Onboard loading and unloading system and cargo delivery methods

Abstract

The present invention provides a vehicle-mounted loading and unloading system and a method for delivering goods. The vehicle-mounted loading and unloading system (10) includes: a storage conveyor (12) for cyclically transporting goods (300) along a continuous transport route (Rt); and a stacker crane (50) fixedly installed inside the vehicle, which rotates the goods (300) at least about an axis parallel to the vertical direction of the vehicle, and transfers the goods (300) between a first handover position (Pf) located in the middle of the transport route (Rt) and a second handover position (Ps) separated from the first handover position (Pf) in the horizontal direction, wherein the stacker crane (50) hands over the goods (300) to the storage conveyor (12) at the first handover position (Pf).

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Japanese Patent Application No. 2022-076273, filed on May 2, 2022, the entire contents of which, including the description, claims, drawings and abstract, are incorporated herein by reference. Technical Field

[0003] This specification discloses a vehicle-mounted loading and unloading system that uses the vehicle interior as a storage location for goods and handles the entry and exit of such goods, the stacker crane used in the vehicle-mounted loading and unloading system, and the method for delivering the goods. Background Technology

[0004] Trucks and other vehicles have traditionally been used for goods delivery. The goods to be delivered are stored inside the vehicle. To efficiently deliver goods, some have proposed equipping vehicles with loading and unloading systems that automatically perform at least one of the following operations: retrieving goods from the vehicle for outbound delivery and loading goods into the vehicle for inbound delivery.

[0005] For example, Patent Document 1 discloses a vehicle comprising a shelf for placing goods, a conveyor disposed below the shelf, a stacker crane for moving goods from the shelf up, down, forward, and backward along the conveyor, and a robotic arm for delivering goods from the conveyor to a traveling robot. According to this technology, goods from the shelf are automatically retrieved and delivered to the traveling robot, thus enabling efficient delivery to a certain extent.

[0006] Prior art literature

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 2020-090151

[0009] In such existing vehicle-mounted loading and unloading systems, mobile stacker cranes that move inside the vehicle are used to retrieve goods from or load them onto the racks. For example, in the aforementioned Patent Document 1, a stacker crane that moves vertically and horizontally is also used for storing and retrieving goods.

[0010] Using such mobile stacker cranes presents a problem of reduced efficiency in utilizing vehicle interior space. Specifically, while a mobile stacker crane is in use, sufficient space must be provided within the vehicle for its movement. Furthermore, goods cannot be stored within this movement space. Ensuring such movement space within the limited space of a vehicle is wasteful, significantly reducing the efficiency of interior space utilization.

[0011] Therefore, this specification discloses a vehicle-mounted loading and unloading system that can further improve the utilization efficiency of vehicle interior space, a stacker crane used in the vehicle-mounted loading and unloading system, and a method for delivering goods. Summary of the Invention

[0012] The vehicle-mounted loading and unloading system disclosed in this specification is characterized by comprising: a storage conveyor that cyclically transports goods along a continuous transport route; and a stacker crane fixedly installed inside the vehicle, which rotates the goods at least about an axis parallel to the vertical direction of the vehicle, and transfers the goods between a first handover position located midway along the transport route and a second handover position horizontally separated from the first handover position, wherein the stacker crane hands over the goods to the storage conveyor at the first handover position.

[0013] With the aforementioned structure, the storage conveyor cyclically transports goods, thus enabling the transport of goods from any location within the storage conveyor to a first handover position, and the transport of goods picked up at the first handover position to any location within the storage conveyor. In this case, the stacker crane only needs to access the first handover position to exchange goods with the storage conveyor. In other words, according to the above structure, the storage conveyor does not need to move within the vehicle and can be fixedly installed inside the vehicle. Therefore, it is not necessary to ensure movement space for the storage conveyor within the vehicle, and correspondingly, a wider storage space for goods can be ensured. As a result, the above structure improves the utilization efficiency of the vehicle's interior space.

[0014] In this case, the stacker crane may include: a main column extending vertically along the vehicle; a hand for supporting the cargo and configured to move the cargo forward and backward in the horizontal direction; a lifting mechanism configured to move the hand up and down along the main column; and a rotating mechanism configured to rotate the hand together with the main column.

[0015] By forming the structure described above, goods supported by the hand can be rotated, raised, lowered, and moved horizontally, enabling the goods to move with a high degree of freedom.

[0016] Furthermore, the stacker crane may also include a base fixed to the floor of the vehicle, and the rotating mechanism includes: a rotating platform mounted on the base in a manner rotatable about an axis parallel to the vertical direction of the vehicle, and fastened to the main column; and a rotary motor fixed near the base to drive the rotating platform to rotate. The lifting mechanism includes: a lifting motor disposed inside the base and fixed to the rotating platform; and a belt mounted along the main column, which circulates in response to the drive of the lifting motor, and is fitted with the hand.

[0017] By forming the aforementioned structure, both the large rotary motor and the lifting motor for raising and rotating the hand can be positioned near the bottom of the vehicle. Furthermore, this lowers the stacker crane's center of gravity and improves its stability.

[0018] Furthermore, the vehicle-mounted loading and unloading system may also include an unmanned ground vehicle that picks up the goods from the stacker crane at the second handover position. The unmanned ground vehicle has: a container for storing the goods; and a ramp located inside the container, which is inclined downwards and backwards relative to the front-rear direction of the unmanned ground vehicle, allowing the goods to slide into the container. The hand has a fork plate, which is a plate for placing the goods and moving forward and backward in the horizontal direction. One or more notches are formed at the front end of the fork plate. When delivering goods from the stacker crane to the unmanned ground vehicle, the stacker crane, with the goods placed on the fork plate, lowers the fork plate after the notch of the fork plate is above the ramp, so that the top of the ramp contacts the bottom surface of the goods. Then, the fork plate moves backwards in the horizontal direction, allowing the goods to slide down the ramp.

[0019] By forming the aforementioned structure, even without complex mechanisms such as hands or elevators in the unmanned ground vehicle, goods can be smoothly delivered from the stacker crane to the unmanned ground vehicle.

[0020] In this case, it is permissible for the friction between the top of the ramp and the bottom of the cargo to be greater than the friction between the fork and the bottom of the cargo.

[0021] By forming the structure described above, when the forks are moved backward in the horizontal direction, the goods can be prevented from moving backward along with the forks, and the goods can be delivered smoothly to unmanned ground vehicles.

[0022] Furthermore, it is possible to have an upwardly protruding protrusion at the front end of the fork plate, so that when the stacker crane places the goods on the fork plate, a portion of the goods protrudes from the front end of the fork plate and is placed on the protrusion.

[0023] By forming the structure described above, it is possible to use the level of the cargo when the top is lifted as approximately horizontal.

[0024] Furthermore, the vehicle-mounted loading and unloading system may also include: a roof opening formed in the roof to allow the goods to pass through; and a relay device to enable the goods received from either the drone landing on the roof of the vehicle or the stacker crane to pass through the roof opening and be transported to the other of the drone and the stacker crane.

[0025] By setting up the relay device, the stacker crane can be lowered, which can further improve the stability of the stacker crane.

[0026] Furthermore, a stacker crane is provided for transferring goods between a first and a second handover position inside a vehicle. The stacker crane is characterized by comprising: a main column extending vertically along the vehicle; a handpiece supporting the goods and configured to allow the goods to move horizontally; a lifting mechanism configured to allow the handpiece to move up and down along the main column; a rotating mechanism configured to allow the handpiece, together with the main column, to rotate about an axis parallel to the vertical direction of the vehicle; and a base fixed to the floor of the vehicle. The rotating mechanism comprises: a turntable mounted on the base and fastened to the main column, rotatable about an axis parallel to the vertical direction of the vehicle; and a rotary motor fixed near the base to drive the turntable to rotate. The lifting mechanism comprises: a lifting motor disposed inside the base and fixed to the turntable; and a belt mounted on the handpiece, erected along the main column and cyclically moving with the drive of the lifting motor.

[0027] By forming the aforementioned structure, goods supported by the hands can be rotated, lifted, and moved horizontally, allowing for a high degree of freedom of movement. Furthermore, large rotary motors and lifting motors for lifting and rotating the hands can be positioned near the bottom of the vehicle. This lowers the stacker crane's center of gravity and improves its stability.

