Conveying systems, unmanned transport vehicles, and control methods for unmanned transport vehicles

Abstract

This invention relates to a conveying system, an unmanned transport vehicle, and a control method for the unmanned transport vehicle. The conveying system includes: a transported object that is elongated in a top view; a worktable on which the transported object is disposed; and an unmanned transport vehicle that includes a lifting platform for carrying the transported object and automatically travels along a predetermined path. The unmanned transport vehicle has: an overall length in a top view that is shorter than the dimension along the long side of the transported object, and a width in a top view that is shorter than the dimension along the short side of the transported object. The unmanned transport vehicle performs a first direction-changing action while submerged beneath the transported object, changing its direction of travel so that its direction of travel is parallel to the long side of the transported object.

Description

Technical Field

[0001] One aspect of the present invention relates to a conveying system, an unmanned conveyor vehicle, and a control method for the unmanned conveyor vehicle. Background Technology

[0002] It is known to have a transport system comprising a transported object, a worktable for arranging the transported object, and a lifting platform containing the transported object, which automatically travels along a predetermined path. As such technology, for example, Patent Document 1 discloses a system that includes an unmanned vehicle that can penetrate under a transport trolley (the transported object) and raise the transport trolley, thereby transporting the transport trolley to a destination indicated from the outside.

[0003] Patent Document 1: Japanese Patent Application Publication No. 9-185413

[0004] In such a conveying system, the object to be conveyed, which appears as a long strip in top view, is sometimes placed on the lifting platform of an unmanned transport vehicle and transported. In this case, for example, when the unmanned transport vehicle is traveling through a narrow passage, if the object is placed on the lifting platform with its long side aligned with the width of the passage, it will severely block the passage and may easily become an obstacle to passage. Summary of the Invention

[0005] Therefore, one aspect of the present invention is to provide a conveying system, an unmanned conveyor, and a control method for the unmanned conveyor that can prevent the unmanned conveyor from becoming an obstacle to passage during the conveying of the conveyed object.

[0006] One aspect of the present invention provides a conveying system comprising: a conveyed object, which is elongated in a top view; a worktable on which the conveyed object is disposed; and an unmanned conveyor vehicle, which includes a lifting platform for carrying the conveyed object and automatically travels along a predetermined travel path. The unmanned conveyor vehicle has: a total vehicle length shorter than the dimension along the long side of the conveyed object in a top view, and a vehicle width shorter than the dimension along the short side of the conveyed object in a top view. The unmanned conveyor vehicle performs a first direction-of-travel change action, which is an action of changing the direction of travel of the unmanned conveyor vehicle in a manner that the direction of travel of the unmanned conveyor vehicle is parallel to the long side of the conveyed object while the unmanned conveyor vehicle is submerged under the conveyed object.

[0007] In this conveying system, a change in the first direction of travel can be made so that the long side of the item being conveyed by the automated transport vehicle is parallel to the direction of travel of the automated transport vehicle (hereinafter also simply referred to as the "direction of travel"). Therefore, even when the automated transport vehicle is traveling in a narrow passage, for example, the length of the item being conveyed in the width direction of the passage can be reduced. As a result, it is possible to prevent the automated transport vehicle from becoming an obstacle to passage during the conveying of the item.

[0008] In one aspect of the conveying system of the present invention, the first direction-of-travel change operation can also be performed after the unmanned transport vehicle enters the workbench from the predetermined travel path and during the period from the workbench back to the predetermined travel path. In this case, after the unmanned transport vehicle enters the workbench and returns to the predetermined travel path, since the first direction-of-travel change operation has been completed and the long side direction of the transported item is parallel to the direction of travel, the unmanned transport vehicle can be reliably prevented from becoming an obstacle to passage. Here, the predetermined travel path can be a path planned each time the unmanned transport vehicle autonomously travels on the path from the current location to the destination, or it can be a path planned by the user of the unmanned transport vehicle and the conveying system and then used continuously.

[0009] In one aspect of the conveying system of the present invention, the unmanned conveyor vehicle can also perform an entry action from one side or the other side in the short side direction under the conveyed object. Thus, the unmanned conveyor vehicle can smoothly enter under the conveyed object.

[0010] In one aspect of the conveying system of the present invention, the unmanned conveyor vehicle can also, while removing the conveyed item from the workbench, perform an entry action to enter below the conveyed item positioned on the workbench, perform a first direction-of-travel change action, connect with the conveyed item by raising the lifting platform and placing it on the lifting platform, and exit from the workbench together with the conveyed item. In this case, the long side of the conveyed item transported by the unmanned conveyor vehicle can be made parallel to the direction of travel, and the conveyed item can be easily removed from a workbench where there are no obstacles around.

[0011] In one aspect of the conveying system of the present invention, the unmanned conveyor can also, while removing the conveyed item from the workbench, perform an entry action to enter below the conveyed item positioned on the workbench. This involves raising the lifting platform and placing the conveyed item on it, connecting with the conveyed item, exiting the workbench together with the conveyed item, and separating the conveyed item by lowering the lifting platform and unloading it. A first direction-of-travel change action is then performed, raising the lifting platform and placing the conveyed item on it, connecting with the conveyed item. In this case, the long side of the conveyed item transported by the unmanned conveyor can be parallel to the direction of travel, and the conveyed item can be easily removed from the workbench where there are surrounding obstacles.

[0012] In one aspect of the conveying system of the present invention, during the first change of travel direction, a rotational steering mechanism can also be implemented to rotate the unmanned conveyor vehicle in place. In this case, the rotational steering mechanism can be used to make the travel direction of the unmanned conveyor vehicle parallel to the long side direction of the conveyed object.

[0013] In one aspect of the conveying system of the present invention, the unmanned transport vehicle can also perform a second direction-of-travel change action. This second direction-of-travel change action is performed when the unmanned transport vehicle is positioned below the transported item, and its direction of travel is changed so that the direction of travel of the unmanned transport vehicle is parallel to the short side direction of the transported item. Therefore, the unmanned transport vehicle can easily move the transported item into various types of workbenches using this second direction-of-travel change action.

[0014] In one aspect of the conveying system of the present invention, the unmanned conveyor can also perform an exit action from one side or the other side in the short side direction below the conveyed object. Thus, the unmanned conveyor can smoothly exit from below the conveyed object.

[0015] In one aspect of the conveying system of the present invention, the unmanned conveyor vehicle (UAV) is connected to the conveyed object by placing the object on a lifting platform with its travel direction parallel to the long side direction of the object being conveyed. When the object is being moved onto a workbench, the UAV can also enter the workbench along with the object. By lowering the lifting platform and unloading the object from it, the object is separated, a second travel direction change is performed, and an exit action is performed to exit the workbench. In this case, the long side direction of the object being conveyed by the UAV can be made parallel to the travel direction, and the object can be easily moved onto a workbench where there are no obstacles around it.

[0016] In one aspect of the conveying system of the present invention, the unmanned conveyor vehicle (UAV) is connected to the conveyed object by placing the object on a lifting platform in a manner where its travel direction is parallel to the long side direction of the object being conveyed. When the object is being moved onto a worktable, the UAV can also separate the object by lowering the lifting platform and unloading it, performing a second travel direction change operation; or by raising the lifting platform and placing the object on it, connecting it to the object, and moving it onto the worktable together; or by lowering the lifting platform and unloading it, separating the object and performing an exit operation to exit the worktable. In this case, the long side direction of the object being conveyed by the UAV can be made parallel to the travel direction, and the object can be easily moved onto a worktable where there are surrounding obstacles.

