B. The distance C1 between the position where the two first electrical rails 131A are connected and the position where the two second electrical rails 131B are connected is not equal to the predetermined distance C. Thus, when the first current collector 25A (or the third current collector 25C) of the unmanned transport vehicle 2 is located at the position where the two first electrical rails 131A are connected, the second current collector 25B and the fourth current collector 25D will not be located at the position where the two second electrical rails 131B are connected, and the third current collector 25C will not be located at the position where the two first electrical rails 131A are connected. In this way, it can be ensured that the unmanned transport vehicle 2 can obtain power and grounding through the first current collector 25A, the second current collector 25B, the third current collector 25C and the fourth current collector 25D.

[0064] Please refer to the following: Figure 4 and Figure 8 , Figure 8This is a front-view schematic diagram of another embodiment of the unmanned transport vehicle of this application. This embodiment differs from the previous embodiments in that the auxiliary guide wheel module 24 further includes two fixing components 246, and each auxiliary frame 2412 is rotatably disposed on each connecting portion 2411B. Each fixing component 246 can be operated to fix adjacent auxiliary frames 2412 and connecting portions 2411B to each other or to de-fix them. When adjacent auxiliary frames 2412 and connecting portions 2411B are not fixed by the fixing components, the auxiliary frame 2412 can rotate relative to the connecting portion 2411B.

[0065] In practical applications, each fixing component 246 can be, for example, a screw, while the auxiliary frame 2412 and the connecting part 2411B can have corresponding through holes or screw holes, allowing personnel to remove the screws so that the auxiliary frame 2412 is no longer fixed to the connecting part 2411B. Of course, the fixing components 246 are not limited to screws.

[0066] As described above, the design of the fixing component 246 and the auxiliary frame 2412 being rotatably mounted on each connecting part 2411B allows relevant personnel to easily remove the unmanned transport vehicle 2 from the track 100. When the relevant personnel remove the fixing component 246, the first guide wheel 242, the first side guide wheel 244 and the second side guide wheel 245 of the unmanned transport vehicle 2 will still be in contact with the track 100. Therefore, the unmanned transport vehicle 2 will not have the problem of directly detaching from the track and tipping over.

[0067] Conversely, when personnel wish to install the unmanned transport vehicle 2 on the track 100, they can first remove the two fixing components 246, so that one end of the two auxiliary frames 2412 is not fixed to the adjacent connecting part 2411B. Then, personnel can place the unmanned transport vehicle 2 on the track 100. At this time, the unmanned transport vehicle 2 will be stably set on the track 100 because of the two first guide wheels 242, the first side guide wheel 244, and the second side guide wheel 245. Finally, personnel can simply operate the fixing components 246 to fix each auxiliary frame 2412 and the connecting part 2411B to each other, thereby installing the unmanned transport vehicle 2 on the track 100.

[0068] In summary, the aerial work platform unmanned transport vehicle (AVV) system and AVV of this application, through the design of the track's sliding structure, support structure, and auxiliary guide wheel module, enable the AVV to travel on the track without significantly reducing its speed when passing through track curves. Furthermore, the aerial work platform unmanned transport vehicle system and AVV of this application, through the design of the auxiliary frame and fixing components, allow personnel to easily install the AVV onto the track or easily unload it from the track.

[0069] Please refer to the following: Figures 9 to 11 , Figure 9 A schematic diagram of two aerial work platform unmanned transport vehicles is provided for the transport system of the aerial work platform unmanned transport vehicle of this application. Figure 10 This diagram illustrates the connection between the first connecting rail, the main rail, and the first branch rail of the rail-changing mechanism of the transport system of the aerial work platform unmanned transport vehicle of this application. Figure 11 This is a schematic diagram showing the connection between the second connecting rail, the main rail, and the second branch rail of the rail-changing mechanism of the transport system of the aerial work platform unmanned transport vehicle of this application.

[0070] The overhead hoist transfer (OHT) system A of this application guides the overhead hoist transfer vehicle B to move at high altitudes. The overhead hoist transfer system A includes: a main track 100A, a first branch track 100B, a second branch track 100C, and a track-changing mechanism 5. In practical applications, the overhead hoist transfer system A may also include the overhead hoist transfer vehicle B. It should be noted that in this embodiment, the main track 100A may be the same as the track 100 in the aforementioned embodiments, but is not limited thereto. Furthermore, in this embodiment, the first branch track 100B and the second branch track 100C may also have the same structure as the track 100 in the aforementioned embodiments.

[0071] In practical applications, the main track 100A, the first branch track 100B, the second branch track 100C, and the track-changing mechanism 5 mentioned herein are all suspended from the ceiling near the factory building via related components. However, the transport system A of the aerial work platform unmanned transport vehicle of this application is not installed on the ground. In this embodiment... Figures 9 to 11 In this example, the track-changing mechanism 5 is partially provided with a housing 5A, but this is not a limitation. In different embodiments, the track-changing mechanism 5 may not include a housing 5A.

[0072] One end of the first branch track 100B is located adjacent to one end of the main track 100A, and one end of the second branch track 100C is located adjacent to the same end of the main track 100A. A track-changing mechanism 5 is disposed between the main track 100A, the first branch track 100B, and the second branch track 100C. The track-changing mechanism 5 is connected to a first connecting rail 100D and a second connecting rail 100E. It should be noted that the specific structure of the first connecting rail 100D and the second connecting rail 100E described herein may be the same as the specific structure of the track 100 in the aforementioned embodiment.

[0073] like Figure 9 and Figure 10As shown, the track-changing mechanism 5 can be controlled to connect the two ends of the first connecting rail 100D to the main rail 100A and the first branch rail 100B respectively, thereby enabling the unmanned transport vehicle B traveling on the main rail 100A to travel along the first direction of travel D1 on the main rail 100A, the first connecting rail 100D and the first branch rail 100B.