[0028] The cargo delivery method disclosed in this specification is a cargo delivery method for delivering goods from a stacker crane fixedly installed inside a vehicle to an unmanned ground vehicle that drives into the vehicle. The cargo delivery method is characterized in that the stacker crane has forks, which are for placing the goods and moving forward and backward in a horizontal direction. One or more notches are formed at the front end of the forks. The unmanned ground vehicle includes: a container for holding the goods; and a ramp disposed inside the container, inclined rearward and downward relative to the longitudinal direction of the unmanned ground vehicle, causing the goods to slide into the container. With the goods placed on the forks, the stacker crane lowers the forks after the notches of the forks are positioned above the ramp, so that the top of the ramp contacts the bottom surface of the goods. Then, the forks retract horizontally, causing the goods to slide down the ramp.

[0029] By forming the aforementioned structure, even without complex mechanisms such as hands or elevators in the unmanned ground vehicle, goods can be smoothly delivered from the stacker crane to the unmanned ground vehicle.

[0030] The technology disclosed in this specification can further improve the utilization efficiency of vehicle interior space. Attached Figure Description

[0031] Figure 1 It is a general three-dimensional diagram of the loading and unloading system.

[0032] Figure 2 This is a top view of the loading and unloading system.

[0033] Figure 3 It is along Figure 2 A partial cross-sectional view of line AA.

[0034] Figure 4 It is along Figure 3 A partial cross-sectional view of the BB line.

[0035] Figure 5 This is a general top view of the storage conveyor.

[0036] Figure 6 It is a 3D view of the straight-line unit and the elevator.

[0037] Figure 7 This is a 3D diagram of a right-angle turning unit.

[0038] Figure 8 It is a three-dimensional diagram of a right-angle turning unit with some of its constituent elements omitted.

[0039] Figure 9 This diagram illustrates the reason for changing the direction of travel of goods at a right angle.

[0040] Figure 10 This is a 3D view of a stacker crane.

[0041] Figure 11 This is a longitudinal section view of the stacker crane.

[0042] Figure 12 yes Figure 11 CC section diagram.

[0043] Figure 13 This is a schematic diagram showing the structure of the hand.

[0044] Figure 14A This diagram shows the state in which the hand enters the first contact position.

[0045] Figure 14B This diagram shows the state in which the hand enters the second hand-to-hand position.

[0046] Figure 15A This is a diagram of the area surrounding the relay device that raises the lifting platform.

[0047] Figure 15BThis is a 3D view of the lifting platform.

[0048] Figure 16 It is a diagram illustrating the process of delivering goods from the storage conveyor to the stacker crane.

[0049] Figure 17 This is a diagram illustrating the process of delivering goods from a stacker crane to a relay device.

[0050] Figure 18 It is a rough 3D diagram of UGV.

[0051] Figure 19 It is a diagram showing the process of delivering goods.

[0052] Figure 20A This diagram provides a more detailed explanation of state S42.

[0053] Figure 20B This diagram provides a more detailed explanation of state S42.

[0054] Figure 21A This is a diagram showing another example of a transport route.

[0055] Figure 21B This is a diagram showing another example of a transport route. Detailed Implementation

[0056] The structure of the loading and unloading system 10 will be described below with reference to the accompanying drawings. Figure 1 This is a schematic three-dimensional view of the loading and unloading system 10. Figure 2 This is a top view of the loading and unloading system 10. Furthermore, Figure 3 It is along Figure 2 A partial cross-sectional view of line AA. Figure 4 It is along Figure 3 A partial cross-sectional view of the BB line. It should be noted that in the following figures, "Fr", "Up", and "Rh" represent the front of the vehicle, the top of the vehicle, and the right side of the vehicle, respectively.

[0057] In this example, the loading and unloading system 10 is mounted on a vehicle. This vehicle collaborates with unmanned transport aircraft to transport goods 300. Unmanned transport aircraft include, for example, unmanned ground vehicles (hereinafter referred to as "UGVs") 220 that travel on the ground and transport goods 300, and drones 210 that fly and transport goods 300. It should be noted that, hereinafter, without distinguishing between UGV 220 and drone 210, they are referred to as "unmanned transport aircraft." Typically, such unmanned transport aircraft are smaller than vehicles, thus enabling them to enter private residential areas and houses, and possess excellent mobility. On the other hand, unmanned transport aircraft have a shorter range compared to vehicles. Therefore, unmanned transport aircraft are only responsible for transport from the vicinity of the delivery destination to the delivery destination. The vehicle transports goods 300 from the departure location to the vicinity of the delivery destination.

[0058] The loading and unloading system 10 stores the goods 300 inside the vehicle, picks up the goods 300 requested by the unmanned transport aircraft, and delivers them to the unmanned transport aircraft. That is, the delivery of goods 300 from the vehicle to the unmanned transport aircraft is automated through the loading and unloading system 10 without human intervention. It should be noted that the following description focuses on the case where goods 300 are delivered from the loading and unloading system 10 to the unmanned transport aircraft; however, goods 300 can also be delivered from the unmanned transport aircraft to the vehicle. That is, the unmanned transport aircraft can also pick up goods 300 from the point of origin, move to the vehicle, and deliver goods 300 to the loading and unloading system 10.

[0059] [Overall structure of the loading and unloading system]

[0060] Next, the overall structure of the loading and unloading system 10 will be briefly described. The loading and unloading system 10 is mounted on a vehicle as described above. The structure of the vehicle on which the loading and unloading system 10 is mounted is not particularly limited; typically, a box-type or truck-type vehicle capable of carrying a large quantity of cargo 300 is selected. In this example, the vehicle is a box-type with its rear end approximately vertically upright. Door openings 150 are formed on the side of the vehicle to facilitate the entry and exit of personnel and UGV 220 (see reference). Figure 2 , Figure 3 When getting on and off the UGV220, a ramp (not shown) is erected from the lower end of the door opening 150 toward the road surface. Furthermore, a rear door opening (not shown) is formed at the rear of the vehicle to facilitate loading of cargo 300.

[0061] The loading and unloading system 10 is equipped with a storage conveyor 12 for storing multiple goods 300 (in Figure 3 (Illustrations omitted), a stacker crane 50 that picks up goods 300 from the storage conveyor 12 and delivers them to the unmanned transport aircraft, and a relay device 100 that transfers goods between the stacker crane 50 and the unmanned transport aircraft 210 (in... Figure 1 Only the lifting plate 102 of the relay device 100 is shown in the diagram. Figure 2 , Figure 4(Illustration omitted) Controller 130 that manages their actions.

[0062] The storage conveyor 12 is located at the rear of the vehicle and has a horizontal upper surface capable of holding multiple goods 300. In this example, as... Figure 4 As shown, multiple (four in the example) storage conveyors 12 are stacked vertically. It should be noted that... Figure 1 To make the structure of other components easier to see, the illustrations of the storage conveyors 12 beyond the second layer are omitted. Multiple goods 300 are placed on each storage conveyor 12. Therefore, the multiple storage conveyors 12 function as shelves for storing a large number of goods 300.

[0063] Storage conveyor 12 follows a continuous transport path Rt (see reference). Figure 2 ) Circularly transporting 300 goods. (For example, by...) Figure 2 As can be clearly stated, the transport route Rt is a continuous shape as follows: after zigzagging back and forth an odd number of times (3 times in this example) in a manner that alternates between the route forward and backward, it proceeds along the width of the vehicle and returns to the starting point.

[0064] A first handover point Pf (refer to) is set at a position midway along the transport route Rt and adjacent to the stacker crane 50 for handing over goods 300 between the stacker crane 50 and the stacker crane 50. Figure 2 , Figure 4 When any item 300 is requested by the stacker crane 50, the storage conveyor 12 moves the requested item 300 along the transport path Rt to the first handover position Pf. At the first handover position Pf, an elevator 20 for handing over the item 300 is provided (see reference). Figure 2 The goods 300 are delivered to the stacker crane 50 via the elevator 20.

[0065] Stacker 50 is at the first junction position Pf and the second junction position Ps (refer to...) Figures 2-4 A device for transferring goods 300 between the stacker crane 50 and the unmanned transport vehicle. The second handover position Ps is located horizontally separated from the first handover position Pf, and is the position where goods 300 are transferred between the stacker crane 50 and the unmanned transport vehicle. In this example, the unmanned transport vehicle includes a UGV 220 that drives into the vehicle and a drone 210 that lands on the roof of the vehicle. It should be noted that... Figure 4 The illustration of UGV220 is omitted in the text. Figure 2 , Figure 4 The illustration of the drone 210 is omitted.