[0017] In one aspect of the conveying system of the present invention, during the second direction-of-travel change operation, a rotational steering mechanism can be implemented to rotate the unmanned conveyor vehicle in place. In this case, the rotational steering mechanism can be used to make the direction of travel of the unmanned conveyor vehicle parallel to the short side direction of the conveyed object.

[0018] In one aspect of the conveying system of the present invention, the conveyed item may also be a trolley carrying stacked items. In this case, the above-mentioned effects can be achieved in a system that transports the trolley by an unmanned transport vehicle.

[0019] One aspect of the present invention is an unmanned transport vehicle comprising a lifting platform for transporting an object that is elongated in a top view, and which automatically travels along a predetermined travel path. The unmanned transport vehicle has: a total vehicle length that is shorter than the dimension along the long side of the object being transported in a top view, and a vehicle width that is shorter than the dimension along the short side of the object being transported in a top view. The unmanned transport vehicle performs a first direction-of-travel change action, which is to change the direction of travel of the unmanned transport vehicle in a manner in which the direction of travel of the unmanned transport vehicle is parallel to the long side of the object being transported, while the unmanned transport vehicle is submerged under the object being transported.

[0020] In this unmanned transport vehicle, the long side of the transported item can be made parallel to the direction of travel by changing the direction of travel. This prevents the unmanned transport vehicle from becoming an obstacle to passage during the transport process.

[0021] One aspect of the present invention is a method for controlling the movement of an unmanned transport vehicle. The unmanned transport vehicle includes a lifting platform that carries a transported object that is elongated in a top view, and the unmanned transport vehicle automatically travels along a predetermined travel path. The unmanned transport vehicle has a total body length that is shorter than the dimension along the long side of the transported object in a top view, and a body width that is shorter than the dimension along the short side of the transported object in a top view. The control method of the unmanned transport vehicle includes a first travel direction changing step: when the unmanned transport vehicle is submerged under the transported object, changing the travel direction of the unmanned transport vehicle in such a way that the travel direction of the unmanned transport vehicle is parallel to the long side of the transported object.

[0022] In this control method for the unmanned transport vehicle, a first direction-changing step can be used to make the long side of the transported item parallel to the direction of travel. This can prevent the unmanned transport vehicle from becoming an obstacle to passage during the transport of the item.

[0023] According to one aspect of the present invention, a conveying system, an unmanned conveyor, and a control method for the unmanned conveyor can be provided that can prevent the unmanned conveyor from becoming an obstacle to passage during the conveying of the conveyed object. Attached Figure Description

[0024] Figure 1 This is a simplified structural diagram of the conveying system according to the implementation method.

[0025] Figure 2 It means Figure 1 A 3D model of a small car.

[0026] Figure 3 It means Figure 1 A bottom view of the car.

[0027] Figure 4 It means Figure 1 The front view of an example of the interior structure of a car.

[0028] Figure 5 It means Figure 1 A 3D view of the workbench.

[0029] Figure 6 It means Figure 1 A 3D view of the unmanned transport vehicle.

[0030] Figure 7 It means it has been removed. Figure 1 A 3D view of the state of the cover of the unmanned delivery vehicle.

[0031] Figure 8 It means Figure 1 A block diagram of the structure of the unmanned transport vehicle.

[0032] Figure 9 It means by Figure 1 A 3D view of the unmanned transport vehicle transporting the small car.

[0033] Figure 10 (a) is a schematic diagram illustrating the action of the unmanned transport vehicle when the trolley is moved out from the workbench. Figure 10 (b) means Figure 10 A subsequent schematic diagram of (a).

[0034] Figure 11 (a) means Figure 10 The following diagram is a continuation of (b). Figure 11 (b) means Figure 11 A subsequent schematic diagram of (a).

[0035] Figure 12 (a) means Figure 11 The following diagram is a continuation of (b). Figure 12 (b) means Figure 12 A subsequent schematic diagram of (a).

[0036] Figure 13 (a) is a schematic diagram illustrating other actions of the unmanned transport vehicle when the trolley is moved out from the workbench. Figure 13 (b) means Figure 13 A subsequent schematic diagram of (a). Figure 13 (c) means Figure 13 The following diagram is a continuation of (b).

[0037] Figure 14 (a) means Figure 13 A subsequent schematic diagram of (c). Figure 14 (b) means Figure 14 A subsequent schematic diagram of (a).

[0038] Figure 15 (a) is a schematic diagram illustrating the action of the unmanned transport vehicle when a trolley is moved onto the workbench. Figure 15 (b) means Figure 15 A subsequent schematic diagram of (a).

[0039] Figure 16 (a) means Figure 15 The following diagram is a continuation of (b). Figure 16 (b) means Figure 16 A subsequent schematic diagram of (a).

[0040] Figure 17 (a) means Figure 16 The following diagram is a continuation of (b). Figure 17 (b) means Figure 17 A subsequent schematic diagram of (a).

[0041] Figure 18 (a) is a schematic diagram illustrating other actions of the unmanned transport vehicle when moving a trolley onto the workbench. Figure 18 (b) means Figure 18 A subsequent schematic diagram of (a). Figure 18 (c) means Figure 18 The following diagram is a continuation of (b).

[0042] Figure 19 (a) means Figure 18 A subsequent schematic diagram of (c). Figure 19 (b) means Figure 19 A subsequent schematic diagram of (a). Detailed Implementation

[0043] The embodiments will now be described with reference to the accompanying drawings. In the description of the drawings, the same reference numerals are used to denote the same components, and repeated descriptions are omitted. The terms "upper" and "lower" correspond to the vertical direction.

[0044] Figure 1 This is a simplified structural diagram illustrating the conveying system 1 of the implementation method. (Example) Figure 1 As shown, the conveying system 1 is installed indoors, such as in a hospital, to automatically transport carts (transported items) 10 between multiple departments D. The conveying system 1 includes multiple carts 10, multiple workbenches 20, multiple unmanned conveyor vehicles 30, a system controller 40, multiple access points 50, and multiple operating terminals 60.

[0045] Figure 2 It means Figure 1 A 3D image of car 10. Figure 3 It means Figure 1 A bottom view of the car 10. Figure 4 It means Figure 1 A front view of an example of the internal structure of a small car 10. (See example...) Figure 2 as well as Figure 4 As shown, cart 10 is a trolley for storing items. Cart 10 is a rectangular cart unit in the top view (viewed from above). In other words, cart 10 is a dedicated rectangular cart for carrying items. Hereinafter, the long side of cart 10 will sometimes be referred to as the "long side direction", and the short side of cart 10 will sometimes be referred to as the "short side direction".

[0046] For example, the cart 10 has a rectangular shape with a width of 800 mm, a length of 900 mm, and a height of 1400 mm. The cart 10 can also be used as a hand-pushed trolley. There is no particular limitation on the number of carts 10 used in the conveyor system 1, but it can be, for example, 100 to 1000. Items stored in the cart 10 can include, for example, specimens, injectable drugs, sterilization equipment (sterilization containers and recycling containers, etc.), medical materials (ME (Medical Engineering) equipment, etc.).

[0047] The cart 10 has a frame 11, a handle 12, a gate 13, and casters 14. The frame 11 has a rectangular box shape. An opening 11h is provided on one side of the frame 11 along its shorter side. The interior of the frame 11 can be accessed through the opening 11h. Inside the frame 11, for example, multiple tray receiving hooks are provided in appropriate positions to hook and support the edge of a tray TR containing items. Furthermore, a shelf for holding items can also be provided in appropriate positions inside the frame 11. Figure 3 As shown, a plurality of recesses 11x are provided on the bottom surface of the frame 11 for engaging with the positioning pins 32a (described later) of the unmanned transport vehicles 30. The recesses 11x are located on the bottom surface of the frame 11 at the four vertices of a square formed by the sides along the long and short sides (90° symmetrical rotation).