[0074] like Figure 9 and Figure 11 As shown, the track-changing mechanism 5 can also be controlled to connect both ends of the second connecting rail 100E to the main rail 100A and the second branch rail 100C respectively. This allows the unmanned transport vehicle B, traveling on the main rail 100A, to turn from the first direction of travel D1 to the second direction of travel D2 along the main rail 100A, the second connecting rail 100E, and the second branch rail 100C. The first direction of travel D1 is not parallel to the second direction of travel D2. In practical applications, the first direction of travel D1 and the second direction of travel D2 can be approximately perpendicular to each other. It should be noted that in this illustration, the unmanned transport vehicle B is shown turning approximately 90 degrees as it moves from the main rail 100A to the second branch rail 100C via the second connecting rail 100E. However, this is not a limitation; in different implementations, the shape of the second connecting rail 100E can be changed according to requirements to alter the turning angle of the unmanned transport vehicle B when passing through it. It should be noted that when the rail changing mechanism 5 is operated under control, the rail changing mechanism 5 causes both the first connecting rail 100D and the second connecting rail 100E to operate together, which will be explained in detail below.

[0075] Please refer to the following: Figures 12 to 14 , Figure 12 This diagram illustrates the rail-changing mechanism of the transport system of the aerial work platform unmanned transport vehicle of this application, which includes a first connecting rail and a second connecting rail. Figure 13 and Figure 14 The diagram shows the operation of the rail-changing mechanism of the transport system of the aerial work platform unmanned transport vehicle of this application, which does not include the first connecting rail and the second connecting rail.

[0076] The rail-changing mechanism 5 of this application includes a body 50, a drive module 51, a sliding module 52, and a pivoting module 53. In one embodiment, the rail-changing mechanism 5 may include a first connecting rail 100D and a second connecting rail 100E, but is not limited thereto; in another embodiment, the rail-changing mechanism 5 may not include the first connecting rail 100D and the second connecting rail 100E.

[0077] In practical applications, the main body 50 can be suspended from the ceiling of the factory building by relevant components. The main body 50 is mainly used to provide a fixed position for the drive module 51, sliding module 52 and pivoting module 53, and the shape of the main body 50 can be changed according to requirements and is not limited to what is shown in the figure.

[0078] A drive module 51 is disposed on the body 50. A sliding module 52 is connected to the drive module 51 and is connected to the first connecting rail 100D. The sliding module 52 can be controlled by the drive module 51 to move the first connecting rail 100D relative to the body 50. A pivot module 53 is rotatably disposed on the body 50 and is connected to the drive module 51. The pivot module 53 is connected to the second connecting rail 100E.

[0079] The drive module 51 can drive the sliding module 52 and the pivot module 53 to operate simultaneously, so that the first connecting rail 100D and the second connecting rail 100E move relative to the body 50 at the same time, so that the main rail 100A can be connected to the first branch rail 100B through the first connecting rail 100D, or the main rail 100A can be connected to the second branch rail 100C through the second connecting rail 100E.

[0080] In practical applications, the sliding module 52 may include a slide rail 521 and a slider 522. The slide rail 521 is fixed to the body 50, and the slider 522 is connected to the drive module 51. The slider 522 can be driven by the drive module 51 to move on the slide rail 521. The slider 522 is connected to the first connecting rail 100D, and when the slider 522 is driven by the drive module 51 to move on the slide rail 521, the first connecting rail 100D will be actuated and move relative to the body 50.

[0081] In one specific embodiment, the drive module 51 may include, for example, a controller and a drive component. The controller may include, for example, a microprocessor, and can receive control signals from an external control device (e.g., a central control device in a factory). The drive component may include, for example, a motor and a screw, with the motor connected to the screw, and the screw connected to the slider 522. The controller can control the motor to rotate forward or backward to drive the screw, thereby moving the slider 522 and the first connecting rail 100D relative to the slide rail 521. That is, in one specific embodiment, the drive module 51 and the sliding module 52 may together form an electrically controlled slide rail.

[0082] In one preferred embodiment, the track-changing mechanism 5 may further include a linkage component 54, which connects the sliding module 52 and the pivoting module 53. When the drive module 51 drives the sliding module 52 to operate, the sliding module 52 can drive the pivoting module 53 to operate synchronously through the linkage component 54. That is, when the drive module 51 drives the sliding module 52, causing the first connecting rail 100D to move relative to the body 50, the sliding module 52 will drive the pivoting module 53 to operate through the linkage component 54, so that the second connecting rail 100E rotates synchronously relative to the body 50. Of course, in different embodiments, the drive module 51 may also drive the sliding module 52 and the pivoting module 53 to operate simultaneously in different ways; the above description is only one example.

[0083] The linkage component 54 is, for example, a rod-shaped member. The pivoting module 53 may include a pivoting body 531 and a pivoting member 532. The pivoting body 531 is disposed on the body 50, and the pivoting member 532 is connected to the pivoting body 531 and is rotatably pivotally connected to the body 50. One end of the linkage component 54 is connected to the slider 522, and the other end of the linkage component 54 is connected to the pivoting member 532. When the slider 522 is driven to move relative to the slide rail 521 in a sliding direction D3, one end of the linkage component 54 will move with the slider 522, while the other end of the linkage component 54 will drive the pivoting member 532, so that the pivoting member 532 rotates relative to the body 50 through the pivoting body 531, and the second connecting rail 100E connected to the pivoting member 532 will rotate with the pivoting member 532 relative to the body 50.

[0084] As described above, through the cooperation of the drive module 51, sliding module 52, pivot module 53 and linkage component 54, when the controller controls the drive module 51 to operate, the first connecting rail 100D and the second connecting rail 100E will operate simultaneously relative to the body 50. In this way, it can be ensured that the first connecting rail 100D and the second connecting rail 100E will not interfere with each other during the conversion process, and the overall rail changing efficiency of the rail changing mechanism 5 can also be improved.

[0085] It is worth mentioning that, in a preferred embodiment, the first connecting rail 100D is a straight track, while the second connecting rail 100E is a curved track. The first connecting rail 100D is connected to the slider 522, and the second connecting rail 100E is connected to the pivot member 532. While the first connecting rail 100D moves on the slide rail 521 with the slider 522, the second connecting rail 100E will rotate relative to the body 50 with the pivot member 532.