[0066] The second handover position Ps includes a UGV handover position Psv for handing over goods 300 between the stacker crane 50 and the UGV 220, and a UAV handover position Psd for handing over goods 300 between the stacker crane 50 and the UAV 210. However, in the case of delivering goods 300 from the stacker crane 50 to the UAV 210 or from the UAV 210 to the stacker crane 50, a relay device 100 is sandwiched between them. Therefore, the UAV handover position Psd is more accurately the position for handing over goods 300 between the stacker crane 50 and the relay device 100.

[0067] UGV uses the intersection position Psv as an example Figures 2-4 The container 224 of the UGV 220 is positioned as shown between the stacker crane 50 and the door opening 150, at approximately the same height. The handover position Psd for the drone is positioned near the ceiling of the cab and directly above the handover position Psv for the UGV. Therefore, the horizontal positions of the handover position Psv for the UGV and the handover position Psd for the drone are approximately the same.

[0068] The stacker crane 50 is fixed inside the vehicle, adjacent to the front side of the vehicle at the first handover position Pf and adjacent to the right side of the UGV handover position Psv in the vehicle width direction. The stacker crane 50 has a hand 58 for holding the cargo 300. This hand 58 can be raised and lowered in the vertical direction and can be rotated in the horizontal plane. Moreover, the hand 58 can be extended and retracted in the horizontal direction. With the cargo 300 placed in the hand 58, the hand 58 is raised, lowered, rotated, and extended and retracted, thereby transferring the cargo 300 between the first handover position Pf and the second handover positions Psv and Psd.

[0069] Drone 210 Figure 3 The vehicle lands on the roof 120 as shown. An opening 122 for the cargo 300 to pass through is formed on the roof 120. The relay device 100 is located directly below the opening 122 and directly above the UGV's handover position Psv. It should be noted that this is done to facilitate the view of other components. Figure 1 , Figure 2 , Figure 4 The diagram of the relay device 100 is omitted.

[0070] The relay device 100 delivers goods 300 picked up from the stacker crane 50 to the drone 210 or vice versa. More specifically, the relay device 100 has a lifting platform 102 configured to move inwards and outwards from the vehicle through a roof opening 122. When delivering goods 300 from the stacker crane 50 to the drone 210, the relay device 100 moves the lifting platform 102 to the upper side of the roof 120 while the goods 300 is placed on it. The drone 210 uses a hand mechanism (not shown) mounted on it to hold the goods 300 placed on the lifting platform 102. When delivering goods 300 from the drone 210 to the stacker crane 50, the reverse steps are performed.

[0071] The controller 130 controls the operation of the aforementioned storage conveyor 12, stacker crane 50, and relay device 100. The controller 130 is physically a computer having a processor 132 and a memory 134. This "computer" also includes a microcontroller that programs the computer system into an integrated circuit. Furthermore, the processor 132 refers to a processor in a broad sense, including general-purpose processors (e.g., CPU: Central Processing Unit), dedicated processors (e.g., GPU: Graphics Processing Unit, ASIC: Application Specific Integrated Circuit, FPGA: Field Programmable Gate Array, programmable logic device, etc.). The memory 134 may also include at least one of semiconductor memory (e.g., RAM, ROM, solid-state drive, etc.) and disk drive (e.g., hard disk drive, etc.). Moreover, the controller 130 does not need to be a single physical element; it can also be a combination of multiple physically separate computers.

[0072] [The movement of goods]

[0073] Next, the process of delivering specific goods 300 stored by the storage conveyor 12 to the UGV 220 and the drone 210 will be briefly described. The controller 130 determines the position of the target goods 300 within the storage conveyor 12. If the target goods 300 are not located at the first handover position Pf, the storage conveyor 12 transports the goods 300 along the transport path Rt to the first handover position Pf. Furthermore, the stacker crane 50 causes the handpiece 58 to lift, rotate, extend, and move to the first handover position Pf. Then, the goods 300 transported to the first handover position Pf by the storage conveyor 12 are delivered to the handpiece 58 that has moved to the first handover position Pf. This delivery process will be detailed later.

[0074] At the first handover position Pf, if cargo 300 is placed on the hand 58, the stacker crane 50 raises, lowers, rotates, and extends the hand 58 to move the hand 58 to the handover position Psv for UGV or the handover position Psd for UAV.

[0075] When delivering goods 300 to UGV 220, stacker crane 50 moves handpiece 58 to handover position Psv of UGV. Then, goods 300 placed in handpiece 58 are delivered to container 224 of UGV 220. The delivery procedure to UGV 220 is also described in detail later.

[0076] When delivering cargo 300 to drone 210, stacker crane 50 moves handpiece 58 to drone handover position Psd. Relay device 100 then moves lifting platform 102 to drone handover position Psd. If both handpiece 58 and lifting platform 102 reach drone handover position Psd, cargo 300 is delivered from handpiece 58 to lifting platform 102. The delivery steps for cargo 300 will be explained in detail later. Once relay device 100 receives cargo 300, it raises lifting platform 102, moving it to the upper side of roof 120. Drone 210 uses its handpiece mechanism to receive cargo 300 placed on lifting platform 102.

[0077] In a typical warehouse system, goods are stored on fixed shelves. When retrieving specific goods from these shelves, a stacker crane typically moves within the warehouse to the vicinity of the goods. In this configuration, sufficient space for the stacker crane to move within the warehouse is necessary. This is not a major issue in warehouse systems located outside vehicles with ample space. However, space is limited within vehicles. Therefore, while ensuring sufficient space for the stacker crane to move, the corresponding storage space for goods decreases, and the number of goods that can be stored inside the vehicle reduces. This leads to a decrease in the efficiency of goods transportation.

[0078] On the other hand, as clearly explained above, in this example, the goods 300 are moved along a continuous transport route Rt within the storage conveyor 12, while the stacker crane 50 itself remains stationary within the vehicle. Therefore, it is not necessary to ensure sufficient space for moving the stacker crane 50. As a result, according to this example, a wider storage space for the goods 300 can be ensured, thereby improving the transport efficiency of the goods 300.

[0079] Next, the structures of the storage conveyor 12, the stacker crane 50, and the relay device 100 will be described in detail.

[0080] [Structure of the storage conveyor]

[0081] First, the structure of the storage conveyor 12 will be described in detail. Figure 5 This is a schematic top view of the storage conveyor 12. As described above, the storage conveyor 12 cyclically transports goods 300 along a continuous transport route Rt. In this example, the transport route Rt is a continuous route that meanders back and forth an odd number of times (3 times in the example) in the vehicle's longitudinal direction before proceeding along the vehicle width and returning to the starting point. Furthermore, in this example of the transport route Rt, the direction of travel is reversed twice by making right-angle turns. By making the transport route Rt in the aforementioned shape, dead zones can be minimized, and goods can be transported cyclically. However, the shape of the transport route Rt described here is just one example; other shapes are also possible as long as goods can be transported cyclically. For example, the transport route Rt can be... Figure 21A The roughly rectangular shape shown can also be... Figure 21B The shape of the runway shown.

[0082] Such a storage conveyor 12 is constructed by combining multiple handling units. The handling units are as follows: Figure 5 As shown, the system includes a straight-line unit 16 for transporting goods 300 in a straight line and a right-angle turning unit 18 for transporting goods 300 by bending at a right angle in their direction of travel. Both the straight-line unit 16 and the right-angle turning unit 18, as described in detail later, have multiple rollers and motors that drive the rollers. The upper surfaces of each of the straight-line unit 16 and the right-angle turning unit 18 function as the transport path for the goods 300. The straight-line unit 16 and the right-angle turning unit 18 have approximately the same size and shape. Therefore, the straight-line unit 16 and the right-angle turning unit 18 do not interfere with each other and do not have large gaps, allowing them to be configured in a matrix. Furthermore, by constructing the storage conveyor 12 with such straight-line units 16 and right-angle turning units 18, the overall size and transport path Rt of the storage conveyor 12 can be easily changed simply by altering the number and arrangement of the transport units 16 and 18.

[0083] Figure 6 This is a perspective view of the straight-line unit 16 and the elevator 20. The straight-line unit 16 has multiple (five in the example) transport rollers 22 arranged in parallel. The axis of each transport roller 22 is parallel to the horizontal direction and orthogonal to the transport direction of the goods 300. Hereinafter, the axis of the transport roller 22 will be referred to as the "transport path width direction". The multiple transport rollers 22 are interlocked by multiple belts 26. Each belt 26 is installed between two adjacent transport rollers 22, transmitting the rotational power of one transport roller 22 to the other. Therefore, the multiple transport rollers 22 rotate synchronously with each other.