[0048] like Figure 2 As shown, handle 12 is, for example, the part that the user holds. Handle 12 is a rod-shaped component extending in the vertical direction. Handle 12 is located at the four corners of the frame 11, near the center in the vertical direction. Gate 13 is configured to close the opening 11h of the frame 11. Gate 13 is, for example, a top-bottom gate in which slats made of corrugated, elongated plate-like components are housed at the top. Gate 13 is closed by lowering the slats from top to bottom, and open by raising the slats from bottom to top. Casters 14 are provided at the four corners of the lower surface of the frame 11. Casters 14 are configured to rotate 360° about an axis in the vertical direction. Flexible casters are, for example, used as casters 14.

[0049] Figure 5 It means Figure 1 A 3D view of workbench 20. (See diagram below.) Figure 5 As shown, workbench 20 is the area where the trolley 10 is configured. Workbench 20 is divided by position markers 21 on the floor F. In the top view, workbench 20 has a rectangular shape corresponding to the trolley 10. A trolley 10 can be configured on workbench 20. Workbench 20 is, for example, in a department D (see reference). Figure 1 There are multiple worktables 20 in the conveyor system 1. The number of worktables 20 set in the conveyor system 1 is not particularly limited.

[0050] Figure 6 It means Figure 1 A 3D view of the unmanned transport vehicle 30. Figure 7 It means it has been removed. Figure 1 A 3D view of the unmanned transport vehicle 30 with its cover 31 in a specific state. Figure 8 It means Figure 1 A block diagram of the structure of the unmanned transport vehicle 30. Figure 9 It means by Figure 1 A 3D view of the unmanned transport vehicle 30 transporting the small vehicle 10. (See image below.) Figure 6 As shown, the unmanned transport vehicle 30 is a transport vehicle that automatically travels along a predetermined path on the floor F. The unmanned transport vehicle 30 automatically transports carts 10 between multiple workstations 20. The predetermined path is a pre-set path that extends through multiple departments D. The predetermined path is, for example, set to approach multiple workstations 20.

[0051] The unmanned transport vehicle 30 uses a two-wheel speed difference method as its drive mechanism. The unmanned transport vehicle 30 is configured to move forward, backward, turn left and right, and rotate (turn in place). The unmanned transport vehicle 30 has a rectangular shape in top view. For example, the unmanned transport vehicle 30 has a cuboid shape with a width of 500 mm, a length of 700 mm, and a height of 320 mm. The number of unmanned transport vehicles 30 used in the transport system 1 is not particularly limited, but for example, is 50 units. Hereinafter, the direction of travel of the unmanned transport vehicle 30 will sometimes be simply referred to as the "direction of travel." The direction orthogonal to both the direction of travel and the vertical direction will be described as the "left and right direction."

[0052] like Figure 7 as well as Figure 8 As shown, the unmanned transport vehicle 30 has a lifting platform 32, an electric cylinder 33, a drive wheel 34, a motor 35, a driven wheel 36, a laser rangefinder 37, a transport vehicle controller 38, and a communication unit 39.

[0053] The lifting platform 32 is a component that carries the trolley 10 and is configured to be able to rise and fall. The lifting platform 32 is plate-shaped with its thickness along the vertical direction. The lifting platform 32 is located on the upper part of the unmanned transport vehicle 30. A positioning pin 32a protruding upward is provided on the upper surface of the lifting platform 32. The positioning pin 32a is a protrusion that engages with the recess 11x on the bottom surface of the trolley 10 placed on the lifting platform 32. The upper part of the positioning pin 32a is tapered upward. The positioning pin 32a is located on the upper surface of the lifting platform 32 at the four vertices of a square formed by the sides along the travel direction and the left and right directions (symmetrical positions after 90° rotation). When the lifting platform 32 rises, it lifts the trolley 10 from below, and when it descends, it lowers the trolley 10 towards the floor F. The electric cylinder 33 is the drive source for raising and lowering the lifting platform 32. The electric cylinder 33 is connected to the transport vehicle controller 38, and its operation is controlled by the transport vehicle controller 38.

[0054] The drive wheels 34 are the wheels that drive the unmanned transport vehicle 30. A pair of drive wheels 34 are located at the center of the unmanned transport vehicle 30 in the direction of travel and at both ends in the left and right directions. A motor 35 is provided for each drive wheel 34. That is, a pair of motors 35 are connected to each of the pair of drive wheels 34, and the pair of motors 35 independently drive each of the pair of drive wheels 34. The motors 35 are connected to the transport vehicle controller 38, and their operation is controlled by the transport vehicle controller 38. For example, by using a pair of motors 35 to drive the pair of drive wheels 34 to rotate at equal speeds in different directions, the unmanned transport vehicle 30 can be rotated and steered.

[0055] Driven wheels 36 are wheels that are not driven, but rotate under the drive of drive wheels 34. Two pairs of driven wheels 36 are provided. Specifically, one pair of drive wheels 34 is provided on one side of the long side of the unmanned transport vehicle 30 in the direction of travel, and another pair is provided on the other side of the long side of the unmanned transport vehicle 30 in the direction of travel, and also on both sides of the long side. Driven wheels 36 are configured, for example, to rotate 360° about an axis in the vertical direction.

[0056] The laser rangefinder 37 is a sensor used to detect the surrounding environment of the unmanned transport vehicle 30. The laser rangefinder 37 is positioned on one side and the other side of the unmanned transport vehicle 30 in the direction of travel. A pair of laser rangefinders 37 work together to obtain 360° shape data around the unmanned transport vehicle 30. There are no particular limitations on the laser rangefinder 37; any sensor capable of detecting the surrounding environment of the unmanned transport vehicle 30 can be used. The laser rangefinder 37 is connected to the transport vehicle controller 38 and outputs its detection results to the transport vehicle controller 38.

[0057] The transport vehicle controller 38 provides unified control of the unmanned transport vehicle 30. The transport vehicle controller 38 is a computer composed of a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The transport vehicle controller 38 can be configured as software that loads a program stored in ROM into RAM and executes it via the CPU. The transport vehicle controller 38 can also be configured as hardware such as electronic circuits. The transport vehicle controller 38 can be a single device or multiple devices. In the case of multiple devices, a transport vehicle controller 38 is logically constructed by connecting them via a communication network such as the Internet or a local area network.

[0058] The transport vehicle controller 38 executes driving control and loading / unloading control for transporting the trolley 10 from the transport source workbench 20 to the transport destination workbench 20 based on transport commands received from the system controller 40 via the communication unit 39. In driving control, SLAM (Simultaneous Localization and Mapping) technology is used as a guidance method. The trolley 30 infers its own position by comparing a created environmental map with surrounding shape data obtained by the laser rangefinder 37. The trolley 30 is then controlled to travel along a path from its identified position to the target position, receiving the difference in its inferred position as a correction value. In loading / unloading control, the lifting platform 32 is raised and lowered to load onto and unload from the trolley 30.

[0059] The communication unit 39 is a device that communicates wirelessly with the outside of the unmanned transport vehicle 30. The communication unit 39 communicates with the system controller 40 via access point 50. The communication unit 39 may also include, for example, a wireless LAN antenna. In the unmanned transport vehicle 30, the electric cylinder 33, drive wheel 34, motor 35, driven wheel 36, laser rangefinder 37, transport vehicle controller 38, and communication unit 39 are covered by a housing 31 (see reference). Figure 6 Cover and protect.

