Article conveying facility

Abstract

The invention provides an article transport facility. An article transport facility (100) is provided with a plurality of transport vehicles (1). In a combined state in which the plurality of transport vehicles (1) are combined so as to be adjacent to each other, the plurality of transfer units cooperate to constitute a transport path (P) for transporting an article (W). The control unit at least partially deactivates the periphery detection sensor so as not to detect the integrated object vehicle (1) when the own vehicle performs an operation of integrating with the integrated object vehicle (1), which is another transport vehicle (1) that is the integrated object.

Description

Technical Field

[0001] The present invention relates to article transport equipment including a plurality of transport vehicles that transport articles by traveling on a travel surface without tracks. Background Art

[0002] In recent years, automation of article transportation has been developing in article transportation facilities such as logistics warehouses. In such article transportation facilities, for example, there is a case where a transportation vehicle (10) such as that disclosed in Japanese Patent Laying-Open No. 2022-050240 (Patent Document 1) is effectively used.

[0003] The transport vehicle (10) is configured to transport articles by traveling on a travel floor without human intervention. In the device described in Patent Document 1, the transport mode is as follows: a transport instruction is given to each of the plurality of transport vehicles (10), and each of the plurality of transport vehicles (10) transports a specific article from a transport source to a transport destination based on the transport instruction. Summary of the invention

[0004] In such a technical field, in addition to the above-mentioned unmanned transport vehicle, there is also a case where a conveyor arranged along a transport path continuously transports multiple articles. However, when using equipment in multiple transport modes, different types of conveying devices are required according to each transport mode.

[0005] In view of the above-mentioned actual situation, it is desired to realize article conveying equipment with multiple conveying modes while suppressing the types of conveying devices.

[0006] The technology for solving the above-mentioned problems is as follows.

[0007] A kind of article conveying equipment, comprising a plurality of conveying vehicles that convey articles by running on a running surface without tracks; the conveying vehicle comprises: a loading part for loading the aforementioned articles; a transferring part for transferring the aforementioned articles loaded on the loading part between a part to be transferred; a peripheral detection sensor; and a control part for controlling the vehicle; the control part is configured to stop or slow down the vehicle when an obstacle is detected by the peripheral detection sensor around the vehicle during the running of the vehicle; in a combined state in which the plurality of conveying vehicles are combined in an adjacent manner, the plurality of transferring parts cooperate with each other to form a conveying path for conveying the aforementioned articles; and the control part at least partially sets the peripheral detection sensor to be invalid when the vehicle performs a combined action with the other conveying vehicle that is a combined object, i.e., a combined object vehicle, so as not to detect the combined object vehicle.

[0008] According to the present structure, each transport vehicle can transport articles to various places individually, and a plurality of transport vehicles can transport articles along a continuous transport path by combining. That is, a transport vehicle can be used to realize a transport mode of transporting a specific article to a specific location and a transport mode of continuously transporting a plurality of articles to the same location. Moreover, such a plurality of transport modes can be flexibly changed according to the operation of the equipment. In addition, according to the present structure, when each transport vehicle travels individually, the contact between the transport vehicles can be avoided by the peripheral detection sensors. When each transport vehicle performs a combined action, the peripheral detection sensors are partially set to be invalid, so that the combined action can be appropriately performed. As described above, according to the present structure, a plurality of transport modes can be realized while suppressing the types of conveying devices.

[0009] Further features and advantages of the technology disclosed herein will become more apparent from the following description of illustrative and non-limiting embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a top view of the article conveying equipment.

[0011] Figure 2 It is a control block diagram.

[0012] Figure 3 This is a diagram showing a state in which an article is transferred between a transport vehicle and a transfer target location.

[0013] Figure 4 It is a diagram showing the transfer structure of the transport vehicle.

[0014] Figure 5 It is a diagram showing the travel structure of the transport vehicle.

[0015] Figure 6 It is a schematic top view of the transport vehicle.

[0016] Figure 7 It is a diagram showing a combined state of a plurality of transport vehicles.

[0017] Figure 8 This is a diagram showing one form of combining a plurality of transport vehicles.

[0018] Fig. 9 This is a diagram showing an example of a transportation mode performed by a plurality of transportation vehicles in a combined state. DETAILED DESCRIPTION

[0019] Hereinafter, embodiments of the article transport facility will be described with reference to the drawings.