[0084] A conveyor motor 24 is disposed below the conveyor roller 22. A belt 26 for transmitting rotational power is also installed between the output shaft of the conveyor motor 24 and one of the conveyor rollers 22. When the conveyor motor 24 rotates in the forward direction, the multiple conveyor rollers 22 rotate in the direction of conveying the goods 300 downstream in the conveying direction. When the conveyor motor 24 rotates in the reverse direction, the multiple conveyor rollers 22 rotate in the direction of conveying the goods 300 upstream in the conveying direction.

[0085] On both sides of the straight-line unit 16, partitions 38 are provided to delineate the boundaries of the transport path for the goods 300. Furthermore, slide rails 40 are installed on the partitions 38. The slide rails 40 are longer components in the transport direction and protrude inwards in the width direction of the transport path compared to the partitions 38. Therefore, although the goods 300 abuts against the slide rails 40, it does not abut against the partitions 38. The surface of the slide rails 40 is made of a low-friction material such as polytetrafluoroethylene or fluoropolymer. By providing the slide rails 40, it is possible to prevent the goods 300 from colliding with and rubbing against the partitions 38, thus preventing deterioration.

[0086] A lift 20 is provided below the straight-moving unit 16 located at the first junction position Pf among multiple straight-moving units 16. The lift 20 has a pair of lifting rods 42. Each lifting rod 42 is a long rod in the width direction of the transport path and is narrower than the gap between two adjacent transport rollers 22. The lifting rod 42 is located at the gap between the two adjacent transport rollers 22 when viewed from above. Furthermore, the lifting rod 42 can move up and down between a retracted position lower than the straight-moving unit 16 and a raised position higher than the straight-moving unit 16. The raising and lowering of the lifting rod 42 can be performed using a straight-moving mechanism powered by an electric motor or a telescopic mechanism with a hydraulic or pneumatic cylinder.

[0087] With the cargo 300 placed on the straight-line unit 16, when a pair of lifting rods 42 rise from the retracted position to the raised position, the cargo 300 is supported by the pair of lifting rods 42 and lifted off the straight-line unit 16. If this state is achieved, the cargo 300 is delivered from the lifting rods 42 to the hand 58 of the stacker crane 50, but this will be described later.

[0088] Next, refer to Figure 7 , Figure 8 To illustrate the structure of the right-angle turning unit 18. Figure 7 This is a 3D diagram of right-angle turning unit 18. Figure 8 This is a perspective view of the right-angle turning unit 18, with some of its constituent elements omitted. The right-angle turning unit 18 changes the transport direction of the goods 300 from a first direction at a right angle to a second direction orthogonal to the first direction and transports the goods 300.

[0089] The right-angle turning unit 18 is approximately quadrilateral in plan view. Hereinafter, the corner portion of this quadrilateral located downstream in the first direction and upstream in the second direction will be referred to as "corner Pc". The right-angle turning unit 18 can be approximately divided into two regions Af and As, with the diagonal Ld passing through the corner Pc of the quadrilateral as the boundary. A plurality of first transport rollers 30f are arranged in the first region Af, which is upstream in the second direction from the diagonal Ld. The first transport rollers 30f rotate about an axis parallel to the second direction and are rollers that convey the goods 300 downstream in the first direction by rotating in the forward direction. A plurality of these first transport rollers 30f are arranged at intervals along the first direction. Furthermore, in order to substantially house the plurality of first transport rollers 30f within the first region Af, the first transport roller 30f closer to the downstream end in the first direction has a shorter axial length.

[0090] A plurality of second transport rollers 30s are arranged in a second region As located upstream of the diagonal Ld in the second direction. The second transport rollers 30s rotate about an axis parallel to the first direction and are used to convey the goods 300 downstream in the second direction by rotating in the forward direction. Multiple second transport rollers 30s are arranged at intervals along the second direction. Furthermore, to ensure that the multiple second transport rollers 30s are approximately contained within the second region As, the axial length of the second transport roller 30s closer to the upstream end in the second direction is shorter. It should be noted that the diameter of the second transport roller 30s is equal to the diameter of the first transport roller 30f, and the height of the top of the second transport roller 30s (i.e., the portion that contacts the bottom surface of the goods 300) is the same as the height of the top of the first transport roller 30f.

[0091] Within the first region Af, a plurality of (two in the example) second auxiliary rollers 32s are also arranged. The second auxiliary rollers 32s are rollers that rotate about an axis parallel to the first direction, i.e., about an axis parallel to the second transport rollers 30s. The axial dimension of the second auxiliary rollers 32s is sufficiently small compared to the gap between two adjacent first transport rollers 30f, and the second auxiliary rollers 32s are positioned within this gap. Furthermore, the diameter of the second auxiliary rollers 32s is sufficiently large compared to the diameter of the first transport rollers 30f, and the height of the top of the second auxiliary rollers 32s is equal to the height of the top of the first transport rollers 30f. By arranging the second auxiliary rollers 32s in the first region Af in this way, even after the goods 300 have just entered the right-angle turning unit 18, in other words, when the contact area between the goods 300 and the second transport rollers 30s is small, the goods 300 can still be conveyed along the second direction by the second auxiliary rollers 32s.

[0092] Within the second region As, a plurality of (two in the example) first auxiliary rollers 32f are also arranged. Each first auxiliary roller 32f is a roller that rotates about an axis parallel to the second direction, i.e., about an axis parallel to the first transport roller 30f. The axial dimension of the first auxiliary roller 32f is sufficiently small compared to the gap between two adjacent second transport rollers 30s, and the first auxiliary roller 32f is positioned within this gap. Furthermore, the diameter of the first auxiliary roller 32f is sufficiently large compared to the diameter of the second transport rollers 30s, and the height of the top of the first auxiliary roller 32f is equal to the height of the top of the second transport rollers 30s. By providing the first auxiliary rollers 32f, even when the contact area between the goods 300 and the first transport rollers 30f is small, the goods 300 can be conveyed along the first direction via these first auxiliary rollers 32f.

[0093] A first conveyor motor 34f is disposed on the lower side of the first conveying roller 30f. For example... Figure 8 As shown, the rotational power output from the first conveyor motor 34f is transmitted via belt 36 to a plurality of first transport rollers 30f and a plurality of first auxiliary rollers 32f. Consequently, the plurality of first transport rollers 30f and the plurality of first auxiliary rollers 32f rotate synchronously with each other. It should be noted that, as described above, the first auxiliary rollers 32f have a larger diameter than the second transport rollers 30s, and the center of rotation of the first auxiliary rollers 32f is located below the lower end of the second transport rollers 30s. By forming this structure, interference between the power transmission components (belt 36, etc.) connecting the first conveyor motor 34f and the first auxiliary rollers 32f and the second transport rollers 30s is unlikely to occur. As a result, the structure of the power transmission components can be simplified.

[0094] And, as Figure 7 As shown, a second conveyor motor 34s is arranged below the second conveying roller 30s. Figure 7 , Figure 8Although detailed illustrations are omitted, similar to the first conveyor motor 34f, the rotational power output from the second conveyor motor 34s is transmitted via belt 36 to multiple second conveying rollers 30s and multiple second auxiliary rollers 32s. This second conveyor motor 34s can be driven independently of the first conveyor motor 34f. Therefore, while the first conveyor motor 34f is rotating forward, the second conveyor motor 34s can rotate forward, reverse, or stop.

[0095] It should be noted that in this example, the rotational power of the conveyor motors 34f and 34s does not need to be reduced in speed before being transmitted to rollers 30f, 32f, 30s, and 32s. However, depending on the circumstances, the rotational power can be transmitted to some or all of the rollers 30f, 32f, 30s, and 32s in a reduced-speed manner. For example, the first auxiliary roller 32f has a larger diameter than the first transport roller 30f, so when their rotational speeds are the same, the circumferential speed of the first auxiliary roller 32f is greater than that of the first transport roller 30f. Alternatively, the rotational power of the first conveyor motor 34f can be reduced in speed and transmitted to the first auxiliary roller 32f so that the circumferential speeds of the two are the same, i.e., the rotational speed of the first auxiliary roller 32f is less than that of the first transport roller 30f. Furthermore, the rotational speeds of the multiple first transport rollers 30f can be varied in a manner that decreases or increases as they approach the downstream side in the first direction.