[0060] like Figure 9As shown, the unmanned transport vehicle 30 is positioned below the trolley 10 (between the trolley 10 and the floor F). In this state, the lifting platform 32 is raised, thereby placing the trolley 10 onto the lifting platform 32 and lifting it up. The unmanned transport vehicle 30 travels while the trolley 10 is lifted from below via the lifting platform 32 (with the casters 14 separated from the floor F), thereby transporting the trolley 10. On the other hand, the unmanned transport vehicle 30 unloads the trolley 10 from the lifting platform 32 by lowering the lifting platform 32 on which the trolley 10 is placed, allowing the trolley 10 to contact the floor F.

[0061] return Figure 1 The system controller 40 provides unified control over the delivery system 1. The system controller 40 is a computer composed of a CPU, ROM, and RAM. For example, the system controller 40 can be configured as software that loads a program stored in ROM into RAM and executes it via the CPU. The system controller 40 can also be configured as hardware such as electronic circuits. The system controller 40 can be a single device or multiple devices. In the case of multiple devices, a single system controller 40 is logically constructed by connecting them via a communication network such as the Internet or a local area network.

[0062] The system controller 40 generates a transport command for transporting the trolley 10 via the unmanned transport vehicle 30, based on input (transportation requirements) from a host controller or operating terminal 60 (not shown). The system controller 40 is located, for example, in a server room. The transport command includes the travel path for the unmanned transport vehicle 30. The transport modes provided as transport commands include normal transport, cyclic transport, and combined transport.

[0063] Normally, conveying involves loading the trolley 10 onto the automated guided vehicle (AGV) 30 via the source workbench 20 and unloading it from the AGV 30 via the destination workbench 20. Circular conveying involves loading the trolley 10 onto the AGV 30 via the source workbench 20, circulating the trolley 10 across multiple workbench 20s, and then returning to the source workbench 20. In circular conveying, the source and destination are the same. Composite conveying involves loading the trolley 10 onto the AGV 30 via the source workbench 20 of the first department, moving it to the second department, unloading it at the destination workbench 20 in the second department, loading it onto the AGV 30 via other workbench 20s in the second department, returning to the first department, and unloading it at the destination workbench 20 in the first department. Furthermore, in composite conveying, the trolley 10 can also be loaded onto the AGV 30 in the second department and then unloaded at the destination workbench 20 in departments other than the first and second departments.

[0064] The system controller 40 selects the optimal unmanned transport vehicle 30 from multiple unmanned transport vehicles 30 using multiple conditions and assigns a transport command to the selected unmanned transport vehicle 30. The multiple conditions for selecting the unmanned transport vehicle 30 include conditions such as the unmanned transport vehicle 30 having a battery level above a specified value, being closest to the workbench 20 of the transport source, and other vehicles 10 not being in the current transport.

[0065] Access point 50 is a relay device used for wireless communication between system controller 40 and unmanned transport vehicle 30, and between system controller 40 and operating terminal 60. For example, 2.4 GHz or 5 GHz is used in access point 50. Access point 50 is wired to system controller 40 via cable CB. The number of access points 50 provided in conveying system 1 is not particularly limited. Access points 50 are provided on ceiling or wall surfaces.

[0066] The operator terminal 60 is a terminal that accepts input from operators. The operator terminal 60 includes a touch panel. Inputs are made in the operator terminal 60 for the cart 10 to be transported, the workbench 20 as the transport source, and the workbench 20 as the transport destination. Operator terminals 60 are installed on a departmental basis. Mobile terminals such as tablet computers are used as operator terminals 60.

[0067] In the conveying system 1 of this embodiment, the unmanned transport vehicle 30 has a total length that is shorter than the length of the vehicle 10 in the long side direction (as shown in the top view), and a width that is shorter than the width of the vehicle 10 in the short side direction (as shown in the top view). In other words, the length of the unmanned transport vehicle 30 is smaller than the length of the vehicle 10, and the width of the unmanned transport vehicle 30 is smaller than the width of the vehicle 10. The unmanned transport vehicle 30 performs a first direction-changing action, a second direction-shifting action, an entry action, and an exit action by controlling the drives of a pair of motors 35 through the transport vehicle controller 38.

[0068] The first direction-of-travel change occurs when the unmanned transport vehicle 30 is positioned beneath the vehicle 10, changing its direction of travel so that it is parallel to the long side of the vehicle 10. The second direction-of-travel change occurs when the unmanned transport vehicle 30 is positioned beneath the vehicle 10, changing its direction of travel so that it is parallel to the short side of the vehicle 10. In both the first and second direction-of-travel changes, for example, the transport vehicle controller 38 controls the turning of a pair of motors 35 in opposite directions, causing the pair of drive wheels 34 to turn at equal speeds in opposite turning directions. This achieves a rotational steering maneuver where the unmanned transport vehicle 30 rotates in place without moving forward or backward.

[0069] During rotation and steering, for example, the unmanned transport vehicle 30 can be rotated 90°. During rotation and steering, for example, the positional relationship between the reflector (not shown) set on the vehicle 10 and the unmanned transport vehicle 30 can be determined based on the detection results of the laser rangefinder 37. Based on this positional relationship, the unmanned transport vehicle 30 can be rotated so that its direction of travel is parallel to the long or short side of the vehicle 10.

[0070] The entry action is the action of the unmanned transport vehicle 30 entering from one side or the other side of the short side of the vehicle 10 and submerging under the vehicle 10. In other words, the entry action is the action of the unmanned transport vehicle 30 entering from the long side of the vehicle 10 and submerging under the vehicle 10. The exit action is the action of the unmanned transport vehicle 30, having submerged under the vehicle 10, exiting from one side or the other side of the short side of the vehicle 10. In other words, the exit action is the action of the unmanned transport vehicle 30, having submerged under the vehicle 10, exiting from the long side of the vehicle 10 towards the outside of the vehicle 10.

[0071] In the conveying system 1 of this embodiment, when a conveying instruction is assigned to the unmanned conveyor 30, and an obstacle B exists around the workbench 20, the source of the conveying instruction, the unmanned conveyor 30 performs the following actions when the trolley 10 is moved from the workbench 20. Furthermore, the workbench 20, the source of the conveying instruction, has a structure where one and the other sides along its long side are blocked by the obstacle B, preventing entry along its long side. Whether an obstacle B exists around the workbench 20 can be determined, for example, based on information pre-stored in the system controller 40 regarding each workbench 20 (hereinafter, the same).

[0072] First, such as Figure 10 As shown in (a), the unmanned transport vehicle 30, driven by a pair of motors 35 controlled by a transport vehicle controller 38, travels from the designated travel path 2 toward the workbench 20. Then, as... Figure 10 As shown in (b), the unmanned transport vehicle 30 is driven by a pair of motors 35 controlled by the transport vehicle controller 38 to enter the vehicle and enter the area below the trolley 10 located on the workbench 20.

[0073] Next, the unmanned transport vehicle 30, driven by the electric cylinder 33 controlled by the transport vehicle controller 38, raises the lifting platform 32, placing the trolley 10 onto the lifting platform 32 and lifting it up. This connects the unmanned transport vehicle 30 to the trolley 10. At this point, the long side direction of the trolley 10 is orthogonal to the long side direction (travel direction) of the unmanned transport vehicle 30, and in the top view, the front and rear ends of the unmanned transport vehicle 30 protrude from the trolley 10. Then, as... Figure 11As shown in (a), the unmanned transport vehicle 30 is driven by a pair of motors 35 controlled by the transport vehicle controller 38, and together with the lifted trolley 10, it travels along the short side of the workbench 20 in a manner that leaves the workbench 20, and exits from the workbench 20 onto the designated travel path 2.