[0020] like Figure 1As shown, the article conveying equipment 100 includes a plurality of conveying vehicles 1 that convey articles W by running on a running surface without tracks. The running surface is, for example, the floor surface of the article conveying equipment. The so-called "running without tracks" means running without using a track such as a guide rail. Therefore, the conveying vehicle 1 is configured to be able to run freely on the floor surface of the article conveying equipment 100 without being constrained by a track such as a guide rail. For example, the following structure can be made: a plurality of detected objects such as QR codes and RF (Radio Frequency) tags are set on the floor surface, and the conveying vehicle 1 runs along a route connecting the plurality of detected objects. In addition, the following structure can also be made: such a detected object is not set on the floor surface, and the conveying vehicle 1 runs along a route calculated based on the recognition result of the surrounding environment.

[0021] In the article transport facility 100, a plurality of transfer target locations T are set to transfer articles W. In this embodiment, the article transport facility 100 includes a loading and unloading area 9 for transporting articles W in and out of the facility, and an automatic warehouse 8 provided inside the facility.

[0022] The loading and unloading area 9 is, for example, a truck parking area. A plurality of transfer target locations T are set in the loading and unloading area 9. In the transfer target locations T of the loading and unloading area 9, inbound articles W or outbound articles W are transferred by a forklift, a conveyor, or a transport vehicle 1 (not shown).

[0023] In this embodiment, a plurality of automatic warehouses 8 are provided inside the equipment. Each of the plurality of automatic warehouses 8 includes a storage shelf (not shown) for storing articles W, a storage entry section 81 for entering articles W into the storage shelf, a storage exit section 82 for exiting articles W from the storage shelf, and an intra-shelf transport device (not shown) for transporting articles W inside the storage shelf. Examples of the intra-shelf transport device include a stacking crane, a lift, a conveyor, a transport trolley, and the like.

[0024] In this embodiment, the storage unit 81 and the storage unit 82 are formed using a conveyor. Examples of such a conveyor include a roller conveyor, a belt conveyor, a chain conveyor, etc. The storage unit 81 and the storage unit 82 are used as one of the transfer target locations T for transferring articles W between the transport vehicle 1 and the storage unit 81.

[0025] like Figure 2 As shown, in this embodiment, the article transport equipment 100 is provided with a host control device H for controlling a plurality of transport vehicles 1. The host control device H is configured to be able to communicate with the plurality of transport vehicles 1. The host control device H is configured to, for example, send a transport instruction that specifies a specific article W, a transport source, and a transport destination to each transport vehicle 1. The transport vehicle 1 that receives the transport instruction is configured to transport the article W based on the transport instruction.

[0026] The transport vehicle 1 is provided with a control unit C for controlling the vehicle. The control unit C is configured to control various functional units of the transport vehicle 1. The various functional units of the transport vehicle 1 include a functional unit for traveling, a functional unit for transferring articles W, a functional unit for communication, and the like. The control unit C is configured to control the vehicle based on a transport instruction from a higher-level control device H so as to transport the articles W from a designated transport source to a transport destination.

[0027] The host control device H and the control unit C include, for example, a processor such as a microcomputer, peripheral circuits such as a memory, etc. Each function is realized by cooperation between these hardware and a program executed on the processor such as a computer.

[0028] like Figure 3 and Figure 4 As shown, the transport vehicle 1 includes a placement portion 13 on which articles W are placed, and a transfer portion 14 that transfers the articles W placed on the placement portion 13 between a transfer target location T. Figure 3 1 shows a state where the transport vehicle 1 transfers articles W between the storage section 81 as the transfer target location T. Figure 3 As shown, the transport vehicle 1 is configured such that the transfer unit 14 transfers the article W placed on the placement unit 13 to the storage unit 81 (transfer target location T). In addition, when the transport vehicle 1 transfers the article W between the storage unit 82 as the transfer target location T, the above operation is reversed. That is, the transport vehicle 1 is configured such that the transfer unit 14 receives the article W placed on the storage unit 82 (transfer target location T).

[0029] like Figure 4 As shown, in this embodiment, the transfer unit 14 includes a first transfer mechanism 141 for moving the article W on the loading unit 13, and a second transfer mechanism 142 for moving the article W in a direction different from that of the first transfer mechanism 141. All or part of the transport vehicles 1 of the plurality of transport vehicles 1 included in the article transport facility 100 are equipped with a transfer unit 14 including the first transfer mechanism 141 and the second transfer mechanism 142.

[0030] In this embodiment, the first transfer mechanism 141 is configured to move the article W along the vehicle body front-rear direction X. In the example shown in the figure, the first transfer mechanism 141 is configured using a roller conveyor. The plurality of rollers constituting the roller conveyor are arranged in a state extending in the vehicle body width direction Y in the vehicle body front-rear direction X.

[0031] In this embodiment, the second transfer mechanism 142 is configured to move the article W in the vehicle width direction Y. That is, in this example, the first transfer mechanism 141 and the second transfer mechanism 142 are configured to move the article W in directions orthogonal to each other when viewed in the vertical direction.