[0096] When the direction of travel of the goods 300 is reversed at a right angle, the controller 130 first rotates the first transport roller 30f and the first auxiliary roller 32f clockwise to convey the goods 300 downstream in the first direction, and then rotates the second transport roller 30s and the second auxiliary roller 32s clockwise to convey the goods 300 downstream in the second direction. It should be noted that the second transport roller 30s and the second auxiliary roller 32s can also be rotated counterclockwise in parallel with the clockwise rotation of the first transport roller 30f and the first auxiliary roller 32f. Furthermore, the first transport roller 30f and the first auxiliary roller 32f can also be rotated counterclockwise in parallel with the clockwise rotation of the second transport roller 30s and the second auxiliary roller 32s.

[0097] It should be noted that, as Figure 7 As shown, partition walls 38 are erected at the downstream end in the first direction and the upstream end in the second direction of the right-angle turning unit 18 to delineate the boundaries of the transport path. Slide rails 40 are also provided on these partition walls 38. By providing the slide rails 40, it is possible to prevent the goods 300 from colliding with and rubbing against the partition walls 38, thus preventing deterioration.

[0098] It should be noted that the right-angle turning unit 18 changes the travel direction of the goods 300 at a right angle by adjusting the rotation direction of the two types of conveying rollers 30f and 30s and the two types of auxiliary rollers 32f and 32s, as well as the drive timing. The reason for changing the travel direction of the goods 300 at a right angle is explained below. Figure 9 Let me explain.

[0099] like Figure 9 As shown, consider the scenario where the cargo is folded back approximately 180 degrees and transported. In this case, as... Figure 9 As shown in the lower section, it is also considered that the cargo 300 moves in an arc and then turns back. However, in this case, a large gap is created between the outgoing and returning paths of the cargo 300. Such a gap is a dead zone that cannot be used in the handling and storage of the cargo 300. On the other hand, as Figure 9 As shown in the upper section, when the structure is configured to allow the cargo 300 to make two right-angle turns, the gap between the outbound and return paths can theoretically be eliminated. Therefore, when the structure is configured to allow the cargo 300 to change direction at right angles, dead zones can be effectively prevented, and space utilization efficiency can be improved.

[0100] Here, each of the goods 300 is fitted with a tag (not shown) that records the goods information. A tag reader 44 (see reference) is provided in the storage conveyor 12 to read the goods information recorded on the tag. Figure 2 , Figure 4 The cargo information records the identification information of the cargo 300, the sender's information, and the destination information. By setting up the label reader 44, the cargo 300 can be properly identified. It should be noted that the number and location of the label readers 44 are not particularly limited. For example, the label reader 44 can also be located at the first handover position Pf. By setting up the label reader 44 at this location, the cargo 300 delivered to the stacker crane 50 can be clearly identified, reliably preventing the misdelivery of other cargo 300 not requested by the stacker crane 50.

[0101] It should be noted that the label installed on the goods 300 can be a printed medium that displays goods information in the form of text or a barcode, or an IC tag that records goods information electronically. When the goods information is printed in text form, the label reader 44 includes a camera for capturing and reading the text information and an OCR device. Furthermore, when the goods information is printed in barcode form, the label reader 44 includes a barcode reader for reading barcodes. And, when the label is an IC tag, the label reader 44 includes an IC reader that communicates with the IC tag and reads its information.

[0102] [Structure of Stacker Crane 50]

[0103] Next, the structure of the stacker crane 50 will be described. Figure 10 This is a 3D view of the stacker crane 50. Furthermore, Figure 11 This is a longitudinal section view of stacker crane 50. Figure 12 yes Figure 11 The diagram shows a CC section. The stacker crane 50 is fixed to the floor of the vehicle compartment. The stacker crane 50 has a first main column 56f and a second main column 56s (hereinafter referred to as "main column 56" without distinction) extending in the vertical direction of the vehicle, and a hand 58 that rotates along the main column 56 in the lifting and horizontal planes. The mechanism for lifting and rotating the hand 58 is not particularly limited. In this example, as... Figure 11 As shown, the handpiece 58 is raised and lowered using a linear mechanism that converts the rotational power of the lifting motor 66 into linear motion via a pair of pulleys 68u and 68l and a belt 70. Furthermore, in this example, a main column 56 is fixed on a turntable 54 that rotates in conjunction with the drive of the rotary motor 60, causing the handpiece 58 to rotate together with the main column 56. The structure of this stacker crane 50 will be described in detail below.

[0104] like Figure 10 , Figure 11 As shown, the stacker crane 50 has a base 52 fixed to the floor of the vehicle. The interior of the base 52 is hollow and can accommodate the lower pulley 68l and the lifting motor 66. On the upper surface of the base 52, a turntable 54 is mounted via bearings 53 so that it can rotate in a plane parallel to the upper surface of the base 52. Gears 54a (see reference) are formed on the periphery of the turntable 54. Figure 10 A gear 62 that meshes with the gear 54a of the rotary table 54 and a rotary motor 60 that rotates the gear 62 are also mounted on the upper surface of the base 52. The rotary table 54 rotates by being driven by the rotary motor 60.

[0105] like Figure 11 As shown, a support bracket 64 is fixedly attached to the bottom surface of the rotary table 54. A main column 56 stands from the upper surface of the support bracket 64. It should be noted that a hole is formed in the center of the rotary table 54 to allow the main column 56 to pass through. A lifting motor 66 is connected and fixed to the bottom surface of the support bracket 64. Furthermore, a lower pulley 68l is connected to the output shaft of the lifting motor 66. Here, the support bracket 64 is fixed to the rotary table 54 and rotates together with the rotary table 54. The main column 56 fixed to the support bracket 64 and the lifting motor 66 also rotate together with the rotary table 54.

[0106] The first main pillar 56f and the second main pillar 56s are arranged opposite each other with a belt 70 between them. An upper pulley 68u, capable of rotating about an axis parallel to the vehicle's longitudinal direction, is installed near the upper end of both the first and second main pillars 56f and 56s. Furthermore, as described above, a lifting motor 66 is arranged below the main pillar 56, and a lower pulley 68l is connected to the output shaft of this lifting motor 66. A belt 70 is strung between the upper pulley 68u and the lower pulley 68l.

[0107] like Figure 12 As shown, the hand 58 is connected to the middle of the belt 70 via the support arm 76 and the connecting plate 74. The connecting plate 74 is a plate fastened to the middle of the belt 70 and moves up and down with the belt 70. A pair of support arms 76 are fastened to both ends of the connecting plate 74. The hand 58 is fastened to the upper surface of the pair of support arms 76. Furthermore, a sliding nut 78 is fastened to the support arm 76. The sliding nut 78 has a hook that inserts into a guide rail 72 formed on the first main post 56f and the second main post 56s, and slides along the guide rail 72.

[0108] When the lower pulley 68l rotates via the lifting motor 66, the belt 70 moves cyclically, thereby connecting the plate 74 and the hand 58 to rise and fall along the main column 56. Furthermore, the hand 58 is connected to the main column 56 via the support arm 76, so when the turntable 54 rotates along with the drive of the rotary motor 60, the hand 58 also rotates with the main column 56.

[0109] Here, in order to enable the hand unit 58 to lift and rotate, relatively large and heavy lifting motor 66 and rotary motor 60 are required. In this example, both the lifting motor 66 and the rotary motor 60 are located at the lower part of the stacker crane 50. Therefore, the center of gravity of the stacker crane 50 is lowered, and the stability of the stacker crane 50 is improved. In particular, in this example, the hand unit 58 rotates together with the main column 56, so the rotary motor 60 can be installed separately from the hand unit 58, and the rotary motor 60 can be easily installed at the lower part of the stacker crane 50.

[0110] However, as long as the rigidity of the stacker crane 50 can be properly ensured, it is also possible to rotate only the handpiece 58 without rotating the main column 56. For example, an annular plate surrounding the two main columns 56f and 56s can be installed on the support arm 76, and a rotary table 54, gear 62, and rotary motor 60 can be installed on the annular plate, with the handpiece 58 installed on the rotary table 54.

[0111] Furthermore, the rotation and lifting mechanisms of the hand 58 can be modified appropriately. For example, to enable the hand 58 to lift, a linear mechanism using a ball screw can be used instead of the linear mechanism using belt 70 and pulleys 68u and 68l. Additionally, a hydraulic cylinder, pneumatic cylinder, or linear motor can be used instead of the lifting motor 66 to lift the hand 58.