[0086] In addition, it should be particularly emphasized that the track-changing mechanism 5 of this application includes a first connecting rail 100D and a second connecting rail 100E with two different shapes, so that the main track 100A can be connected to the first branch track 100B and the second branch track 100C respectively through the two different shapes of the first connecting rail 100D and the second connecting rail 100E. With this design, the unmanned transport vehicle B can travel along the main track 100A, the first connecting rail 100D and the first branch track 100B with almost no deceleration, and the unmanned transport vehicle B can travel along the main track 100A, the second connecting rail 100E and the second branch track 100C with a slight deceleration (or almost no deceleration).

[0087] It is worth mentioning that in the existing technology, one type of track-changing mechanism consists of only a single connecting rail. The shape of this connecting rail is specially designed, and this track-changing mechanism can be driven to operate so that the main rail 100A is connected to the first branch rail 100B or the second branch rail 100C. This design will require the unmanned transport vehicle B to significantly reduce its speed when passing through the connecting rail, otherwise problems such as derailment and overturning may occur.

[0088] like Figures 12 to 15 As shown, in one embodiment, the track-changing mechanism 5 may further include an auxiliary module 55, which includes two auxiliary slide rails 551, two auxiliary sliders 552, and an auxiliary connector 553. The two auxiliary slide rails 551 are mounted on the body 50 and are located on both sides of the slide rail 521. Each auxiliary slider 552 can move along the sliding direction following its corresponding auxiliary slide rail 551. The auxiliary connector 553 connects the slider 522, the two auxiliary sliders 552, the linkage component 54, and the first connecting rail 100D.

[0089] When the controller controls the drive module 51 to actuate, causing the slider 522 of the sliding module 52 to move on the slide rail 521, the auxiliary connector 553 will move together with the slider 522, and the auxiliary connector 553 will drive the two auxiliary sliders 552 to actuate together, causing the two auxiliary sliders 552 to move along their respective auxiliary slide rails 551. This design ensures that the first slide rail 521 and the second slide rail 521 can operate stably. Furthermore, this design allows the track-changing mechanism 5 to provide sufficient support when the unmanned transport vehicle B passes through the first connecting rail 100D or the second connecting rail 100E, enabling the unmanned transport vehicle B to pass smoothly through the first connecting rail 100D or the second connecting rail 100E.

[0090] Please refer to the following: Figure 11 , Figure 13 and Figure 15 , Figure 15A schematic diagram illustrating the operation of the track-changing mechanism, which includes a first connecting rail and a second connecting rail, is provided for another embodiment of the transport system of the aerial work platform unmanned transport vehicle of this application. (See attached diagram.) Figure 13 As shown, in practical applications, the main body 50 may include a first mounting area 50A and at least two second mounting areas 50B and 50C. The drive module 51 is mounted in the first mounting area 50A, and the two second mounting areas 50B and 50C are approximately located on both sides of one end of the first mounting area 50A. Each second mounting area 50B and 50C is used to provide mounting space for the pivot body 531 of the pivot module 53. In simple terms, the overall shape of the main body 50 may be close to a T-shape.

[0091] With the design of the two second installation areas 50B and 50C, relevant personnel can decide which second installation area 50B or 50C the pivot body 531 is installed in based on the configuration positions of the main rail 100A, the first branch rail 100B and the second branch rail 100C. In this way, the main rail 100A located in different positions can be connected to the second branch rail 100C through the second connecting rail 100E of the same rail changing mechanism 5.

[0092] More specifically, such as Figure 11 As shown, when the relevant personnel install the pivot body 531 on the second mounting area 50B on the left side of the main body 50, the main rail 100A located on the left side of the drawing can be connected to the second connecting rail 100E located below the drawing via the second connecting rail 100E. Conversely, as... Figure 15 As shown, when the relevant personnel install the pivot body 531 on the second installation area 50C on the right side of the main body 50, the main track 100A located on the right side of the drawing can be connected to the second branch track 100C located below the drawing via the second connecting track 100E.

[0093] As described above, without altering the installation of the main body 50, but simply by changing the position of the pivot module 53 mounted on the main body 50, the same rail-changing mechanism 5 can be applied to applications such as... Figure 11 and Figure 8 The two different configurations of the main track 100A and the second branch track 100C are shown.

[0094] It should be noted that the track-changing mechanism 5 of this application may be sold, implemented or manufactured separately, and the track-changing mechanism 5 is not limited to being sold, implemented or manufactured together with the transport system A of the aerial work platform unmanned transport vehicle; in the embodiments of the track-changing mechanism 5 of this application being sold, implemented or manufactured separately, the track-changing mechanism 5 may not include the first connecting rail 100D and the second connecting rail 100E.

[0095] In summary, the rail-changing mechanism and the transport system of the aerial work platform unmanned transport vehicle of this application, through the design of the main body, drive module, sliding module and pivot module, enable the unmanned transport vehicle to pass through the first or second connecting rail of the rail-changing mechanism with almost no deceleration, thereby effectively improving the overall carrying efficiency of the unmanned transport vehicle.

[0096] Furthermore, the track-changing mechanism of this application, through the design of the main body, drive module, sliding module, and pivoting module, allows the second connecting rail to rotate relative to the main body. This enables the second connecting rail to connect two nearly perpendicular tracks (i.e., the main track and the second branch track in the above embodiment) within a relatively small range of motion. In existing common track-changing mechanisms, tracks with relatively large curvature and relatively large operating space are required to successfully connect two nearly perpendicular tracks.

[0097] Please refer to the following: Figures 16 to 19 , Figure 16 This is a schematic diagram of the storage rack and track of the transport system of the aerial work platform unmanned transport vehicle of this application. Figure 17 This is a schematic diagram of the unmanned transport vehicle and track of the transport system of the aerial work platform unmanned transport vehicle of this application. Figure 18 This is a top view schematic diagram of the unmanned transport vehicle and its track in the transport system of the aerial work platform unmanned transport vehicle of this application. Figure 19 This is a side view schematic diagram of the transport system of the aerial work platform unmanned transport vehicle of this application. Figure 20 This is a partially enlarged schematic diagram of the transport system of the aerial walking unmanned transport vehicle of this application.