[0032] In this embodiment, the second transfer mechanism 142 is configured using a conveyor having a plurality of chains or belts. Each of the plurality of chains or belts (three belts in the example shown in the figure) is arranged between the rollers constituting the first transfer mechanism 141.

[0033] The second transfer mechanism 142 is configured to be raised and lowered between a storage position arranged below the first transfer mechanism 141 and a protruding position arranged above the first transfer mechanism 141. The second transfer mechanism 142 is stored inside the transport vehicle 1 in the storage position. In this state, the article W is supported by the first transfer mechanism 141 and can be transferred by the first transfer mechanism 141 (see Figure 4 (a)). In addition, the second transfer mechanism 142 protrudes upward from the first transfer mechanism 141 when in the protruding position. In this state, the article W is supported by the second transfer mechanism 142 and can be transferred by the second transfer mechanism 142 (see Figure 4 (b)).

[0034] like Figure 5 As shown, the transport vehicle 1 includes a vehicle body 10 and a plurality of wheels 11 supported by the vehicle body 10. At least one of the plurality of wheels 11 is driven by a driving source such as a motor. Thus, a propulsion force is applied to the transport vehicle 1.

[0035] In this embodiment, the transport vehicle 1 includes a swivel mechanism 12 for swivelling each wheel 11 around an upper and lower axis. Each of the plurality of wheels 11 is supported by the vehicle body 10 via the swivel mechanism 12. The swivel mechanism 12 directs the rotation axis of the wheel 11 toward the vehicle body width direction Y, thereby the transport vehicle 1 is in a first travel posture in which it can travel toward the vehicle body front-rear direction X (see FIG. Figure 5 (a)). The turning mechanism 12 makes the rotation axis of the wheel 11 face the vehicle body front-rear direction X, so that the transport vehicle 1 is in the second travel posture in which it can travel in the vehicle body width direction Y (see Figure 5 (b)) In addition, the transport vehicle 1 can basically travel vertically and horizontally on the travel surface by changing the direction in the first travel posture.

[0036] like Figure 6 As shown, the transport vehicle 1 includes a peripheral detection sensor 30. The control unit C of the transport vehicle 1 (see Figure 2) is configured to stop or slow down the vehicle when an obstacle is detected by the surrounding detection sensor 30 around the vehicle while the vehicle is traveling. As an obstacle detected by the surrounding detection sensor 30, for example, another transport vehicle 1 can be cited. In this way, collisions between transport vehicles 1 traveling without people can be avoided. Examples of the surrounding detection sensor 30 include optical sensors, ultrasonic sensors, LiDER (Light Detection And Ranging), sonar sensors, millimeter wave radars, etc.

[0037] In the present embodiment, the surrounding detection sensor 30 is configured to detect obstacles using the front range R1, rear range R2, left range R3, and right range R4 of the vehicle as the detection range R. In this example, the surrounding detection sensor 30 includes a front sensor 31 for detecting the front range R1 of the vehicle, a rear sensor 32 for detecting the rear range R2 of the vehicle, a left sensor 33 for detecting the left range R3 of the vehicle, and a right sensor 34 for detecting the right range R4 of the vehicle. That is, in this example, the transport vehicle 1 includes at least four surrounding detection sensors 30.

[0038] like Figure 7 As shown, the plurality of transport vehicles 1 are configured to be able to be combined with each other. Furthermore, in the combined state where the plurality of transport vehicles 1 are combined in an adjacent manner, the plurality of transfer units 14 cooperate with each other to form a transport path P for transporting articles W (see Figure 8 ). In the article conveying device 100 related to the present disclosure, each conveying vehicle 1 is configured to convey the article W to various locations individually when traveling individually. That is, it is possible to achieve a conveying form in which a specific article W is conveyed to a specific location. Moreover, a plurality of conveying vehicles 1 are configured to convey the article W along a continuous conveying path P by combining with each other. That is, it is possible to achieve a conveying form in which a plurality of articles W are continuously conveyed to the same location. In addition, the conveying path P formed by the plurality of conveying vehicles 1 in a combined state may include a linear path, a branch path, a converging path, and the like. Figure 8 In the example shown, the transport path P includes a linear path and a merging path.

[0039] like Figure 6 and Figure 7 As shown in FIG. 1 , in this embodiment, the transport vehicle 1 further includes a connection portion 20 for connecting with another transport vehicle 1. The connection portion 20 is provided on the vehicle body 10 and is configured to protrude from the vehicle body 10 when viewed in the vertical direction. The transport vehicle 1 and the vehicle 1 to be combined with the other transport vehicle 1 are configured to be in a combined state by being connected by the connection portion 20 (see FIG. 1 ). Figure 7 ).

