Transport vehicle and unmanned transport system

Abstract

A transport vehicle (10) is provided with: an electricity storage unit (21); travel drive sources (19, 20) which are driven by the electric power stored in the electric power storage unit (21) and which drive the wheels of the transport vehicle (10); a travel control unit (25) that controls the driving of the travel drive sources (19, 20); and a power supply unit (28) that supplies the power stored in the power storage unit (21) to another vehicle, i.e., a towed vehicle (50).

Description

Technical Field

[0001] The present invention relates to a carrier vehicle and an unmanned transport system including the carrier vehicle and a towed vehicle towed by the carrier vehicle. Background Art

[0002] Conventionally, as an example of the above unmanned transport system, an unmanned transport system disclosed in Japanese Unexamined Patent Application Publication No. 2020-044859 (hereinafter referred to as Patent Document 1) is known. In this unmanned transport system, a towed cart is connected to an unmanned carrier vehicle, and the unmanned carrier vehicle autonomously travels along a route from a set departure point to a destination point, thereby transporting a load loaded on the towed cart to the destination point.

[0003] [Prior Art Documents] [Patent Documents] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2020-044859 Summary of the Invention In the unmanned transport system shown in Patent Document 1, for example, it is considered to mount a traveling motor (actuator) for assisting traveling or a work robot (actuator) for loading and unloading workpieces on the towed cart.

[0004] However, if an actuator is mounted on the towed cart, it is also necessary to mount a power storage unit or a control device. The power storage unit is used to supply power to the actuator, and the control device is used to control the operation of the actuator. As a result, the following problems occur: the total weight of the towed cart increases, its traveling stability is impaired, and the unmanned carrier vehicle towing the towed cart cannot travel due to insufficient power.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a carrier vehicle capable of suppressing an increase in the total weight of a towed vehicle, and an unmanned transport system including the carrier vehicle.

[0006] To solve the above problems, the present invention provides a carrier vehicle including: a power storage unit; a traveling drive source that is driven by electric power stored in the power storage unit and drives wheels; a traveling control unit that controls the traveling drive source; and a power supply unit that supplies electric power stored in the power storage unit to other vehicles.

[0007] According to the carrier vehicle of this aspect, a part of the electric power stored in its own power storage unit can be supplied to other vehicles. Therefore, it is not necessary to provide a power storage unit or the like on the other vehicle, the device structure thereof can be simplified, and its weight can be reduced accordingly.

[0008] In addition, in the above aspect, the other vehicle may include an actuator that operates by receiving power supply. The power supply unit may be configured to supply the power stored in the power storage unit to the actuator provided on the other vehicle. According to this aspect, it is possible to supply power from the power storage unit provided on the transporter to the actuator provided on the other vehicle to start the actuator. In addition, in the present invention, the actuator includes all known mechanical elements such as devices and equipment that operate by electricity.

[0009] In addition, in the above aspect, the power supply unit may also be configured to supply power by non-contact power supply. Alternatively, the other vehicle has a power receiving unit that receives power from the power supply unit. The power supply surface of the power supply unit and the power receiving surface of the power receiving unit are configured to face each other with a space therebetween in the vertical direction, and the power supply unit may be configured to supply power by non-contact power supply. The functions and effects related to non-contact power supply, and the functions and effects of the structure in which the power supply surface and the power receiving surface face each other with a space therebetween in the vertical direction are the same as those of the aspects having the same structure described later.

[0010] In addition, in the above aspect, the other vehicle has a traveling motor as the actuator and drive wheels that are rotationally driven by the traveling motor. It further includes: an inclination detection mechanism unit that detects the inclination angle of the other vehicle in a specified direction. The power supply control unit may be configured to: when the inclination angle of the other vehicle detected by the inclination detection mechanism unit is greater than or equal to a specified amount, drive the traveling motor of the other vehicle by performing power supply from the power supply unit to the traveling motor provided on the other vehicle; on the other hand, when the inclination angle is less than the specified amount, the power supply from the power supply unit to the traveling motor is not performed. The function and effect of the power supply control performed by the power supply control unit based on the inclination angle detected by the inclination detection mechanism unit are the same as those of the aspects having the same structure described later.

[0011] In addition, in the aspect where the other vehicle has a traveling motor as the actuator and drive wheels that are rotationally driven by the traveling motor. The other vehicle has left and right drive wheels as the drive wheels, and has left and right traveling motors as the traveling motors. The left traveling motor drives the left drive wheel, and the right traveling motor drives the right drive wheel. The power supply control unit may be configured to be able to change the power supply ratio between the left traveling motor and the right traveling motor. The function and effect of the power supply control unit in this aspect are the same as those of the aspects having the same structure described later.

[0012] In addition, in the above aspect, the other vehicle has a brake actuator, which serves as the brake and generates the braking force of the other vehicle by receiving power supply. It further includes: An inclination detection mechanism unit that detects the inclination angle of the other vehicle in a specified direction, and A weight estimation unit that estimates the loaded weight of the other vehicle based on the inclination angle of the other vehicle detected by the inclination detection mechanism unit. Wherein, the power supply control unit can be configured to: when the loaded weight estimated by the weight estimation unit is greater than or equal to a specified weight, when the travel control unit stops the forklift truck, start the actuator by performing power supply. On the other hand, when the loaded weight is less than the specified weight, when the travel control unit stops the forklift truck, the power supply unit does not perform power supply and does not start the brake actuator. The function and effect of the power supply control performed by the power supply control unit based on the loaded weight estimated by the weight estimation unit in this aspect are the same as those of the aspect with the same structure described later.