[0074] Next, the unmanned transport vehicle 30, driven by the electric cylinder 33 controlled by the transport vehicle controller 38, lowers the lifting platform 32, unloading the trolley 10 from the lifting platform 32 onto the floor F. This separates the unmanned transport vehicle 30 from the trolley 10. Then, as... Figure 11 As shown in (b), the unmanned transport vehicle 30 is controlled by the transport vehicle controller 38 to drive each of the pair of motors 35, performing the first direction-of-travel change action. Thus, with the unmanned transport vehicle 30 submerged beneath the trolley 10, the unmanned transport vehicle 30 rotates and changes its direction of travel to be parallel to the long side of the trolley 10 (first direction-of-travel change step). At this time, as... Figure 12 As shown in (a), in the top view, the unmanned transport vehicle 30 is contained within the vehicle 10 (which is completely hidden).

[0075] Next, the unmanned transport vehicle 30, driven by the electric cylinder 33 controlled by the transport vehicle controller 38, raises the lifting platform 32, placing the trolley 10 onto the lifting platform 32 and lifting it up. This reconnects the unmanned transport vehicle 30 and the trolley 10. Furthermore, as... Figure 12 As shown in (b), the unmanned transport vehicle 30 is driven by a pair of motors 35 controlled by the transport vehicle controller 38, and together with the connected vehicle 10, it travels along the prescribed travel path 2 toward the transport destination.

[0076] Furthermore, in the conveying system 1 of this embodiment, when a conveying command is assigned to the unmanned conveyor 30, and there are no obstacles around the workbench 2, the unmanned conveyor 30 performs the following actions when the trolley 10 is moved out of the workbench 20. In addition, the workbench 20, which is the conveying source, has a structure that allows entry along its long side regardless of whether one or the other side is blocked.

[0077] First, such as Figure 13 As shown in (a), the unmanned transport vehicle 30, driven by a pair of motors 35 controlled by a transport vehicle controller 38, moves toward the workbench 20. Then, as... Figure 13 As shown in (b), the unmanned transport vehicle 30 is driven by a pair of motors 35 controlled by the transport vehicle controller 38 to enter the vehicle and enter the area below the trolley 10 located on the workbench 20.

[0078] Next, as Figure 13As shown in (c), the unmanned transport vehicle 30 is controlled by the transport vehicle controller 38 to drive each of the pair of motors 35, performing a first change of travel direction. Thus, with the unmanned transport vehicle 30 submerged beneath the vehicle 10, the unmanned transport vehicle 30 rotates and changes its travel direction to be parallel to the long side of the vehicle 10 (first change of travel direction step). At this time, as... Figure 14 As shown in (a), in the top view, the unmanned transport vehicle 30 is contained within the vehicle 10.

[0079] Next, the unmanned transport vehicle 30, driven by the electric cylinder 33 controlled by the transport vehicle controller 38, raises the lifting platform 32, placing the trolley 10 onto the lifting platform 32 and lifting it up. This connects the unmanned transport vehicle 30 to the trolley 10. Then, as... Figure 14 As shown in (b), the unmanned transport vehicle 30, driven by a pair of motors 35 controlled by a transport vehicle controller 38, travels along the long side of the workbench 20 together with the connected trolley 10, and then exits the workbench 20. Furthermore, the unmanned transport vehicle 30, driven by a pair of motors 35 controlled by the transport vehicle controller 38, travels together with the connected trolley 10 toward the transport destination. Then, the trolley 10 and the unmanned transport vehicle 30 smoothly change direction while traveling along the predetermined travel path 2.

[0080] Furthermore, in the conveying system 1 of this embodiment, when a conveying instruction is assigned to the unmanned conveyor 30, and an obstacle B exists around the workbench 20, the destination of the conveying instruction, the unmanned conveyor 30 performs the following actions when the trolley 10 is moved into the workbench 20. Additionally, the workbench 20 of the conveying source here has a structure in which one side and the other side of its long side are blocked by the obstacle B, preventing entry from its long side.

[0081] First, such as Figure 15 As shown in (a), the unmanned transport vehicle 30, together with the vehicle 10 connected to it, travels along the prescribed travel path 2, as... Figure 15 As shown in (b), the vehicle stops at a position close to the workbench 20. At this point, the trolley 10 is transported with its long side parallel to the direction of travel. The stopping position of the unmanned transport vehicle 30 is not particularly limited; for example, the line connecting the center of the workbench 20 and the center of the trolley 10 may be perpendicular to the prescribed travel path 2.

[0082] Next, the unmanned transport vehicle 30, driven by the electric cylinder 33 controlled by the transport vehicle controller 38, lowers the lifting platform 32, unloading the trolley 10 from the lifting platform 32 onto the floor F. This separates the unmanned transport vehicle 30 from the trolley 10. Then, as... Figure 16As shown in (a), the unmanned transport vehicle 30 is controlled by the transport vehicle controller 38 to drive each of a pair of motors 35, thereby performing a second change of travel direction. Thus, as... Figure 16 As shown in (b), with the unmanned transport vehicle 30 submerged below the vehicle 10, the unmanned transport vehicle 30 rotates and changes its direction of travel to be parallel to the short side of the vehicle 10 (second direction of travel change step). At this time, in the top view, the front and rear ends of the unmanned transport vehicle 30 protrude from the vehicle 10.

[0083] Next, the unmanned transport vehicle 30, driven by the electric cylinder 33 controlled by the transport vehicle controller 38, raises the lifting platform 32, placing the trolley 10 onto the lifting platform 32 and lifting it up. This reconnects the unmanned transport vehicle 30 and the trolley 10. Then, as... Figure 17 As shown in (a), the unmanned transport vehicle 30 is driven by a pair of motors 35 controlled by the transport vehicle controller 38, and together with the connected trolley 10, it moves toward the worktable 20 in the short side direction and enters the worktable 20.

[0084] Next, the unmanned transport vehicle 30, driven by the electric cylinder 33 controlled by the transport vehicle controller 38, lowers the lifting platform 32, unloading the trolley 10 from the lifting platform 32 onto the floor F inside the workbench 20. This separates the unmanned transport vehicle 30 from the trolley 10, completing the transfer of the trolley 10 into the workbench 20. Then, as... Figure 17 As shown in (b), the unmanned transport vehicle 30 is controlled by the transport vehicle controller 38 to drive each of a pair of motors 35 to perform an exit action, exiting from under the vehicle 10 and the workbench 20. Then, for example, the system controller 40 assigns other instructions to the unmanned transport vehicle 30.

[0085] Furthermore, in the conveying system 1 of this embodiment, when a conveying instruction is assigned to the unmanned conveyor 30, and there are no obstacles B around the workbench 20, the destination of the conveying instruction, the unmanned conveyor 30 performs the following actions when the trolley 10 is removed from the workbench 20. Moreover, the workbench 20 at the destination here has a structure that allows entry along its long side regardless of whether one or the other side is blocked.

[0086] First, such as Figure 18 As shown in (a), the unmanned transport vehicle 30 is controlled by the transport vehicle controller 38, which drives a pair of motors 35. Together with the trolley 10 connected to the unmanned transport vehicle 30, it smoothly changes direction from the predetermined travel path 2 and moves towards the workbench 20. Figure 18As shown in (b), it enters the workbench 20 in parallel. Then, the unmanned transport vehicle 30 is driven by the electric cylinder 33 controlled by the transport vehicle controller 38, causing the lifting platform 32 to descend and unload the trolley 10 from the lifting platform 32 onto the floor F. Thus, the unmanned transport vehicle 30 is separated from the trolley 10.