[0040] In this embodiment, the transport vehicle 1 includes a front connection portion 21 provided at the front of the vehicle, a rear connection portion 22 provided at the rear of the vehicle, a left connection portion 23 provided at the left of the vehicle, and a right connection portion 24 provided at the right of the vehicle as the connection portion 20.

[0041] The front connecting portion 21 of the vehicle is connected to the rear connecting portion 22 of the vehicle 1 to be combined, and the rear connecting portion 22 of the vehicle is connected to the front connecting portion 21 of the vehicle 1 to be combined. In the present embodiment, the front connecting portion 21 and the rear connecting portion 22 are shaped to correspond to each other and are configured to engage with each other. In this example, the front connecting portion 21 has a tapered insertion portion. The rear connecting portion 22 has a hole portion for inserting the insertion portion of the front connecting portion 21. The insertion portion of the front connecting portion 21 is inserted into the hole portion of the rear connecting portion 22, thereby connecting the front connecting portion 21 and the rear connecting portion 22.

[0042] The structure is such that the left connecting part 23 of the vehicle is connected to the right connecting part 24 of the vehicle to be combined 1, and the right connecting part 24 of the vehicle is connected to the left connecting part 23 of the vehicle to be combined 1. In the present embodiment, the left connecting part 23 and the right connecting part 24 are shaped to correspond to each other and are configured to engage with each other. In this example, the left connecting part 23 has a tapered insertion part. The right connecting part 24 has a hole for inserting the insertion part of the left connecting part 23. The insertion part of the left connecting part 23 is inserted into the hole of the right connecting part 24, thereby connecting the left connecting part 23 to the right connecting part 24.

[0043] In this way, each transport vehicle 1 can be combined with other transport vehicles 1, and a continuous transport path P can be formed by the combination. However, as described above, each transport vehicle 1 is equipped with a peripheral detection sensor 30 as a collision prevention mechanism, and stops or slows down when there is an obstacle within the detection range R of the peripheral detection sensor 30. Therefore, the combination target vehicle 1 to be combined with the transport vehicle 1 is detected as an obstacle by the peripheral detection sensor 30 before the combination. In this case, the collision prevention mechanism using the peripheral detection sensor 30 hinders the combination of the transport vehicles 1.

[0044] So, if Figure 7 and Figure 8 As shown, in the article conveying device 100 of the present disclosure, the control unit C of the conveying vehicle 1 (refer to Figure 2) is configured such that, when the vehicle is performing a combined action with another transport vehicle 1, i.e., the combined object vehicle 1, the peripheral detection sensor 30 is at least partially disabled so as not to detect the combined object vehicle 1. As a result, the peripheral detection sensor 30 that has been partially disabled can prevent the combined object vehicle 1 from being detected as an obstacle. Therefore, the transport vehicle 1 and the combined object vehicle 1 can be appropriately combined. In addition, the partial disablement of the peripheral detection sensor 30 is performed not only when multiple transport vehicles 1 are performing a combined action, but also when, for example, Figure 3 The transport vehicle 1 shown in the figure also performs the operation when transferring an article W between the transfer target location T.

[0045] In this embodiment, the transport vehicle 1 and the combined vehicle 1 are configured to perform a combined operation by approaching each other or one approaching the other. When the transport vehicle 1 and the combined vehicle 1 are relatively close to each other, the mutual connecting parts 20 are connected, and the transport vehicle 1 and the combined vehicle 1 are in a combined state.

[0046] In the present embodiment, the transport vehicle 1 and the combination target vehicle 1 are configured to be combined in the vehicle body front-to-back direction X. For example, the transport vehicle 1 and the combination target vehicle 1 are combined in the vehicle body front-to-back direction X by connecting the front connection portion 21 of the transport vehicle 1 to the rear connection portion 22 of the combination target vehicle 1 (see FIG. Figure 7 ). At this time, the front sensor 31 of the transport vehicle 1 is set to be invalid, and the rear sensor 32 of the combined object vehicle 1 is set to be invalid. In addition, when the transport vehicle 1 and the combined object vehicle 1 perform a combined action in which they are combined in the vehicle body front-rear direction X, the driving posture of at least one of the transport vehicle 1 and the combined object vehicle 1 (the one approaching the other) becomes the first driving posture (refer to Figure 5 (a)) As a result, the transport vehicle 1 and the vehicle to be combined 1 can be brought relatively close to each other along the vehicle body front-rear direction X, and the two can be combined appropriately in the vehicle body front-rear direction X.