[0098] The aerial work platform unmanned transport vehicle (APTV) transport system A of this application includes: a track 100, two storage racks 200, and an unmanned transport vehicle 3. In practical applications, the number of tracks 100 and unmanned transport vehicles 3 included in the aerial work platform A APTV transport system can be varied according to requirements and is not limited here. In this embodiment, the track 100 can be the same as described above. Figures 1-8 The track 100 in the examples is the same, but is not limited thereto.

[0099] The storage rack 200 is used to store at least one item E to be loaded. In practical applications, the track 100 is suspended from the ceiling of the factory building by means of relevant components. Each storage rack 200 can be fixed to the track 100 by relevant components, or the storage rack 200 can be independently suspended from the ceiling of the factory building by relevant components.

[0100] In practical applications, relevant personnel may, as needed, install one or more storage racks 200 on one side of the track 100, or they may install one or more storage racks 200 on both sides of the track 100 respectively, without limitation. The specific shape and size of the storage rack 200 are not limited to those shown in the figure, and the shape of the storage rack 200 can be designed according to the shape and size of the item E to be carried. In this embodiment, it is taken as an example that a single storage rack 200 can hold three items E to be carried, but the number of items E to be carried that a single storage rack 200 can hold is not limited to those shown in the figure.

[0101] The unmanned transport vehicle 3 can move along the track 100 in the direction of travel L1. The unmanned transport vehicle 3 includes: a control device 31, a body 32, a drive module 33, and a transfer module 34. The control device 31 may include a microprocessor. The body 32 includes a accommodating space 32A for accommodating at least one object E to be transported. In practical applications, the body 32 may include a vehicle body 321 and a carrier body 322. The control device 31 and the drive module 33 may be disposed in the vehicle body 321. The control device 31 is electrically connected to the drive module 33. The drive module 33 may include components such as a motor, belt, and wheels. The control device 31 can control the motor to actuate, thereby driving the wheels to rotate, thus moving the body 32 on the track 100.

[0102] The vehicle body 322 is, for example, detachably fixed to the vehicle body 321. Personnel can assemble and disassemble a suitable vehicle body 322 from the vehicle body 321 according to the type, size, and shape of the object E to be carried. The vehicle body 322 has a accommodating space 32A and two blocking walls 3221. The vehicle body 322 may also include two openings 32B, which communicate with the accommodating space 32A and are arranged facing each other. The two blocking walls 3221 are used to prevent the object E located in the accommodating space 32A from leaving the accommodating space 32A along the travel direction L1. Of course, in different embodiments, the vehicle body 321 and the vehicle body 322 may also be non-detachably fixed to each other.

[0103] It should be noted that in this embodiment, a single vehicle body 322 is provided on the vehicle body 321 as an example. However, the number of vehicle bodies 322 provided on the vehicle body 321 is not limited to a single one. In special applications, the vehicle body 321 may also be provided with two vehicle bodies 322. In addition, in different embodiments, the vehicle body 322 may only contain a single opening 32B, while the track 100 may only have a storage rack 200 on one side.

[0104] The transfer module 34 includes a lifting mechanism 341, a lateral movement mechanism 342, and a holding mechanism 343. The lifting mechanism 341 is disposed on the main body 32. The lifting mechanism 341 is used to raise or lower the object E located in the accommodating space 32A relative to the main body 32. In practical applications, the lifting mechanism 341 can use various methods to raise or lower the object E in the accommodating space 32A, without limitation. For example, the lifting mechanism 341 may include components such as a platform, a motor, and multiple gear sets, and the motor can be controlled by the control device 31 to drive the platform to rise or fall in the accommodating space 32A through the multiple gear sets; or, the lifting mechanism 341 may include components such as a platform and at least one pneumatic / hydraulic component, and the control device 31 can control the pneumatic / hydraulic component to raise or lower the platform in the accommodating space 32A.

[0105] A lateral moving mechanism 342 is disposed on the main body 32. The lateral moving mechanism 342 is connected to a lifting mechanism 341, which allows the lateral moving mechanism 342 to rise or fall relative to the main body 32. The lateral moving mechanism 342 is used to carry the object E to be loaded, and to move the object E located in the accommodating space 32A relative to the main body 32 along the lateral direction L2. The lateral direction is not parallel to the traveling direction L1. In practical applications, the lateral direction L2 can be perpendicular to the traveling direction L1, but is not limited to this.

[0106] In one specific application, the lateral movement mechanism 342 may include, for example, a platform 3421, a slide rail assembly 3422, and an auxiliary frame 3423. The platform 3421 is connected to the slider of the slide rail assembly 3422, and the slider can be controlled by the control device 31 to move on the slide rails of the slide rail assembly 3422. The auxiliary frame 3423 is detachably mounted on the platform 3421 and is used to support the object E to be loaded, and the width of the auxiliary frame 3423 is smaller than the width of the object E to be loaded.

[0107] The auxiliary frame 3423 may include a bottom 3423A and two holding portions 3423B. The two ends of the bottom 3423A extend to the same side to form the two holding portions 3423B, and the auxiliary frame 3423 is generally U-shaped. The object to be loaded, E, is placed at the bottom 3423A, and the two holding portions 3423B are located at the two ends of the object to be loaded, respectively. The slide rail assembly 3422 is mounted on the lifting mechanism 341. When the control device 31 controls the lifting mechanism 341 to operate, the slide rail assembly 3422, the auxiliary frame 3423, and the object to be loaded, E, mounted on the auxiliary frame 3423, will rise or fall together in the accommodating space 32A.

[0108] The control device 31 is electrically connected to the lateral movement mechanism 342, and the control device 31 can control the operation of the lateral movement mechanism 342 so that the object E carried by the platform 3421 of the lateral movement mechanism 342 leaves the accommodating space 32A through one of the openings 32B, or so that the object E originally set on the storage rack 200 enters the accommodating space 32A through one of the openings 32B. That is, the control device 31 can control the lateral movement mechanism 342 to move to the left or right side of the body 32, so that the object E carried by the lateral movement mechanism 342 leaves or enters the accommodating space 32A through any one of the openings 32B of the body 32. Of course, in different embodiments, the lateral movement mechanism 342 may also only allow the object E it carries to leave or enter the accommodating space 32A through one of the openings 32B of the body 32.