[0112] Next, refer to Figure 10 , Figure 13 To explain the structure of hand part 58. Figure 13 This is a schematic diagram showing the structure of hand 58. (As shown) Figure 10 , Figure 13 As shown, the hand 58 has a base plate 86, a middle plate 84, and a fork plate 80. The hand 58 extends and retracts as a whole by sliding and moving these three plates 80, 84, and 86 together. Figure 13 The upper part shows the hand in an extended state (58). Figure 13 The lower section shows the retracted state of the hand 58. Hereinafter, the direction in which the fork plate 80 moves when transitioning from the retracted state to the extended state will be referred to as the "in-out direction", and the direction in which the fork plate 80 moves when transitioning from the extended state to the retracted state will be referred to as the "backward direction".

[0113] like Figure 10 As shown, the fork plate 80 has a central portion 80c and a pair of side portions 80s provided on both sides of the central portion 80c. The side portions 80s protrude more in the infeeding direction than the central portion 80c, and the fork plate 80 as a whole is shaped like a fork. Viewed from another angle, the fork plate 80 has a roughly rectangular notch 82 formed at its front end in the infeeding direction. The width Dh of this notch 82 is smaller than the width of the smallest of the goods 300 handled in the loading and unloading system 10. Furthermore, the width Dh of the notch 82 is smaller than the width Db of the elevator 20 formed by the two lifting rods 42 (see reference). Figure 6 Large. A protrusion 80a protruding upward is formed at the front end of the side portion 80s in the direction of entry and exit.

[0114] like Figure 13 As shown, a pair of first pulleys 90f are mounted near both ends of the base plate 86 in the forward and backward directions. A hand motor 88 is disposed on the underside of the base plate 86. The hand motor 88 is fixed relative to the base plate 86. A third pulley 90t is connected to the output shaft of the hand motor 88. A first belt 92f is mounted on the pair of first pulleys 90f and the third pulley 90t. The first belt 92f moves cyclically in response to the drive of the hand motor 88.

[0115] The intermediate plate 84 is a plate that overlaps the base plate 86 on its upper side. A pair of second pulleys 90s are installed at both ends of the intermediate plate 84 in the forward and backward directions. A second belt 92s is mounted on the pair of second pulleys 90s. Furthermore, a fork plate 80 overlaps on the upper side of the intermediate plate 84.

[0116] Here, the first fastening point P1 of the first belt 92f is fastened to the rearward end of the intermediate plate 84. The first fastening point P1 is located near the first pulley 90f on the forward / outward side of the first belt 92f in the extended state and is positioned above the rotation axis of the first pulley 90f.

[0117] Furthermore, the predetermined second fastening point P2 of the second belt 92s is fastened to the end of the base plate 86 on the forward / backward side. The second fastening point P2 is located near the second pulley 90s on the backward side of the second belt 92s in the extended state, and is positioned lower than the rotation axis of the second pulley 90s. Moreover, the predetermined third fastening point P3 of the second belt 92s is fastened to the end of the fork plate 80 on the backward side. The third fastening point P3 is located near the second pulley 90s on the backward side of the second belt 92s in the extended state, and is positioned higher than the rotation axis of the second pulley 90s. Viewed from another angle, the third fastening point P3 is located approximately 180 degrees out of phase with the second fastening point P2.

[0118] By forming the structure described above, the travel distance Sb of the fork plate 80 is twice the cyclic travel distance Sa of the first pulley 90f, thus increasing the extension and retraction range of the hand 58. For example, in the extended state, the hand motor 88 is driven to cyclically move the first belt 92f by moving the first fastening point P1 closer to the base end by a distance Sa. In this case, the intermediate plate 84 fastened to the first fastening point P1 of the first belt 92f and the fork plate 80 connected to the intermediate plate 84 move backward by a distance Sa. Furthermore, the second belt 92s is fastened to the base end plate 86 at the second fastening point P2. Therefore, when the intermediate plate 84 moves backward, the second belt 92s cyclically moves a distance Sa in order to maintain the absolute position of the second fastening point P2. As a result, the second fastening point P2 moves a distance Sa in the forward / outward direction relative to the intermediate plate 84, and the third fastening point P3, located on the opposite side of the second fastening point P2 across the second pulley 90s, moves a distance Sa in the backward direction relative to the intermediate plate 84. Furthermore, the fork plate 80, fastened to the second belt 92s at the third fastening point P3, moves a distance Sa in the backward direction relative to the intermediate plate 84. Consequently, the fork plate 80 can move a distance Sb = 2 × Sa, which is twice the cyclic movement amount Sa of the first belt 92f.

[0119] The stacker crane 50 can move the fork plate 80 into the first handover position Pf and the second handover position Ps by rotating, lifting and extending the combined hand 58. Figure 14A The diagram shows the state in which hand 58 is positioned in the first contact position Pf. Figure 14B The state in which hand 58 is brought into the second handover position Ps is shown.

[0120] When the fork plate 80 is brought into the first junction position Pf, such as Figure 14A As shown, the handpiece 58 is rotated to an angle where its extension / retraction direction is parallel to the vehicle's longitudinal direction, and then raised / lowered to the same height as the first contact position Pf, thus extending the handpiece 58. Furthermore, when the fork plate 80 enters the second contact position Ps (i.e., the UGV contact position Psv or the UAV contact position Psd), as... Figure 14B As shown, the hand 58 is rotated to an angle where the extension and retraction direction of the hand 58 is parallel to the vehicle width direction, and the hand 58 is raised and lowered to the same height as the second intersection position Ps, so that the hand 58 is extended.

[0121] As clearly stated in the above explanation, in this example, the stacker crane 50 moves goods 300 between the first handover position Pf and the second handover position Ps while fixed to the vehicle. Therefore, it is not necessary to separately ensure space for the stacker crane 50 to move, and the space inside the vehicle can be effectively utilized. It should be noted that the structure of the stacker crane 50 described above is an example. The stacker crane 50 only needs to be fixed inside the vehicle and be able to move goods 300 between the first handover position Pf and the second handover position Ps, and can be modified appropriately.

[0122] [Structure of relay device 100]

[0123] Next, refer to Figure 3 , Figure 15A , Figure 15B To illustrate the structure of the relay device 100. Figure 15A This is a diagram of the area surrounding the relay device 100 when the lifting plate 102 is raised. Furthermore, Figure 15B This is a perspective view of the lifting platform 102. The relay device 100 is, as described above, a device positioned between the stacker crane 50 and the drone 210. The relay device 100 is as follows... Figure 3 , Figure 15A As shown, it has a lifting platform 102 that moves up and down along an axis parallel to the vertical direction of the vehicle and through an opening 122 in the roof. The relay device 100 raises and lowers the cargo 300 by placing the cargo 300 on the lifting platform 102.

[0124] The lifting platform 102 is a flat plate of the size that can pass through the roof opening 122. More specifically, the lifting platform 102 is as follows: Figure 15BAs shown, the central portion 102c of the vehicle protrudes significantly towards the stacker crane 50 in the front-rear direction, having a roughly T-shaped shape when viewed from above. The central portion 102c protruding towards the stacker crane 50 in the lifting plate 102 is the size of the notch 82 that is accommodated in the fork plate 80. That is, the width Dd of the central portion 102c is smaller than the width Dh of the notch 82 in the fork plate 80.

[0125] The relay device 100 includes a lifting mechanism for raising and lowering the lifting plate 102. The lifting mechanism is not particularly limited in structure, as long as it can raise and lower the lifting plate 102 between a UAV handover position Psd lower than the roof 120 and a predetermined position higher than the roof 120. In this example, the lifting mechanism includes a fixed guide 106 fastened to the roof 120, a first frame 108 that rises and falls along the fixed guide 106, and a second frame 110 that rises and falls relative to the first frame 108.

[0126] The first frame 108 is raised and lowered, for example, using a belt-driven straight-line mechanism similar to that of the support arm 76 of the stacker crane 50. Specifically, pulleys (not shown) are mounted near the upper and lower ends of the fixed guide 106, and a belt (not shown) is mounted on these two pulleys. The first frame 108 is mechanically connected to a portion of the belt and rises and falls in sync with the belt's cyclical movement. Furthermore, an electric motor (not shown) is connected to one of the pulleys, and the first frame 108 rises and falls in sync with the electric motor's drive.

[0127] A lifting plate 102 is fixedly attached to the upper end of the second frame 110. The lifting of the second frame 110 can also utilize various linear motion mechanisms. For example, the second frame 110 can be lifted using a belt-type linear motion mechanism, similar to the support arm 76 and the first frame 108. Furthermore, the second frame 110 can also be lifted using a linear motion mechanism that converts the rotational power of the electric motor into linear motion using a ball screw, rack and pinion, or a linear motion mechanism using a hydraulic cylinder or pneumatic cylinder. Regardless of the method, this results in a two-stage lifting system where the first frame 108 and the second frame 110 lift separately, thereby preventing the overall enlargement of the relay device 100 and ensuring a large lifting stroke.