[0047] In the present embodiment, the transport vehicle 1 and the combination object vehicle 1 are configured to be able to be combined in the vehicle body width direction Y. For example, the transport vehicle 1 and the combination object vehicle 1 are combined in the vehicle body width direction Y by connecting the left connection portion 23 of the transport vehicle 1 with the right connection portion 24 of the combination object vehicle 1. At this time, the left sensor 33 of the transport vehicle 1 is set to be invalid, and the right sensor 34 of the combination object vehicle 1 is set to be invalid. In addition, when the transport vehicle 1 and the combination object vehicle 1 perform a combination action in which they are combined in the vehicle body width direction Y, the driving posture of at least one of the transport vehicle 1 and the combination object vehicle 1 (the side approaching the other side) becomes the second driving posture (refer to Figure 5 (b)) As a result, the transport vehicle 1 and the vehicle to be combined 1 can be brought relatively close to each other along the vehicle width direction Y, and the two can be combined appropriately in the vehicle width direction Y.

[0048] In this embodiment, the plurality of transport vehicles 1 are configured to be able to travel on the travel surface in a combined state. The plurality of transport vehicles 1 in a combined state are configured to be able to travel while maintaining the original state of the combined state by cooperating with each other through instructions from the upper control device H or communication between the control units C mounted on each transport vehicle 1. For example, the plurality of transport vehicles 1 in a combined state are configured to move between different transfer target locations T while maintaining the original state of the combined state.

[0049] In the present embodiment, the control unit C of the transport vehicle 1 sets the upper limit speed of the vehicle when performing a combined action to be lower than the upper limit speed of the vehicle when traveling alone. Thus, when performing a combined action, the transport vehicles 1 of the combined object will not contact each other with great momentum. In addition, although detailed illustrations are omitted, multiple transport vehicles 1 can cooperate by mutually projecting and receiving light signals when performing a combined action. Alternatively, they can also cooperate by performing short-range wireless communication instead of projecting and receiving light signals. Alternatively, they can also cooperate based on the position information of each transport vehicle 1 mastered by the upper control device H.

[0050] like Figure 6 and Figure 7 As shown, in this embodiment, the transport vehicle 1 and the peripheral detection sensor 30 are separately provided with a contact sensor 40 for detecting contact between a contact object and the vehicle. Thus, even if the peripheral detection sensor 30 becomes invalid, the contact sensor 40 can detect the contact object with the vehicle body 10. For example, when the transport vehicles 1 are not properly connected to each other and the vehicle bodies 10 come into contact with each other, the transport vehicles 1 can be stopped.

[0051] In this embodiment, the contact detection range of the contact sensor 40 is set to the entire outer periphery of the vehicle body 10 of the transport vehicle 1. In other words, the detection unit of the contact sensor 40 is provided over the entire outer periphery of the vehicle body 10 of the transport vehicle 1. For example, the contact sensor 40 is configured using a bumper sensor.

[0052] like Figure 7 As shown, in the combined state of a plurality of transport vehicles 1, a gap is formed between the contact sensors 40 of the mutually adjacent transport vehicles 1. That is, in the combined state of a plurality of transport vehicles 1, a gap is formed between the mutually adjacent transport vehicles 1. Thus, the vehicle bodies 10 or the contact sensors 40 of the adjacent transport vehicles 1 in the combined state do not contact each other. Therefore, according to the above structure, in the combined state of a plurality of transport vehicles 1, it is possible to avoid erroneous detection of the transport vehicle 1 by the contact sensor 40.

[0053] Figure 8A mode of combining multiple transport vehicles 1 is shown. In the example shown in the figure, multiple transport vehicles 1 (five transport vehicles 1) are combined in the vehicle body front-rear direction X, and multiple transport vehicles 1 (three transport vehicles 1) are combined in the vehicle body width direction Y in a part of the transport vehicle train.

[0054] In this embodiment, the control unit C of the transport vehicle 1 (see Figure 2 ) is configured so that, when the host vehicle performs a combining action with the combining object vehicle 1, detection of at least the detection range R on the side where the combining object vehicle 1 is present among the plurality of detection ranges R is set to be invalid. In this example, the control unit C of the transport vehicle 1 is configured so that detection of the detection range R on the side where the combining object vehicle 1 is not present among the plurality of detection ranges R is set to be valid. Detection of the detection range R on the side where the combining object vehicle 1 is not present is set to be valid at least while the transport vehicle 1 is traveling.

[0055] exist Figure 8 In the example shown, each of the plurality of transport vehicles 1 combined in the vehicle body front-rear direction X sets the detection in the front range R1 or rear range R2 where the combined vehicle 1 exists to be invalid. Each of the plurality of transport vehicles 1 combined in the vehicle body width direction Y sets the detection in the left range R3 or right range R4 where the combined vehicle 1 exists to be invalid.