[0087] Next, as Figure 18 As shown in (c), the unmanned transport vehicle 30 is controlled by the transport vehicle controller 38 to drive each of a pair of motors 35, thus performing a second change of travel direction. Therefore, as... Figure 19 As shown in (a), with the unmanned transport vehicle 30 submerged beneath the vehicle 10, the unmanned transport vehicle 30 rotates and changes its direction of travel to be parallel to the short side of the vehicle 10 (second direction of travel change step). Next, as... Figure 19 As shown in (b), the unmanned transport vehicle 30 is controlled by the transport vehicle controller 38 to drive each of a pair of motors 35 to perform an exit action, exiting from under the vehicle 10 and the workbench 20. Then, for example, other instructions are assigned to the unmanned transport vehicle 30 via the system controller 40.

[0088] In the above-described conveying system 1, the long side of the cart 10 being conveyed by the unmanned conveyor 30 can be made parallel to the direction of travel by changing the first direction of travel. Therefore, even when the unmanned conveyor 30 is traveling through a narrow passage, the length of the cart 10 in the width direction of the passage can be reduced. As a result, it is possible to prevent the unmanned conveyor 30 from becoming an obstacle to passage during the conveying of the cart 10.

[0089] In the conveying system 1, the unmanned conveyor 30 performs an entry action by entering under the vehicle 10 from one side or the other side in the short-side direction. As a result, the unmanned conveyor 30 can smoothly enter under the vehicle 10.

[0090] In the conveying system 1, when the unmanned transport vehicle 30 removes the trolley 10 from the workbench 20 where there are no obstacles B, it performs an entry action by entering below the trolley 10 positioned on the workbench 20. It then performs a first direction-of-travel change action, raising the lifting platform 32 and placing the trolley 10 on it, thereby connecting with the trolley 10 and exiting the workbench 20 together with the trolley 10. In this case, in the conveying system 1, the long side of the trolley 10 transported by the unmanned transport vehicle 30 can be parallel to the direction of travel, and the trolley 10 can be easily removed from the workbench 20 where there are no obstacles.

[0091] In the conveying system 1, when the unmanned conveyor 30 removes the trolley 10 from the workbench 20 where obstacles B are present, it performs an entry action by entering below the trolley 10 positioned on the workbench 20. This causes the lifting platform 32 to rise and place the trolley 10 on the lifting platform 32, thereby connecting with the trolley 10. The trolley 10 then exits from the workbench 20 together with the trolley 10. The lifting platform 32 then lowers and unloads the trolley 10 from it, thus separating the trolley 10. A first direction-of-travel change action is then performed, causing the lifting platform 32 to rise and place the trolley 10 on the lifting platform 32, thereby connecting with the trolley 10. In this case, in the conveying system 1, when removing the trolley 10 from the workbench 20, the unmanned conveyor 30 can replace the conveyed trolley 10. The long side of the trolley 10 conveyed by the unmanned conveyor 30 can be parallel to the direction of travel, and the trolley 10 can be easily removed even from the workbench 20 where obstacles B are present. The worktable 20 is not limited to opening on one or the other side along its long side, which increases the freedom of setting the worktable 20.

[0092] In the conveying system 1, the unmanned transport vehicle 3, while submerged beneath the trolley 10, performs a second direction-changing action by altering its direction of travel, with its direction of travel parallel to the short side of the trolley 10. This second direction-changing action allows the unmanned transport vehicle 30 to easily move the trolley 10 into various types of workbenches 20.

[0093] In the conveying system 1, the unmanned conveyor 30 performs an exit action by withdrawing from one side or the other side of the short side below the vehicle 10. Thus, the unmanned conveyor 30 can smoothly exit from below the vehicle 10.

[0094] In the conveying system 1, the unmanned transport vehicle 30 is placed on the lifting platform 32 and connected to the vehicle 10 with its travel direction parallel to the long side direction of the vehicle 10. When the vehicle 10 is moved into the worktable 20 where there are no obstacles B around it, the vehicle 30 enters the worktable 20 together with the vehicle 10, causing the lifting platform 32 to descend and unloading the vehicle 10 from the lifting platform 32, thereby separating the vehicle 10. A second travel direction change action is then performed, and an exit action is performed to exit from the worktable 20. In this case, in the conveying system 1, the long side direction of the vehicle 10 being transported by the unmanned transport vehicle 30 is parallel to the travel direction, and the vehicle 10 can be easily moved into the worktable 20 where there are no obstacles B around it.

[0095] In conveying system 1, the unmanned conveyor 30, with its travel direction parallel to the long side of the trolley 10, places the trolley 10 on the lifting platform 32 and connects it to the trolley 10. When the trolley 10 is moved into the workbench 20 where there are obstacles B nearby, the unmanned conveyor 30 can also separate itself by lowering the lifting platform 32 and unloading the trolley 10 from it. Then, by performing a second travel direction change, the lifting platform 32 is raised, and the trolley 10 is placed on and connected to it, entering the workbench 20 together with the trolley 10. Finally, the lifting platform 32 is lowered, and the trolley 10 is unloaded from it, separating the trolley 10 and exiting the workbench 20. In this case, in conveying system 1, the unmanned conveyor 30 can replace the trolley 10 being transported when it is being moved into the workbench 20. The long side of the trolley 10 being transported by the unmanned transport vehicle 30 is parallel to the direction of travel, and the trolley 10 can be easily moved in even when there are obstacles B around it on the workbench 20. The workbench 20 is not limited to opening on one or the other side of its short side, which increases the freedom of setting the position of the workbench 20.

[0096] In the first direction-of-travel change operation, the conveying system 1 performs a rotational steering that causes the unmanned transport vehicle 30 to rotate on-site. In this case, the rotational steering allows the direction of travel of the unmanned transport vehicle 30 to be parallel to the long side of the vehicle 10. In the second direction-of-travel change operation, the conveying system 1 performs a rotational steering that causes the unmanned transport vehicle 30 to rotate in place. In this case, the rotational steering allows the direction of travel of the unmanned transport vehicle 30 to be parallel to the short side of the vehicle 10. In the conveying system 1, the transported object is the vehicle 10. The above-mentioned effects can be achieved in the conveying system 1 that transports the vehicle 10 via the unmanned transport vehicle 30.

[0097] In the unmanned transport vehicle 30, the long side of the transport vehicle 10 can be made parallel to the direction of travel by changing the first direction of travel. Therefore, even when the unmanned transport vehicle 30 is traveling in a narrow passage, the length of the vehicle 10 in the width direction of the passage can be reduced. As a result, it is possible to prevent the unmanned transport vehicle 30 from becoming an obstacle to passage during the transport of the vehicle 10.

[0098] In the control method of the unmanned transport vehicle 30, a first direction-of-travel change step can be performed to make the long side of the cart 10 being transported by the unmanned transport vehicle 30 parallel to the direction of travel. Therefore, even when the unmanned transport vehicle 30 is traveling through a narrow passage, the length of the cart 10 in the width direction of the passage can be reduced. As a result, it is possible to prevent the unmanned transport vehicle 30 from becoming an obstacle to passage during the transport of the cart 10.

[0099] Furthermore, when the trolley 10 is placed on the lifting platform 32 of the unmanned transport vehicle 30, the unmanned transport vehicle 30 and the trolley 10 are positioned by engaging the positioning pin 32a of the unmanned transport vehicle 30 with the recess 11x of the trolley 10, thus suppressing lateral sliding. The positioning pin 32a and the recess 11x are positioned symmetrically in the front-back and left-right directions (symmetrically rotated 90°), so they can engage with each other regardless of whether the orientation of the unmanned transport vehicle 30 is in the front-back or left-right direction of the trolley 10.

[0100] While the embodiments described above are as described, one embodiment of the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the invention.