[0128] [Delivery of goods from storage conveyor to stacker crane]

[0129] Next, refer to Figure 16 To illustrate the delivery of goods 300 from storage conveyor 12 to stacker crane 50. As described above, a straight-line unit 16 and an elevator 20 are arranged at the first handover position Pf. The elevator 20 has a pair of lifting rods 42 that can pass through the gaps between adjacent transport rollers 22 and move up and down.

[0130] In the case of delivering goods 300 to stacker crane 50, controller 130, as Figure 16 As shown in state S20, the cargo 300 is pre-transported to the straight-line unit 16 at the first handover position Pf. Then, as shown in state S22, the controller 130 raises a pair of lifting rods 42 to a lifting position above the transport rollers 22. This lifts the cargo 300 from the straight-line unit 16.

[0131] If the stacker crane 50 is in this state, the controller 130 causes the forks 80 of the stacker crane 50's hand 58 to insert between the straight-through unit 16 and the cargo 300. Specifically, the controller 130 causes the hand 58 to rise and fall directly to an intermediate height position between the straight-through unit 16 and the cargo 300 while in a retracted state. Furthermore, the controller 130 rotates the hand 58 to a position where its extension / retraction direction is parallel to the vehicle's forward / backward direction. Then, the controller 130 extends the hand 58. Thus, the forks 80 of the hand 58 are inserted between the straight-through unit 16 and the cargo 300. Figure 16 State S24 illustrates this situation.

[0132] Then, as shown in state S26, controller 130 lowers the lifting boom 42 to a retracted position below the conveying roller 22. During the descent of the pair of lifting booms 42, the cargo 300 supported by the pair of lifting booms 42 is caught on the fork plate 80 and remains on the fork plate 80. In other words, the cargo 300 is delivered from the lifting booms 42 to the fork plate 80. Thus, the delivery of the cargo 300 from the storage conveyor 12 to the stacker crane 50 is completed.

[0133] It should be noted that when placing goods 300 on pallet 80, if Figure 19 As shown in state S40, a portion of the cargo 300 protrudes outward beyond the front end of the fork plate 80. That is, the bottom surface of the cargo 300 rests between the central portion 80c of the fork plate 80 and the protrusion 80a, reducing the direct contact area between the cargo 300 and the fork plate 80. This structure is designed to facilitate the delivery of the cargo 300 to the UGV220, as will be discussed later.

[0134] Furthermore, when delivering goods 300 from the stacker crane 50 to the storage conveyor 12, the reverse steps are taken. That is, in this case, the fork plate 80 on which the goods 300 are placed moves upward toward the straight-line unit 16 (S26), and then a pair of lifting rods 42 rise to lift the goods 300 (S24). Then, the fork plate 80 retracts from the first handover position Pf (S22), and the lifting rods 42 descend to a position lower than the straight-line unit 16 (S20).

[0135] Delivery of goods from the stacker crane to the relay unit

[0136] Next, refer to Figure 17 The process of delivering goods 300 from the stacker crane 50 to the relay device 100 will be described below. In this case, similar to the transfer of goods 300 with the storage conveyor 12 described above, goods 300 are delivered by vertically offsetting the fork plate 80 from the lifting plate 102. Specifically, the hand 58, which holds the goods 300, is first retracted and then raised to a position higher than the lifting plate 102. Then, the hand 58 is rotated and extended, so that the fork plate 80 is positioned above the lifting plate 102 as shown in state S30.

[0137] Next, the controller 130 raises the lifting platform 102 to a position above the fork plate 80. At this time, the central portion 102c of the lifting platform 102 passes through the notch 82 of the fork plate 80. On the other hand, the cargo 300 is caught by the lifting platform 102 as shown in state S34 and lifted from the fork plate 80. Thus, the delivery of the cargo 300 from the stacker crane 50 to the relay device 100 is completed. The relay device 100 then raises the lifting platform 102 further to move the cargo 300 to the top of the vehicle roof 120. Finally, the cargo 300 is delivered to the drone 210. When delivering the cargo 300 from the relay device 100 to the stacker crane 50, the steps described above are reversed.

[0138] Thus, in this example, when delivering goods 300 from stacker crane 50 to drone 210 or from drone 210 to stacker crane 50, the relay device 100 is centered. This allows the maximum upward position of the handpiece 58 to be suppressed to below the roof 120, thereby reducing the height of stacker crane 50. Furthermore, by reducing the height of stacker crane 50, its center of gravity is lowered, further improving the stability of stacker crane 50 inside the vehicle.

[0139] [Delivery of goods from stacker crane to UGV]

[0140] Next, the delivery of goods 300 from stacker crane 50 to UGV220 will be described. First, the UGV220 used in this example will be briefly explained. Figure 18 This is a rough 3D view of UGV220.

[0141] The UGV220 has a driving unit 222 and a container 224 for storing cargo 300. The driving unit 222 is a unit capable of autonomous driving when the container 224 is mounted. The structure of the driving unit 222 is not particularly limited; for example, the driving unit 222 may also have wheels, an electric motor that applies power to the wheels, a battery that supplies power to the electric motor, a steering mechanism that steers the wheels, and a control device that drives and controls them.

[0142] Container 224 is a container fixed to the upper side of the traveling unit 222 and used to store cargo 300. Container 224 can be roughly divided into a box-shaped body 226 and a lid 228. The box-shaped body 226 is a box-shaped container with a large opening at the top. A pair of ramps 230 stand from the bottom wall 226b of the box-shaped body 226. The ramp 230 is a right-angled triangular plate with a downward-sloping side. The upper front vertex of the ramp 230 protrudes upwards from the upper end of the front wall 226f of the box-shaped body 226. This vertex functions as a contact portion 232 that first contacts the bottom surface of the cargo 300 when receiving the cargo 300. The surface of the contact portion 232 has an anti-slip function that generates high friction between it and the bottom surface of the cargo 300. To achieve the anti-slip function, the surface or the entirety of the contact portion 232 can be made of soft or elastic materials such as rubber or polyurethane gel, or the surface of the contact portion 232 can be formed with uneven surfaces to increase friction.

[0143] The cover 228 covers the upper opening of the box-shaped body 226, making it openable and closable. The structure of the cover 228 is not particularly limited. In this example, the cover 228 is connected to the rear wall 226r of the box-shaped body 226 via a hinge (not shown), and the box-shaped body 226 is opened and closed by rotating around this hinge. The opening and closing action of the cover 228 is electrically actuated using an electric motor or the like.

[0144] Next, refer to Figure 19 , Figure 20A , Figure 20B This describes the process of delivering goods 300 from stacker crane 50 to UGV220. Figure 19 This is a diagram showing the delivery process of goods 300. Figure 20A , Figure 20B This diagram provides a more detailed explanation of state S42. It should be noted that... Figure 19 In Figure 20, the left and right directions on the paper represent the extension and retraction directions of the hand 58, and the front and back directions of the UGV220.

[0145] When delivering goods 300 to the UGV220, the UGV220 opens the cover 228 as shown in state S40, having moved to a predetermined position inside the vehicle. Meanwhile, the controller 130 rotates, raises, lowers, and extends the handpiece 58, positioning the fork plate 80 directly above the ramp plate 230. At this time, the UGV220 adjusts its position so that the contact portion 232 of the ramp plate 230 is directly below the notch 82 of the fork plate 80 and near the rearward-direction end of the goods 300.

[0146] Next, the controller 130 lowers the handpiece 58 as shown in state S42 until the bottom surface of the cargo 300 contacts the contact portion 232 of the ramp 230. Here, as described above, the cargo 300 straddles the center portion 80c and the protrusion 80a of the fork plate 80. In this state, when the contact point contacts the bottom surface of the cargo 300, the cargo 300... Figure 20A As shown, it becomes raised from the central part 80c and straddles the protrusion 80a of the ramp plate 230 and the fork plate 80.

[0147] If this state is achieved, the controller 130 retracts the hand 58. At this time, the cargo 300 comes into contact with the contact portion 232 of the ramp 230. The frictional force between the contact portion 232 and the cargo 300 is sufficiently greater than the frictional force between the protrusion 80a and the cargo 300. Therefore, when the hand 58 is retracted, the cargo 300 does not slide relative to the ramp 230 and intends to remain in place. As a result, the fork plate 80 slides on the bottom surface of the cargo 300 while retracting towards the base end in the extension direction. Figure 20B This shows the situation at this time.