[0056] Fig. 9 An example of a transporting form performed by a plurality of transport vehicles 1 in a combined state is shown. As described above, a plurality of transport vehicles 1 form a continuous transport path P by being in a combined state. Thus, a plurality of articles W can be continuously transported along the transport path P. That is, by forming a transport path P that connects different transfer target locations T with each other by a plurality of transport vehicles 1 in a combined state, a plurality of articles W can be continuously transported between different transfer target locations T. In this way, according to the article transporting device 100 disclosed in the present invention, a transporting form in which a plurality of articles W are continuously transported to the same location can be realized.

[0057] exist Fig. 9 In the example shown, a plurality of transport vehicles 1 are combined to form a transport path P that connects the loading and unloading area 9 to the automatic warehouse 8. This allows a plurality of articles W to be continuously transported from the loading and unloading area 9 to the automatic warehouse 8.

[0058] The transport vehicle 1 that is not combined with other transport vehicles 1 can independently transport the article W from the transfer target location T that is the transport source to another transfer target location T that is the transport destination based on the transport instruction. In this way, according to the article transport equipment 100 related to the present disclosure, a transport mode of transporting a specific article W to a specific location can be realized.

[0059] Although detailed illustrations are omitted, two or more transport vehicles 1 in a combined state can move within the facility while maintaining the combined state. The movement while maintaining the combined state can also be performed while holding the article W. Thus, larger articles W that are difficult to be transported by one transport vehicle can be properly transported by two or more transport vehicles 1 in a combined state.

[0060] [Other implementation methods]

[0061] Next, other embodiments will be described.

[0062] (1) In the above-mentioned embodiment, an example of realizing a combined state of multiple transport vehicles 1 by connecting the connecting parts 20 of each transport vehicle 1 is described. However, it is not limited to such an example, and the multiple transport vehicles 1 may not be physically connected, and may be in a combined state by approaching each other. In this case, in the combined state of the multiple transport vehicles 1, each of the multiple transport vehicles 1 can be configured to travel synchronously with each other while maintaining the original state of the combined state. The control parts C possessed by each transport vehicle 1 communicate with each other, and the transport vehicles 1 cooperate and travel synchronously. In addition, a part of the multiple transport vehicles 1 in the combined state may be combined using the connecting part 20, and another part may be combined by synchronization in control.

[0063] (2) In the above-mentioned embodiment, an example is described in which the connection part 20 of the transport vehicle 1 and the connection part 20 of the combination object vehicle 1 have shapes corresponding to each other and are configured to engage with each other. However, the present invention is not limited to such an example, and the connection part 20 may also be configured using an electromagnet, for example. In this case, the connection part 20 of the transport vehicle 1 and the connection part 20 of the combination object vehicle 1 are configured to adhere to each other in the energized state.

[0064] (3) In the above-mentioned embodiment, an example in which the transport vehicle 1 is provided with at least four peripheral detection sensors 30 is described. However, the present invention is not limited to such an example, and the number of peripheral detection sensors 30 provided on the transport vehicle 1 may be three or less. The larger the detection range R that the peripheral detection sensor 30 can detect, the smaller the number of peripheral detection sensors 30 mounted on the transport vehicle 1. For example, a structure in which a total of two peripheral detection sensors 30 are mounted at positions that are diagonal to the transport vehicle 1 when viewed in the up-down direction (the right front and the left rear, or the left front and the right rear) may be configured.

[0065] (4) In the above embodiment, the transport vehicle 1 is described as including the contact sensor 40 for detecting contact of a contact object with the transport vehicle separately from the periphery detection sensor 30. However, the contact sensor 40 is not an essential configuration. The transport vehicle 1 may not include the contact sensor 40.

[0066] (5) In the above-mentioned embodiment, an example is described in which the first transfer mechanism 141 of the transport vehicle 1 is configured using a roller conveyor. However, the present invention is not limited to such an example, and the first transfer mechanism 141 may be configured using other conveyors such as a belt conveyor and a chain conveyor, or may be configured using a mechanism such as a fork.

[0067] (6) In the above-mentioned embodiment, an example is described in which the transfer unit 14 of the transport vehicle 1 includes the second transfer mechanism 142 that moves the article W in a direction different from that of the first transfer mechanism 141. However, the present invention is not limited to such an example, and the transfer unit 14 may not include the second transfer mechanism 142. For example, the transfer unit 14 may include a rotating unit that rotates the first transfer mechanism 141 around the vertical axis, so that the transfer direction of the article W performed by the first transfer mechanism 141 can be changed.