[0101] In the above embodiment, although the first direction-of-travel change is performed on the designated travel path 2, it is not limited to this. The first direction-of-travel change can also be performed after the unmanned transport vehicle 30 enters the workbench 20 from the designated travel path 2 and during the period from the workbench 20 back to the designated travel path 2. For example, the unmanned transport vehicle 30 can also perform the first direction-of-travel change at a position between the workbench 20 and the designated travel path 2, and then return to the designated travel path 2 together with the connected trolley 10, traveling along the designated travel path 2 towards the transport destination. In this case, after the unmanned transport vehicle 30 enters the workbench 20 and returns to the designated travel path 2, the first direction-of-travel change has been completed and the long side of the trolley 10 is parallel to the direction of travel, so it is possible to reliably prevent the unmanned transport vehicle 30 from becoming an obstacle to passage in the designated travel path 2.

[0102] In the above embodiments, although the conveyor includes a trolley 10, the conveyor is not particularly limited and can be any kind of object. In the above embodiments, although the conveying system 1 is applied to the automatic conveying of the trolley 10 between multiple departments D, the field in which this embodiment of the invention is applied is not particularly limited and can be applied to various fields.

[0103] The structures of the above-described embodiments and modifications are not limited to the materials and shapes described above, and various materials and shapes can be used. The structures of the above-described embodiments or modifications can be arbitrarily applied to the structures of other embodiments or modifications. Without departing from the spirit of an embodiment of the present invention, a portion of the structures of the above-described embodiments or modifications can be appropriately omitted.

[0104] The structural elements of one embodiment of the present invention are described below.

[0105] <Invention 1>

[0106] A conveying system comprising:

[0107] The object being transported appears as a long strip in the top view;

[0108] A workbench, on which the aforementioned conveyed material is arranged; and

[0109] An unmanned transport vehicle includes a lifting platform for carrying the transported items and automatically travels along a predetermined path.

[0110] The aforementioned unmanned transport vehicle has the following features:

[0111] The total length of the vehicle body, which is shorter than the dimension along the long side of the transported object in the top view, and the width of the vehicle body, which is shorter than the dimension along the short side of the transported object in the top view.

[0112] The first direction-of-travel action is performed when the unmanned transport vehicle is submerged under the transported object, and the direction of travel of the unmanned transport vehicle is changed so that the direction of travel of the unmanned transport vehicle is parallel to the long side of the transported object.

[0113] <Invention 2>

[0114] According to the conveying system of invention 1, wherein,

[0115] The aforementioned first change of direction is performed after the unmanned transport vehicle enters the workbench from the aforementioned prescribed travel path and during the period from the aforementioned workbench back to the aforementioned prescribed travel path.

[0116] <Invention 3>

[0117] According to the conveying system of invention 1 or 2, wherein,

[0118] The aforementioned unmanned transport vehicle performs an entry action by entering from one side or the other side of the aforementioned short side direction under the aforementioned transported object.

[0119] <Invention 4>

[0120] According to the conveying system of invention 3, wherein...

[0121] When the aforementioned unmanned transport vehicle removes the transported item from the aforementioned workbench,

[0122] The aforementioned entry action is performed to enter the area below the conveyed object positioned on the aforementioned worktable.

[0123] To perform the first change of direction of travel described above,

[0124] By raising the aforementioned lifting platform and placing the transported item on the lifting platform, a connection is established with the transported item.

[0125] It exits from the aforementioned workbench along with the transported items.

[0126] <Invention 5>

[0127] According to the conveying system of invention 3, wherein...

[0128] When the aforementioned unmanned transport vehicle removes the transported item from the aforementioned workbench,

[0129] The aforementioned entry action is performed to enter the area below the conveyed object positioned on the aforementioned worktable.

[0130] By raising the aforementioned lifting platform and placing the transported item on the lifting platform, a connection is established with the transported item.

[0131] It exits from the aforementioned workbench along with the transported items.

[0132] The transported item is separated by lowering the lifting platform and unloading it from the platform.

[0133] To perform the first change of direction of travel described above,

[0134] The lifting platform is raised and the transported object is placed on the lifting platform and connected to the transported object.

[0135] <Invention 6>

[0136] The conveying system according to any one of inventions 1 to 5, wherein...

[0137] In the first direction-of-travel change action mentioned above, a rotational steering is performed to make the unmanned transport vehicle rotate in place.

[0138] <Invention 7>

[0139] The conveying system according to any one of inventions 1 to 6, wherein,

[0140] The aforementioned unmanned transport vehicle performs a second direction-changing action. The second direction-changing action is an action in which the unmanned transport vehicle changes its direction of travel in such a way that its direction of travel is parallel to the short side direction of the transported object when the unmanned transport vehicle is submerged under the object being transported.

[0141] <Invention 8>

[0142] According to the conveying system of invention 7, wherein...

[0143] The aforementioned unmanned transport vehicle performs an exit action by withdrawing from one or the other side of the short side direction below the transported object.

[0144] <Invention 9>

[0145] According to the conveying system of invention 8, wherein...

[0146] The unmanned transport vehicle, with its travel direction parallel to the long side of the transported object, places the transported object on the lifting platform. When the unmanned transport vehicle, connected to the transported object, moves the transported object onto the workbench...

[0147] The items being transported are brought into the workbench.

[0148] The transported item is separated by lowering the lifting platform and unloading it from the platform.

[0149] Perform the second change of direction of travel as described above.

[0150] Perform the exit action described above to exit from the workbench.

[0151] <Invention 10>

[0152] According to the conveying system of invention 8, wherein...

[0153] The unmanned transport vehicle, with its travel direction parallel to the long side of the transported object, places the transported object on the lifting platform. When the unmanned transport vehicle, connected to the transported object, moves the transported object onto the workbench...

[0154] The transported item is separated by lowering the lifting platform and unloading it from the platform.

[0155] Perform the second change of direction of travel as described above.

[0156] By raising the aforementioned lifting platform and placing the transported item on the lifting platform, a connection is established with the transported item.

[0157] The items being transported are brought into the workbench.

[0158] The transported item is separated by lowering the lifting platform and unloading it from the platform.

[0159] Perform the exit action described above to exit from the workbench.

[0160] <Invention 11>

[0161] The conveying system according to any one of inventions 7 to 10, wherein,

[0162] In the second direction-of-travel change action described above, a rotational steering is performed to make the unmanned transport vehicle rotate in place.

[0163] <Invention 12>

[0164] The conveying system according to any one of inventions 1 to 11, wherein,

[0165] The aforementioned transported items are trolleys used for stacking goods.

[0166] <Invention 13>

[0167] An unmanned transport vehicle includes a lifting platform carrying a long, narrow object to be transported in a top view, and automatically travels along a predetermined path. It has the following characteristics:

[0168] The total length of the vehicle body, which is shorter than the dimension along the long side of the transported object in the top view, and the width of the vehicle body, which is shorter than the dimension along the short side of the transported object in the top view.

[0169] The first direction-of-travel action is performed when the unmanned transport vehicle is submerged under the transported object, and the direction of travel of the unmanned transport vehicle is changed so that the direction of travel of the unmanned transport vehicle is parallel to the long side of the transported object.

[0170] <Invention 14>

[0171] A control method for an unmanned transport vehicle is a method for controlling the movement of the unmanned transport vehicle, which includes a lifting platform that carries a long, narrow object in a top view, and automatically travels along a predetermined path.

[0172] The aforementioned unmanned transport vehicle has a total body length that is shorter than the dimension along the long side of the transported object in the top view, and a body width that is shorter than the dimension along the short side of the transported object in the top view.

[0173] The control method for the unmanned transport vehicle includes a first travel direction changing step, wherein, while the unmanned transport vehicle is submerged under the transported object, the travel direction of the unmanned transport vehicle is changed so that the travel direction of the unmanned transport vehicle is parallel to the long side direction of the transported object.