[0109] The holding mechanism 343 is used to hold the object E to be loaded in the accommodating space 32A. In one specific application, the holding mechanism 343 may include two fixed members 3431, two movable components 3432, and two clamping members 3433. The two fixed members 3431 are disposed on the body 32 and are spaced apart from each other by a predetermined distance. Each movable component 3432 is disposed on one of the fixed members 3431, and each clamping member 3433 is disposed on one of the movable components 3432. The control device 31 can control the two movable components 3432 to move relative to the fixed members 3431, thereby holding the object E to be loaded in the accommodating space 32A by the clamping members 3433.

[0110] For example, each movable component 3432 may include a slide rail and a slider. The slide rail is fixed to the carrier body 322 by a fixing member 3431, and the slider is slidably disposed on the slide rail, and the slider is fixed to the clamping member 3433. The control device 31 can control the slider of the movable component 3432 to move on the slide rail of the movable component 3432, thereby causing the clamping member 3433 to hold or de-hold the object E located on the platform 3421 of the lateral movement mechanism 342.

[0111] The control device 31 can control the holding mechanism 343, the lifting mechanism 341 and the lateral moving mechanism 342 so that the object E placed in the accommodating space 32A can be moved from the accommodating space 32A to the storage rack 200 for storage. For example, when the unmanned transport vehicle 3 moves to the storage rack 200, and the control device 31 wants to move the item E carried by the unmanned transport vehicle 3 to the storage rack 200, the control device 31 can first control the two holding mechanisms 343 to operate, so that the holding mechanisms 343 no longer hold the item E set on the platform 3421 of the lateral moving mechanism 342. Then, the control device 31 will control the lifting mechanism 341 to operate, so that the lateral moving mechanism 342 and the item E it carries will rise in the accommodating space 32A. After that, the control device 31 will control the lateral moving mechanism 342 to operate, so that the platform 3421 of the lateral moving mechanism 342 will move towards the storage rack 200, thereby moving the item E originally set on the platform 3421 of the lateral moving mechanism 342 to the storage rack 200. Conversely, the control device 31 may follow a similar process to move the object E from the storage rack 200 to the platform 3421 of the lateral moving mechanism 342.

[0112] like Figure 16 , Figure 17 and Figure 20 As shown, more specifically, the storage rack 200 may include a support body 201 and three load-bearing structures 202 connected to the support body 201. The support body 201 is used to cooperate with relevant components to suspend the storage rack 200 in the air near the ceiling in the factory. Each load-bearing structure 202 includes a notch 2021, the opening of which faces the track 100, and each notch 2021 can accommodate a portion of the auxiliary frame 3423.

[0113] When the control device 31 controls the lateral movement mechanism 342 to move toward one of the supporting structures 202, so that a portion of the auxiliary frame 3423 carrying the object to be loaded E is located in one of the notches 2021 (e.g.) Figure 20 As shown, since the width of the object to be loaded E is greater than the width of the auxiliary frame 3423, a part of the object to be loaded E will be located above the supporting structure 202. Then, when the control device 31 controls the lifting mechanism 341 to move the platform 3421 away from the storage rack 200, the auxiliary frame 3423 will separate from the object to be loaded E, and the object to be loaded E will be placed in the storage rack 200.

[0114] Conversely, when the unmanned transport vehicle 3 wants to remove the item E stored on the storage rack 200 and place it on the unmanned transport vehicle 3, the control device 31 can first control the lateral movement mechanism 342 to operate, so that the platform 3421 and the auxiliary frame 3423 are both located below the support structure 202, and the auxiliary frame 3423 is correspondingly located below the notch 2021. Then, the control device 31 will control the lifting mechanism 341 to operate, so that the platform 3421 and the auxiliary frame 3423 move towards the support structure 202, so that the auxiliary frame 3423 passes through the notch 2021 to support the item E placed on the support structure 202. In this way, the item E will be separated from the support structure 202. Then, the control device 31 can control the lateral movement mechanism 342, the lifting mechanism 341 and the holding mechanism 343 to operate in sequence, so that the platform 3421 moves into the vehicle body 321 and the item E is held by the holding mechanism 343.

[0115] The above is merely an example illustrating how the control device 31, the transfer module 34, and the storage rack 200 cooperate to place the object E, which is mounted on the unmanned transport vehicle 3, onto the storage rack 200. However, the method by which the control device 31, the transfer module 34, and the storage rack 200 cooperate to place the object E onto the storage rack 200 is not limited to the above description.

[0116] In an embodiment where the vehicle body 322 has two openings 32B and storage racks 200 are provided on both sides of the track 100, the unmanned transport vehicle 3 may include two transfer modules 34. The two transfer modules 34 are arranged side by side on the body 32, and the control device 31 can control each transfer module 34 to operate independently, so that the two transfer modules 34 can respectively store the items E to be carried with the adjacent storage racks 200.

[0117] When the unmanned transport vehicle 3 is positioned between two storage racks 200, the control device 31 can simultaneously control the two transfer modules 34 to operate, so that the two items E to be loaded can move simultaneously on the two transfer modules 34 and the two storage racks 200. Of course, in an embodiment where the unmanned transport vehicle 3 has two transfer modules 34 and two storage racks 200 are located on the same side of the track 100, the control device 31 can also control the two transfer modules 34 to operate simultaneously, so that the two transfer modules 34 cooperate with the two storage racks 200 located on the same side of the track 100, so that the two items E to be loaded can be stored simultaneously.

[0118] In other words, when the unmanned transport vehicle 3 is carrying two items E to be loaded, the control device 31 can control two transfer modules 34 to transfer the two items E to the same or different storage racks 200 simultaneously; or, when the unmanned transport vehicle 3 is not carrying any items E to be loaded, the control device 31 can control two transfer modules 34 to move the two items E placed on the storage rack 200 to the unmanned transport vehicle 3 simultaneously; or, when the unmanned transport vehicle 3 is carrying one item E to be loaded, the control device 31 can control one of the transfer modules 34 to move the item E on the unmanned transport vehicle 3 to the storage rack 200, and at the same time, the control device 31 can also control the other transfer module 34 to move the item E placed on the storage rack 200 to the unmanned transport vehicle 3.