[0148] Through the contraction progression of hand 58, eventually as Figure 19 As shown in state S44, the contact between the protrusion 80a of the fork plate 80 and the cargo 300 is eliminated, and the cargo 300 is supported only by the contact portion 232 of the ramp plate 230. However, with only the contact portion 232, it is difficult to keep the cargo 300 horizontal. Therefore, the cargo 300 falls towards the ramp plate 230 as shown in state S44. Then, as shown in state S46, the cargo 300 slides down the ramp plate 230 due to gravity and is stored in the box-shaped body 226. Finally, if the cover 228 is closed, the delivery of the cargo 300 to the UGV 220 is completed.

[0149] As clearly stated in the above description, in this example, a ramp 230 is provided in the container 224 of the UGV220, allowing the goods 300 to slide down along the ramp 230, thereby delivering the goods 300 to the UGV220. In other words, according to this example, complex mechanisms such as elevators and hand mechanisms are not required on the UGV220 side. As a result, the structure of the UGV220 can be simplified, and the price of the UGV220 can be kept lower.

[0150] It should be noted that in this example, a protrusion 80a is provided at the front end of the fork plate 80. Therefore, as... Figure 20A as well as Figure 20BAs shown, the contact portion 232 can be used to lift the cargo 300 to a substantially horizontal position. Furthermore, this prevents the cargo 300 from falling off the fork plate 80. That is, without the protrusion 80a, when the cargo 300 is lifted using the contact portion 232, the cargo 300 tilts backward and downward relative to the front-rear direction of the UGV 220. This tilt angle becomes steeper as the fork plate 80 moves backward and the distance between the front end of the fork plate 80 and the contact portion 232 decreases. Figure 20B The double-dotted line in the diagram illustrates the cargo 300 without the protrusion 80a. Therefore, without the protrusion 80a, the tilt of the cargo 300 becomes steeper before the fork 80 retracts sufficiently, and the cargo 300 may fall off the fork 80. In this case, the impact on the cargo 300 increases. On the other hand, when the protrusion 80a is provided as in this example and the cargo 300 is lifted to a horizontal position using the contact portion 232, a horizontal state can be maintained before the fork 80 retracts sufficiently. Furthermore, if the protrusion 80a is located near the apex of the contact portion 232, the cargo 300 tilts towards the ramp 230 with the protrusion 80a located near the apex of the contact portion 232 as a fulcrum. In this case, the impact on the cargo 300 can be minimized.

[0151] It should be noted that the structures described so far are all examples. As long as it has at least a storage conveyor 12 for cyclically transporting goods 300 and a stacker crane 50 fixedly installed inside the vehicle and transferring goods 300 between the first handover position Pf and the second handover position Ps, other structures can be modified. For example, the specific structures of the storage conveyor 12 and the stacker crane 50 can also be changed. Therefore, the storage conveyor 12 can also be a belt conveyor. Furthermore, the storage conveyor 12 can also be a structure that does not cause the goods 300 to change direction at a right angle. Furthermore, the stacker crane 50 can also be a structure that delivers goods 300 directly to the drone 210 without going through the relay device 100. Moreover, the structure of the UGV 220 can also be modified appropriately. Therefore, a lift and a hand mechanism can also be installed in the UGV 220 to transfer goods 300 between it and the stacker crane 50.

[0152] Explanation of reference numerals in the attached figures

[0153] 10 Loading and unloading system, 12 Storage conveyor, 16 Straight-line unit, 18 Right-angle turning unit, 20 Elevator, 22 Transport roller, 24 Conveyor motor, 26, 36 Belt, 30f First transport roller, 30s Second transport roller, 32f First auxiliary roller, 32s Second auxiliary roller, 34f First conveyor motor, 34s ​​Second conveyor motor, 38 Partition wall, 40 Slide rail, 42 Lifting rod, 44 Label reader, 50 Stacker, 52 Base, 53 Bearing, 54 Rotary table, 54a Gear, 56f First main column, 56s Second main column, 58 Hand, 60 Rotary motor, 62 Gear, 64 Support bracket, 66 Lifting motor, 68l Lower belt Wheel, 68u upper pulley, 70 belt, 72 guide rail, 74 connecting plate, 76 support arm, 78 sliding nut, 80 fork plate, 80a protrusion, 80c central part, 80s side part, 82 notch, 84 intermediate plate, 86 base end plate, 88 hand motor, 90f first pulley, 90s second pulley, 90t third pulley, 92f first belt, 92s second belt, 100 relay device, 102 lifting plate, 102c central part, 106 fixed guide, 108 first frame, 110 second frame, 120 roof, 122 roof opening, 130 controller, 132 processor, 134 memory, 150 door opening, 210 drone, 220 UGV, 222 Driving Unit, 224 Container, 226 Box-shaped Body, 228 Cover, 230 Ramp Plate, 232 Contact Part, 300 Cargo, Pf First Handover Position, Ps Second Handover Position, Psd Handover Position for UAV, Psv Handover Position for UGV, Rt Transport Route

Claims

1. A vehicle-mounted loading and unloading system, characterized in that, have: Storage conveyors circulate goods along a continuous transport route; and A stacker crane, fixedly installed inside a vehicle, allows the goods to rotate at least around an axis parallel to the vertical direction of the vehicle, and transfers the goods between a first junction point located midway along the transport route and a second junction point horizontally separated from the first junction point. The stacker crane transfers the goods between itself and the storage conveyor at the first handover position. The stacker crane includes: Main pillars extend along the vertical direction of the vehicle; The hand supports the cargo and is configured to allow the cargo to move forward and backward in the horizontal direction; A lifting mechanism is configured to allow the hand to move up and down along the main column; and The rotating mechanism is configured to allow the hand to rotate together with the main column. The vehicle-mounted loading and unloading system also includes an unmanned ground vehicle that picks up the goods from the stacker crane at the second handover location. The unmanned ground vehicle has the following features: Container for storing the goods; as well as A ramp, located inside the container, slopes downwards and backwards relative to the longitudinal direction of the unmanned ground vehicle, causing the goods to slide into the container. The hand has a fork plate, which is used to place the goods and move forward and backward in a horizontal direction. One or more notches are formed at the front end of the fork plate. When delivering goods from the stacker crane to the unmanned ground vehicle, the stacker crane, with the goods placed on the forks and the notches of the forks positioned above the ramp, lowers the forks so that the top of the ramp contacts the bottom surface of the goods. Then, the forks retract horizontally, causing the goods to slide down the ramp. The continuous transport route is configured such that the route proceeding towards the rear of the vehicle and the route proceeding towards the front of the vehicle are alternately repeated in a zigzag pattern an odd number of times, before proceeding along the width of the vehicle and returning to the starting point.

2. The vehicle-mounted loading and unloading system according to claim 1, characterized in that, The stacker crane also has a base fixed to the floor of the vehicle. The rotating mechanism includes: A rotary table, mounted on the base in a manner capable of rotating about an axis parallel to the vertical direction of the vehicle, is secured to the main column; and A rotary electric motor, fixed near the base, drives the rotary table to rotate. The lifting mechanism has the following features: A lifting motor, disposed inside the base and fixed to the rotary table; and The belt, which is erected along the main column, moves cyclically in response to the drive of the lifting motor and is fitted with the handpiece.

3. The vehicle-mounted loading and unloading system according to claim 1, characterized in that, The friction between the top of the ramp and the bottom of the cargo is greater than the friction between the fork and the bottom of the cargo.

4. The vehicle-mounted loading and unloading system according to claim 1, characterized in that, The fork plate has an upward protrusion at its front end. When the stacker crane places the goods on the fork plate, a portion of the goods protrudes from the front end of the fork plate and is placed on the protrusion.

5. A method for delivering goods, comprising delivering goods from a stacker crane fixedly installed inside a vehicle to an unmanned ground vehicle that drives into the vehicle, characterized in that... The stacker crane has forks, which are plates for placing the goods and moving forward and backward in a horizontal direction. One or more notches are formed at the front end of the forks. The unmanned ground vehicle has the following features: Container for holding the goods; and A ramp, located inside the container, slopes downwards and backwards relative to the longitudinal direction of the unmanned ground vehicle, causing the goods to slide into the container. When the stacker crane places the goods on the fork plate, and after the notch of the fork plate is above the ramp, the fork plate is lowered so that the top of the ramp contacts the bottom surface of the goods. Then the fork plate is moved backward in a horizontal direction to allow the goods to slide down the ramp.

Images