[0174] Explanation of reference numerals in the attached figures

[0175] 1… conveying system, 2… prescribed travel path, 10… trolley (transported object), 20… workbench, 30… unmanned conveyor vehicle, 32… lifting platform.

Claims

1. A conveying system comprising: The object being transported appears as a long strip in the top view; A workbench, on which the aforementioned conveyed material is arranged; and An unmanned transport vehicle includes a lifting platform for carrying the transported items and automatically travels along a predetermined path. The aforementioned unmanned transport vehicle appears as a long strip in the top view. The longer side of the aforementioned unmanned transport vehicle is its direction of travel. With the unmanned transport vehicle submerged beneath the transported object, and the direction of travel of the unmanned transport vehicle parallel to the short side of the transported object, in the top view, one end of the unmanned transport vehicle's direction of travel and the other end protrude from the transported object. The aforementioned unmanned transport vehicle has the following features: The total length of the vehicle body, which is shorter than the dimension along the long side of the transported object in the top view but longer than the dimension along the short side of the transported object in the top view, and the width of the vehicle body, which is shorter than the dimension along the short side of the transported object in the top view. The first change of travel direction is performed when the unmanned transport vehicle is positioned beneath the transported object, and its travel direction is changed so that it is parallel to the long side of the transported object. The aforementioned unmanned transport vehicle performs an entry action by entering from one or the other side of the aforementioned short side under the aforementioned transported object. When the aforementioned unmanned transport vehicle removes the transported item from the aforementioned workbench, The aforementioned entry action is performed to enter the area below the conveyed object positioned on the aforementioned worktable. By raising the aforementioned lifting platform and placing the transported item on the lifting platform, a connection is established with the transported item. It exits from the aforementioned workbench along with the transported items. The transported item is separated by lowering the lifting platform and unloading it from the platform. To perform the first change of direction of travel described above, The lifting platform is raised and the transported object is placed on the lifting platform and connected to the transported object.

2. The conveying system according to claim 1, wherein, The aforementioned first change of direction is performed after the unmanned transport vehicle enters the workbench from the aforementioned prescribed travel path and during the period from the aforementioned workbench back to the aforementioned prescribed travel path.

3. The conveying system according to claim 1, wherein, When the aforementioned unmanned transport vehicle removes the transported item from the aforementioned workbench, The aforementioned entry action is performed to enter the area below the conveyed object positioned on the aforementioned worktable. To perform the first change of direction of travel described above, By raising the aforementioned lifting platform and placing the transported item on the lifting platform, a connection is established with the transported item. It exits from the aforementioned workbench along with the transported items.

4. The conveying system according to claim 1 or 2, wherein, In the first direction-of-travel change action mentioned above, a rotational steering is performed to make the unmanned transport vehicle rotate in place.

5. The conveying system according to claim 1 or 2, wherein, The aforementioned unmanned transport vehicle performs a second direction-changing action, which is an action to change the direction of travel of the unmanned transport vehicle while it is submerged under the transported object, such that the direction of travel of the unmanned transport vehicle is parallel to the short side direction of the transported object.

6. The conveying system according to claim 5, wherein, The aforementioned unmanned transport vehicle performs an exit action by withdrawing from one or the other side of the short side direction below the transported object.

7. The conveying system according to claim 6, wherein, The unmanned transport vehicle, with its travel direction parallel to the long side of the transported object, places the transported object on the lifting platform. When the unmanned transport vehicle, connected to the transported object, moves the transported object onto the workbench... The items being transported are brought into the workbench. The transported item is separated by lowering the lifting platform and unloading it from the platform. Perform the second change of direction of travel as described above. Perform the exit action described above to exit from the workbench.

8. The conveying system according to claim 6, wherein, The unmanned transport vehicle, with its travel direction parallel to the long side of the transported object, places the transported object on the lifting platform. When the unmanned transport vehicle, connected to the transported object, moves the transported object onto the workbench... The transported item is separated by lowering the lifting platform and unloading it from the platform. Perform the second change of direction of travel as described above. By raising the aforementioned lifting platform and placing the transported item on the lifting platform, a connection is established with the transported item. The items being transported are brought into the workbench. The transported item is separated by lowering the lifting platform and unloading it from the platform. Perform the exit action described above to exit from the workbench.

9. The conveying system according to claim 5, wherein, In the second direction-of-travel change action described above, a rotational steering is performed to make the unmanned transport vehicle rotate in place.

10. The conveying system according to claim 1 or 2, wherein, The aforementioned transported items are trolleys used for stacking goods.

11. An unmanned transport vehicle comprising a lifting platform carrying a transported object that is elongated in a top view, and which automatically travels along a predetermined path. The aforementioned unmanned transport vehicle appears as a long strip in the top view. The longer side of the aforementioned unmanned transport vehicle is its direction of travel. With the unmanned transport vehicle submerged beneath the transported object, and the direction of travel of the unmanned transport vehicle parallel to the short side of the transported object, in the top view, one end of the unmanned transport vehicle's direction of travel and the other end protrude from the transported object. The aforementioned unmanned transport vehicle has: a total vehicle length that is shorter than the dimension along the long side of the transported object in a top view and longer than the dimension along the short side of the transported object in a top view, and a vehicle width that is shorter than the dimension along the short side of the transported object in a top view. The first change of travel direction is performed when the unmanned transport vehicle is positioned beneath the transported object, and the direction of travel of the unmanned transport vehicle is changed so that its current direction of travel is parallel to the long side of the transported object. The aforementioned unmanned transport vehicle performs an entry action by entering from one or the other side of the aforementioned short side under the aforementioned transported object. When the aforementioned unmanned transport vehicle removes the transported item from the workbench, The aforementioned entry action is performed to enter the area below the conveyed object positioned on the aforementioned worktable. By raising the aforementioned lifting platform and placing the transported item on the lifting platform, a connection is established with the transported item. It exits from the aforementioned workbench along with the transported items. The transported item is separated by lowering the lifting platform and unloading it from the platform. To perform the first change of direction of travel described above, The lifting platform is raised and the transported object is placed on the lifting platform and connected to the transported object.

12. A control method for an unmanned transport vehicle, comprising a lifting platform for transporting an elongated object in a top view, and automatically traveling along a predetermined path. The aforementioned unmanned transport vehicle appears as a long strip in the top view. The longer side of the aforementioned unmanned transport vehicle is its direction of travel. With the unmanned transport vehicle submerged beneath the transported object, and the direction of travel of the unmanned transport vehicle parallel to the short side of the transported object, in the top view, one end of the unmanned transport vehicle's direction of travel and the other end protrude from the transported object. The aforementioned unmanned transport vehicle has a total body length that is shorter than the length of the transported object in the top view but longer than the length of the transported object in the top view, and a body width that is shorter than the length of the transported object in the top view. The control method for the aforementioned unmanned transport vehicle includes a first travel direction changing step: when the unmanned transport vehicle is submerged under the transported object, changing the travel direction of the unmanned transport vehicle so that its travel direction is parallel to the long side direction of the transported object. The aforementioned unmanned transport vehicle performs an entry action by entering from one or the other side of the aforementioned short side under the aforementioned transported object. When the aforementioned unmanned transport vehicle removes the transported item from the workbench, The aforementioned entry action is performed to enter the area below the conveyed object positioned on the aforementioned worktable. By raising the aforementioned lifting platform and placing the transported item on the lifting platform, a connection is established with the transported item. It exits from the aforementioned workbench along with the transported items. The transported item is separated by lowering the lifting platform and unloading it from the platform. To perform the first change of direction of travel described above, The lifting platform is raised and the transported object is placed on the lifting platform and connected to the transported object.

Images