[0119] As described above, by equipping the unmanned transport vehicle 3 with two transfer modules 34 and setting two storage racks 200 on both sides of the track 100, or setting two storage racks 200 on the same side of the track 100, the storage efficiency of the object E to be transported can be greatly improved.

[0120] In a preferred embodiment, the storage rack 200 may further include at least one positioning unit 4, and the automated guided vehicle 3 may further include at least one sensing module 35. Each sensing module 35 can sense the positioning unit 4 and generate corresponding sensing information. The control device 31 is electrically connected to the sensing module 35, and the control device 31 can control the transfer module 34 to operate based on the sensing information, so as to place the object E to be carried on the storage rack 200, or remove the object E from the storage rack 200. That is, the control device 31 can determine the relative position between the automated guided vehicle 3 and the storage rack 200 through the sensing information of the sensing module 35, so as to ensure that the lateral movement mechanism 342 can move correctly relative to the storage rack 200 to pick up and place the object E.

[0121] In one specific embodiment, the sensing module 35 may include an image capture device, and the positioning unit 4 may be a special pattern (e.g., a barcode, but not limited thereto). The special pattern may be applied to a specific location on the storage rack 200 using methods such as spraying or printing, or it may be printed on a sticker, metal sheet, or plastic sheet and fixed to the storage rack 200 by adhesive. When the control device 31 controls the drive module 33 to move the unmanned transport vehicle 3 to the storage rack 200, the control device 31 will activate the image capture device of the sensing module 35. The control device 31 can then determine whether the image capture device has captured the complete positioning unit 4 based on the image captured by the image capture device (i.e., sensing information), thereby determining whether the unmanned transport vehicle 3 has reached the correct position.

[0122] In one preferred embodiment, when the control device 31 determines, based on the sensing information, that the unmanned transport vehicle 3 is not in the correct position next to the storage rack 200, the control device 31 may, for example, execute a position correction procedure. When the control device 31 executes the position correction procedure, it first performs a first correction step: controlling the drive module 33 to move the unmanned transport vehicle 3 a predetermined distance in the first direction, and then controlling the sensing module 35 to act again to determine, based on the sensing information, whether the unmanned transport vehicle 3 is in the correct position next to the storage rack 200. If, after performing the first correction step, the control device 31 still determines that the unmanned transport vehicle 3 is not in the correct position next to the storage rack 200, the control device 31 will perform a second correction step: controlling the drive module 33 to move the unmanned transport vehicle 3 twice the predetermined distance in the second direction, and then controlling the sensing module 35 to act again to determine, based on the sensing information, whether the unmanned transport vehicle 3 is in the correct position next to the storage rack 200. If, after performing the second correction step, the control device 31 still determines that the unmanned transport vehicle 3 is not in the correct position next to the storage rack 200, the control device 31 may issue a warning signal. The first direction and the second direction are opposite to each other, and the first direction and the second direction are respectively the directions in which the unmanned transport vehicle 3 moves forward and backward along the travel direction.

[0123] As described above, the design of the sensing module 35 and positioning unit 4 ensures that the lateral moving mechanism 342 will not collide with the storage rack 200 when it is activated, and also ensures that the object E to be carried can be correctly picked up and placed. Of course, in embodiments where the unmanned transport vehicle 3 can move very precisely on the track 100, the unmanned transport vehicle 3 and the storage rack 200 may not be equipped with the sensing module 35 and positioning unit 4.

[0124] In different embodiments, the sensing module 35 may also be able to emit a detection beam (e.g., invisible light such as infrared light), while the positioning unit 4 may be a structure that can reflect the detection beam (e.g., a reflective mirror, reflective coating, reflective sticker, etc.). The sensing module 35 may also receive the detection beam, and the sensing module 35 may generate corresponding sensing information based on the detection beam it emits and the detection beam it receives.

[0125] As described above, in different embodiments, the unmanned transport vehicle 3 may also include multiple sensing modules 35, and the storage rack 200 may include multiple positioning units 4. One of the sensing modules 35 may be located at the front or rear of the vehicle body 321, while the remaining sensing modules 35 may be located adjacent to each of the lateral moving mechanisms 342. One or two of the positioning units 4 may be located at one or both ends of the storage rack 200, while the remaining positioning units 4 may be located adjacent to each of the supporting structures 202. The sensing module 35 located at the front or rear of the vehicle body 321 can cooperate with the positioning unit 4 located at one end of the storage rack 200 to confirm that the vehicle body 321 has moved to the side of the storage rack 200. The remaining sensing modules 35 can cooperate with the remaining positioning units 4 of the storage rack 200 to confirm that each lateral movement mechanism 342 is facing the notch 2021 of one of the bearing structures 202. In this way, it can be effectively ensured that the object to be carried, E, can move smoothly between the vehicle body 321 and the storage rack 200.

[0126] It should be noted that the unmanned transport vehicle 3 of this application may be manufactured, implemented or sold independently of the track 100, and the unmanned transport vehicle 3 is not limited to being manufactured, implemented or sold together with the transport system A of the aerial walk-on unmanned transport vehicle.

[0127] In summary, the aerial work platform unmanned transport vehicle system and unmanned transport vehicle of this application allow the goods to be transported to be stored in the air near the ceiling of the factory, so that the goods to be transported do not need to occupy the ground space of the factory, thereby greatly improving the overall space utilization of the factory.

[0128] It should be noted that, Figures 1-8 The examples given Figures 9-15 The examples and Figures 16-20 In the embodiments described, the three components can be implemented, manufactured, and sold independently, and any two of the three components can be combined with each other as one embodiment of implementation, manufacture, and sale. Of course, the three components can also be combined with each other as one embodiment of implementation, manufacture, and sale.

[0129] Furthermore, the unmanned transport vehicles described in the above embodiments can be applied according to actual needs. Figures 1-8 The examples given Figures 9-15 The examples or Figures 16-20 In the embodiments described herein.

[0130] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Therefore, all equivalent technical changes made using the description and drawings of this application are included within the protection scope of this application.