[0068] (7) In the above-mentioned embodiment, the control unit C of the transport vehicle 1 is configured to at least partially disable the peripheral detection sensor 30 so as not to detect the combination target vehicle 1 when the transport vehicle 1 performs a combination operation with another transport vehicle 1, i.e., the combination target vehicle 1. The “partially disabled” includes, in addition to the detection of a certain peripheral detection sensor 30 among the plurality of peripheral detection sensors 30 being disabled, partially disabled the detection range R itself of the peripheral detection sensor 30. That is, in this case, each peripheral detection sensor 30 is configured to expand or reduce the detection range R.

[0069] (8) In addition, the structure disclosed in the above-mentioned embodiment can also be combined with the structure disclosed in other embodiments and applied as long as there is no contradiction. Regarding other structures, the embodiments disclosed in this specification are also only illustrative in all aspects. Therefore, various changes can be appropriately made within the scope of the main purpose of this disclosure.

[0070] [Summary of this embodiment]

[0071] Hereinafter, a summary of this embodiment will be described.

[0072] A kind of article conveying equipment, comprising a plurality of conveying vehicles that convey articles by running on a running surface without tracks; the conveying vehicle comprises: a loading part for loading the aforementioned articles; a transferring part for transferring the aforementioned articles loaded on the loading part between a part to be transferred; a peripheral detection sensor; and a control part for controlling the vehicle; the control part is configured to stop or slow down the vehicle when an obstacle is detected by the peripheral detection sensor around the vehicle during the running of the vehicle; in a combined state in which the plurality of conveying vehicles are combined in an adjacent manner, the plurality of transferring parts cooperate with each other to form a conveying path for conveying the aforementioned articles; and the control part at least partially sets the peripheral detection sensor to be invalid when the vehicle performs a combined action with the other conveying vehicle that is a combined object, i.e., a combined object vehicle, so as not to detect the combined object vehicle.

[0073] According to the present structure, each transport vehicle can transport articles to various places individually, and a plurality of transport vehicles can transport articles along a continuous transport path by combining. That is, a transport vehicle can be used to realize a transport mode of transporting a specific article to a specific location and a transport mode of continuously transporting a plurality of articles to the same location. Moreover, such a plurality of transport modes can be flexibly changed according to the operation of the equipment. In addition, according to the present structure, when each transport vehicle travels individually, the contact between the transport vehicles can be avoided by the peripheral detection sensors. When each transport vehicle performs a combined action, the peripheral detection sensors are partially set to be invalid, so that the combined action can be appropriately performed. As described above, according to the present structure, a plurality of transport modes can be realized while suppressing the types of conveying devices.

[0074] Preferably, the control unit sets an upper limit running speed when the host vehicle performs the combined operation to be lower than an upper limit running speed when the host vehicle travels alone.

[0075] According to this configuration, when performing the combining operation, it is possible to prevent the transport vehicles to be combined from coming into contact with each other violently.

[0076] Preferably, the transport vehicle and the peripheral detection sensor are additionally provided with a contact sensor for detecting contact between a contact object and the vehicle; and in the combined state of the plurality of transport vehicles, gaps are formed between the contact sensors of adjacent transport vehicles.

[0077] According to this structure, even if the peripheral detection sensor becomes invalid, the contact sensor can detect the contact object with the vehicle body. For example, when the transport vehicles are not properly connected to each other and the vehicle bodies are in contact with each other, the transport vehicles can be stopped. In addition, when a plurality of transport vehicles are combined, a gap is formed between adjacent transport vehicles, so that the contact sensor can avoid erroneous detection of the transport vehicle.

[0078] Preferably, in the combined state of the plurality of transport vehicles, each of the plurality of transport vehicles is configured to travel in synchronization with each other while maintaining the combined state.

[0079] According to this configuration, a plurality of transport vehicles can be controlled to be in a combined state by running in sync, so that a connecting portion for physically connecting the plurality of transport vehicles to each other can be eliminated.

[0080] Preferably, the aforementioned transport vehicle also includes a connecting portion for connecting to other aforementioned transport vehicles; the aforementioned transport vehicle and the aforementioned combined object vehicle are constructed so as to become the aforementioned combined state by being connected by the aforementioned connecting portions to each other; the aforementioned transport vehicle includes, as the aforementioned connecting portion, a front connecting portion arranged at the front part of the aforementioned vehicle, a rear connecting portion arranged at the rear part of the aforementioned vehicle, a left connecting portion arranged at the left part of the aforementioned vehicle, and a right connecting portion arranged at the right part of the aforementioned vehicle; the aforementioned front connecting portion of the aforementioned vehicle is connected to the aforementioned rear connecting portion of the aforementioned combined object vehicle; the aforementioned rear connecting portion of the aforementioned vehicle is connected to the aforementioned front connecting portion of the aforementioned combined object vehicle; the aforementioned left connecting portion of the aforementioned vehicle is connected to the aforementioned right connecting portion of the aforementioned combined object vehicle; the aforementioned right connecting portion of the aforementioned vehicle is connected to the aforementioned left connecting portion of the aforementioned combined object vehicle.