Claims

1. A transport system for a high-altitude mobile unmanned transport vehicle, characterized in that, The transport system of the aerial work platform unmanned transport vehicle includes: At least one track; At least one storage rack is provided adjacent to one side of the track, the storage rack being used to store at least one item to be loaded; At least one automated guided vehicle (AGV) capable of moving along the track in a direction of travel, the AGV comprising: Control device; The body includes a accommodating space for accommodating at least one of the objects to be carried; A drive module electrically connected to the control device, the drive module being disposed on the body, the drive module being used to move the body along the track; The transfer module includes: A lifting mechanism is provided on the main body, the lifting mechanism being used to raise or lower the object to be carried in the accommodating space relative to the main body; and A lateral moving mechanism is disposed on the main body and connected to the lifting mechanism. The lateral moving mechanism is used to carry the object to be loaded and to move the object to be loaded in the accommodating space relative to the main body in a lateral direction; the lateral direction is not parallel to the direction of travel. as well as A holding mechanism is disposed on the main body, the holding mechanism being used to hold the object to be loaded disposed in the accommodating space; The control device can control the holding mechanism, the lifting mechanism and the lateral moving mechanism to move the object to be loaded in the accommodating space to the storage rack for storage. The control device can control the holding mechanism, the lifting mechanism, and the lateral moving mechanism to move the object to be loaded, which is placed on the storage rack, from the storage rack to the accommodating space for storage. The lateral moving mechanism includes a platform, a slide rail assembly, and an auxiliary frame. The platform is connected to the slide rail assembly and can move relative to the main body via the slide rail assembly. The auxiliary frame is detachably mounted on the platform and is used to support the object to be loaded. The width of the auxiliary frame is smaller than the width of the object to be loaded. The storage rack includes multiple support structures, each of which includes a notch that can accommodate a portion of the auxiliary frame. When the control device controls the lateral moving mechanism to move towards one of the support structures so that a portion of the auxiliary frame carrying the object to be loaded is located in one of the notches, a portion of the object to be loaded will be positioned on the support structure. Then, the control device controls the lifting mechanism to move the platform away from the storage rack, and the object to be loaded will be placed on the storage rack.

2. The transport system of the aerial work platform unmanned transport vehicle according to claim 1, characterized in that, The body has two openings along the lateral direction, and the two openings are connected to the accommodating space; the lateral moving mechanism enables the object to be carried to leave the accommodating space through one of the openings, or enables the object to enter the accommodating space through one of the openings. The body also includes two blocking walls, which are used to prevent the object to be carried in the accommodating space from leaving the accommodating space along the direction of travel.

3. The transport system of the aerial work platform unmanned transport vehicle according to claim 2, characterized in that, The holding mechanism includes two fixed members, two movable components, and two clamping members. The two fixed members are disposed on the body and are spaced apart by a preset distance. Each movable component is disposed on one of the fixed members, and each clamping member is disposed on one of the movable components. The control device can control the two movable components to move relative to the fixed members, thereby causing each clamping member to hold or release the object to be loaded.

4. The transport system of the aerial work platform unmanned transport vehicle according to claim 2, characterized in that, At least one storage rack is provided on one side of a section of the track, and at least one storage rack is provided on the other side of a section of the track. The unmanned transport vehicle includes two transfer modules, which are arranged side by side on the main body. The control device can control each transfer module to operate independently, so that each transfer module can store the object to be carried with the adjacent storage rack.

5. The transport system of the aerial work platform unmanned transport vehicle according to claim 1, characterized in that, The storage rack includes at least one positioning unit, and the unmanned transport vehicle includes at least one sensing module. Each sensing module can sense the positioning unit and generate corresponding sensing information. The control device can control the transfer module to operate based on the sensing information, placing the object to be loaded onto the storage rack or removing the object from the storage rack. If the control device determines based on the sensing information that the unmanned transport vehicle is not in the correct position next to the storage rack, the control device can execute a position correction procedure. When the control device executes the position correction procedure, it will first perform a first correction step: controlling the drive module to operate, so that the unmanned transport vehicle moves a predetermined distance in a first direction, and then controlling the sensing module to operate again, based on the sensing information. The sensing information is used to determine whether the unmanned transport vehicle is in the correct position next to the storage rack. If the control device still determines that the unmanned transport vehicle is not in the correct position next to the storage rack after performing the first correction step, the control device will perform a second correction step: control the drive module to move the unmanned transport vehicle twice the predetermined distance in the second direction, and then control the sensing module to move again to determine whether the unmanned transport vehicle is in the correct position next to the storage rack based on the sensing information. If the control device still determines that the unmanned transport vehicle is not in the correct position next to the storage rack after performing the second correction step, the control device will issue a warning signal. The first direction and the second direction are opposite directions to each other.

6. The transport system of the aerial work platform unmanned transport vehicle according to claim 1, characterized in that, The track is defined as the main track. The transport system of the aerial work platform unmanned transport vehicle also includes a first branch track, a second branch track, and a track-changing mechanism. The track-changing mechanism connects the first connecting track and the second connecting track. The track-changing mechanism can be controlled to make the first connecting track translate and simultaneously make the second connecting track rotate, so that the main track can be connected to the first branch track or the second branch track through the first connecting track or the second connecting track.

7. The transport system of the aerial work platform unmanned transport vehicle according to claim 1, characterized in that, The track includes a sliding structure and a support structure. The sliding structure includes a first wide side, a second wide side, a first narrow side, and a second narrow side. The first wide side and the second wide side are arranged opposite to each other, and the first narrow side and the second narrow side are also arranged opposite to each other. One end of the support structure is fixedly disposed on the second wide side. The support structure and the sliding structure together form a first receiving notch and a second receiving notch, and the support structure is located between the first receiving notch and the second receiving notch. The unmanned transport vehicle includes a drive wheel and an auxiliary guide wheel module. The drive wheel can be driven to move on the first wide side. The auxiliary guide wheel module includes a frame assembly, two first guide wheels, two second guide wheels, a first side guide wheel, and a second side guide wheel. The two first guide wheels are arranged side by side, and each first guide wheel is used to move on the first wide side. The two second guide wheels are arranged side by side, and each second guide wheel is used to move on the second wide side. One of the second guide wheels is located at the first receiving notch, and the other second guide wheel is located at the second receiving notch. The first side guide wheel is disposed on the frame assembly and is used to move on the first narrow side. The second side guide wheel is disposed on the frame assembly and is used to move on the second narrow side.

8. An unmanned transport vehicle, characterized in that, The unmanned transport vehicle is applicable to a transport system of a high-altitude mobile unmanned transport vehicle. The transport system includes a track and at least one storage rack, the storage rack being disposed adjacent to one side of the track. The unmanned transport vehicle can move along the track in the direction of travel. The unmanned transport vehicle includes: Control device; The body includes a accommodating space for accommodating at least one object to be carried; A drive module electrically connected to the control device, the drive module being disposed on the body, the drive module being used to move the body along the track; A transfer module, comprising: A lifting mechanism is provided on the main body, the lifting mechanism being used to raise or lower the object to be carried in the accommodating space relative to the main body; and A lateral moving mechanism is disposed on the main body and connected to the lifting mechanism. The lateral moving mechanism is used to carry the object to be loaded and to move the object to be loaded in the accommodating space relative to the main body in a lateral direction; the lateral direction is not parallel to the direction of travel. as well as A holding mechanism is disposed on the main body, the holding mechanism being used to hold the object to be loaded disposed in the accommodating space; The control device can control the holding mechanism, the lifting mechanism and the lateral moving mechanism to move the object to be loaded in the accommodating space to the storage rack for storage. The control device can control the holding mechanism, the lifting mechanism and the lateral moving mechanism to move the object to be loaded on the storage rack to the accommodating space for storage. The lateral moving mechanism includes a platform, a slide rail assembly, and an auxiliary frame. The platform is connected to the slide rail assembly and can move relative to the main body via the slide rail assembly. The auxiliary frame is detachably mounted on the platform and is used to support the object to be loaded. The width of the auxiliary frame is smaller than the width of the object to be loaded. The storage rack includes multiple support structures, each of which includes a notch that can accommodate a portion of the auxiliary frame. When the control device controls the lateral moving mechanism to move towards one of the support structures so that a portion of the auxiliary frame carrying the object to be loaded is located in one of the notches, a portion of the object to be loaded will be positioned on the support structure. Then, the control device controls the lifting mechanism to move the platform away from the storage rack, and the object to be loaded will be placed on the storage rack.

9. The unmanned transport vehicle according to claim 8, characterized in that, The body has two openings along the lateral direction, and the two openings are connected to the accommodating space; the lateral moving mechanism enables the object to be carried to leave the accommodating space through one of the openings, or enables the object to enter the accommodating space through one of the openings. The body also includes two blocking walls, which are used to prevent the object to be carried in the accommodating space from leaving the accommodating space along the direction of travel.

10. The unmanned transport vehicle according to claim 9, characterized in that, The holding mechanism includes two fixed members, two movable components, and two clamping members. The two fixed members are disposed on the body and are spaced apart by a preset distance. Each movable component is disposed on one of the fixed members, and each clamping member is disposed on one of the movable components. The control device can control the two movable components to move relative to the fixed members, thereby causing each clamping member to hold or release the object to be loaded.

11. The unmanned transport vehicle according to claim 9, characterized in that, At least one storage rack is provided on one side of a section of the track, and at least one storage rack is provided on the other side of a section of the track. The unmanned transport vehicle includes two transfer modules, which are arranged side by side on the main body. The control device can control each transfer module to operate independently, so that each transfer module can store the object to be carried with the adjacent storage rack.

12. The unmanned transport vehicle according to claim 8, characterized in that, The storage rack includes at least one positioning unit, and the unmanned transport vehicle includes at least one sensing module. Each sensing module can sense the positioning unit and generate corresponding sensing information. The control device can control the transfer module to operate based on the sensing information, placing the object to be loaded onto the storage rack or removing the object from the storage rack. If the control device determines based on the sensing information that the unmanned transport vehicle is not in the correct position next to the storage rack, the control device can execute a position correction procedure. When the control device executes the position correction procedure, it will first perform a first correction step: controlling the drive module to operate, so that the unmanned transport vehicle moves a predetermined distance in a first direction, and then controlling the sensing module to operate again, based on the sensing information. The sensing information is used to determine whether the unmanned transport vehicle is in the correct position next to the storage rack. If the control device still determines that the unmanned transport vehicle is not in the correct position next to the storage rack after performing the first correction step, the control device will perform a second correction step: control the drive module to move the unmanned transport vehicle twice the predetermined distance in the second direction, and then control the sensing module to move again to determine whether the unmanned transport vehicle is in the correct position next to the storage rack based on the sensing information. If the control device still determines that the unmanned transport vehicle is not in the correct position next to the storage rack after performing the second correction step, the control device will issue a warning signal. The first direction and the second direction are opposite directions to each other.

13. The unmanned transport vehicle according to claim 8, characterized in that, The track includes a sliding structure and a support structure. The sliding structure includes a first wide side, a second wide side, a first narrow side, and a second narrow side. The first wide side and the second wide side are arranged opposite to each other, and the first narrow side and the second narrow side are arranged opposite to each other. One end of the support structure is fixedly disposed on the second wide side. The support structure and the sliding structure together form a first receiving notch and a second receiving notch. The support structure is located between the first receiving notch and the second receiving notch. The unmanned transport vehicle also includes a drive wheel and an auxiliary guide wheel module. The drive wheel can be driven to move on the first wide side. The auxiliary guide wheel module includes a frame assembly, two first guide wheels, two second guide wheels, a first side guide wheel, and a second side guide wheel. The two first guide wheels are arranged side by side, and each first guide wheel is used to move on the first wide side. The two second guide wheels are arranged side by side, and each second guide wheel is used to move on the second wide side. One of the second guide wheels is located at the first receiving notch, and the other second guide wheel is located at the second receiving notch. The first side guide wheel is disposed on the frame assembly and is used to move on the first narrow side. The second side guide wheel is disposed on the frame assembly and is used to move on the second narrow side.

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