[0081] According to this structure, each transport vehicle can be connected to other transport vehicles in each of the front-rear direction and the left-right direction. Therefore, it is easy to flexibly set the shape of the transport path formed by the transfer parts of the plurality of transport vehicles.

[0082] Preferably, the aforementioned peripheral detection sensor is configured to detect obstacles using the front range, rear range, left range and right range of the aforementioned vehicle as detection ranges; and the aforementioned control unit, when the aforementioned vehicle performs the aforementioned combination action with the aforementioned combination object vehicle, sets the detection of the aforementioned detection range on the side where the aforementioned combination object vehicle is present among the multiple aforementioned detection ranges to be invalid.

[0083] According to this configuration, while preventing the surrounding detection sensors from hindering the combined operation of the plurality of transport vehicles, obstacles can be effectively detected by the surrounding detection sensors within a range that does not affect the combined operation.

[0084] Industrial Applicability

[0085] The technology according to the present disclosure can be utilized in article transport facilities including a plurality of transport vehicles that transport articles by traveling on a travel surface without tracks.

[0086] Description of Reference Numerals

[0087] 100: Goods conveying equipment

[0088] 1: Transport vehicle

[0089] 13: Loading section

[0090] 14: Transfer unit

[0091] 20: Connection

[0092] 21: Front connection

[0093] 22: Rear connection

[0094] 23: Left connection

[0095] 24: Right side connection

[0096] 30: Peripheral detection sensor

[0097] 40: Contact sensor

[0098] R: Detection range

[0099] R1: Front Range

[0100] R2: Rear range

[0101] R3: Left Range

[0102] R4: Right range

[0103] C: Control Department

[0104] P: Conveying path

[0105] T: Transfer target area

[0106] W: Items

Claims

1. An article conveying device, comprising a plurality of conveying vehicles that convey articles by running on a running surface without tracks, characterized in that: The above-mentioned transport vehicle has: A loading portion for loading the aforementioned articles; A transfer unit for transferring the article placed on the placement unit between a transfer target location and the placement unit; Peripheral detection sensors; and The control unit controls the vehicle; The control unit is configured to stop or decelerate the vehicle when the surrounding detection sensor detects an obstacle around the vehicle while the vehicle is traveling. In a combined state where the plurality of transport vehicles are combined in an adjacent manner, the plurality of transfer units cooperate with each other to form a transport path for transporting the articles; When the host vehicle performs a combined operation with the other transport vehicle serving as a combination target, namely, the combination target vehicle, the control unit at least partially disables the surrounding detection sensor so as not to detect the combination target vehicle.

2. The article conveying device according to claim 1, characterized in that: The control unit sets an upper limit running speed when the host vehicle performs the combined operation to be lower than an upper limit running speed when the host vehicle travels alone.

3. The article conveying device according to claim 1, characterized in that: The transport vehicle and the peripheral detection sensor are additionally provided with a contact sensor for detecting contact between a contact object and the vehicle; In the combined state of the plurality of transport vehicles, a gap is formed between the contact sensors of the transport vehicles adjacent to each other.

4. The article conveying device according to claim 1, characterized in that: In the combined state of the plurality of transport vehicles, each of the plurality of transport vehicles is configured to travel in synchronization with each other while maintaining the combined state.

5. The article conveying device according to claim 1, characterized in that: The transport vehicle further comprises a connection portion for connecting with other transport vehicles; The transport vehicle and the combination target vehicle are configured to be in the combined state by being connected to each other by the connection portion; The transport vehicle includes, as the connecting portion, a front connecting portion provided at the front of the vehicle, a rear connecting portion provided at the rear of the vehicle, a left connecting portion provided at the left of the vehicle, and a right connecting portion provided at the right of the vehicle; The front connecting portion of the host vehicle is connected to the rear connecting portion of the combination target vehicle; The rear connecting portion of the host vehicle is connected to the front connecting portion of the combination target vehicle; The left side connection portion of the host vehicle is connected to the right side connection portion of the combination target vehicle; The right side connection portion of the host vehicle is connected to the left side connection portion of the combination target vehicle.

6. The article conveying device according to any one of claims 1 to 5, characterized in that: The peripheral detection sensor is configured to detect obstacles using the front, rear, left and right sides of the vehicle as detection ranges. The control unit disables detection of at least the detection range on the side where the combination target vehicle is present among the plurality of detection ranges when the host vehicle performs the combination operation with the combination target vehicle.

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