[0013] In addition, the inclination detection mechanism unit may include: a specified identifier provided on the other vehicle; a camera device mounted on the forklift truck that captures the specified identifier; a storage unit that stores the captured image of the specified identifier captured by the camera device in a state where the other vehicle is not inclined in the specified direction as a reference image; and an inclination angle calculation unit that calculates the inclination angle of the other vehicle by comparing the captured image of the specified identifier captured by the camera device with the reference image. The function and effect of the solution for calculating the inclination angle using the specified identifier are the same as those of the aspect with the same structure described later.

[0014] In addition, the present invention provides an unmanned handling system, including an unmanned forklift truck included in the forklift truck and a towed vehicle included in the other vehicle towed by the unmanned forklift truck, wherein The unmanned forklift truck has: a power storage unit; a travel drive source that is driven by the power stored in the power storage unit to drive the wheels of the unmanned forklift truck; a travel control unit that controls the travel drive source; a power supply unit that supplies the power stored in the power storage unit to the towed vehicle; and a power supply control unit that controls the power supply of the power supply unit. Wherein, the towed vehicle has a power receiving unit and an actuator, the power receiving unit receives power from the power supply unit provided on the unmanned forklift truck, and the actuator is driven by the power received by the power receiving unit. The power supply control unit is configured to control the operation of the actuator by controlling the power supply from the power supply unit to the power receiving unit provided on the towed vehicle.

[0015] According to this structure, under the control of the travel control unit mounted on the automated guided vehicle, the travel drive source of the automated guided vehicle is controlled to start the travel of the automated guided vehicle. The drive power of this travel drive source is supplied by the power storage unit mounted on the automated guided vehicle. On the other hand, an electric actuator is mounted on the towed vehicle. This actuator can be, for example, an electric motor that drives the drive wheels of the towed vehicle. Among them, a power supply unit is provided on the automated guided vehicle, and this power supply unit is used to supply the power of the power storage unit to the power receiving unit provided on the towed vehicle, and the actuator is driven by the power received from the power supply unit by the power receiving unit. The power supply control from the power supply unit to the power receiving unit is executed by the power supply control unit mounted on the automated guided vehicle. This power supply control includes, for example, control of the power supply timing to the power receiving unit or control of the power supply amount. And, under the control of the power supply control unit, the power supply control from the power supply unit to the power receiving unit is executed, thereby controlling the operation timing or operation speed of the actuator. Therefore, it is possible to perform drive control of the actuator without additionally mounting a power storage unit or a control unit for driving the actuator on the towed vehicle. Thus, it is possible to perform drive control of the actuator while suppressing an increase in the total weight of the towed vehicle.

[0016] Preferably, the power supply unit is configured to supply power to the power receiving unit by non-contact power supply.

[0017] According to this structure, it is possible to supply power from the power supply unit provided on the automated guided vehicle to the power receiving unit provided on the towed vehicle in a non-contact manner. Therefore, when connecting the towed vehicle to the automated guided vehicle, there is no need to perform wiring work to electrically connect the power supply unit and the power receiving unit, and the operation burden on the operator can be reduced. In addition, if the power supply unit and the power receiving unit are connected by wiring, each time the automated guided vehicle turns, the wiring will bend and there is a risk of disconnection. However, according to the above structure, by adopting non-contact power supply, the risk of disconnection can be avoided, and thus power can be stably supplied from the power supply unit to the power receiving unit.

[0018] Preferably, the power supply surface of the power supply unit and the power receiving surface of the power receiving unit are configured to face each other with a space therebetween in the vertical direction.

[0019] According to this structure, even if the traveling direction of the automated guided vehicle changes, the distance between the power supply surface of the power supply unit and the power receiving surface of the power receiving unit does not change, so the power supply efficiency can be kept constant.

[0020] Preferably, the actuator provided on the towed vehicle includes a traveling motor that rotates by receiving power supply, and the towed vehicle has drive wheels that are rotationally driven by the traveling motor.

[0021] According to this structure, the actuator provided on the towed vehicle is constituted by a traveling motor that rotates the drive wheels provided on the towed vehicle, and the traveling motor is driven by the electric power supplied from the power supply unit of the automated guided vehicle to the power receiving unit of the towed vehicle. Also, the power supply control from the power supply unit to the power receiving unit is executed by the power supply control unit mounted on the automated guided vehicle, thereby executing the operation control of the traveling motor. Therefore, it is possible to rotationally drive the drive wheels of the towed vehicle by the traveling motor, improving its traveling stability, without the need to newly mount a power storage unit or a control unit on the towed vehicle.

[0022] Preferably, the automated guided vehicle system further includes: a tilt detection mechanism unit that detects the tilt angle of the towed vehicle in a specified direction, wherein the power supply control unit is configured to: when the tilt angle of the towed vehicle detected by the tilt detection mechanism unit is greater than or equal to a specified amount, drive the traveling motor of the towed vehicle by executing the power supply from the power supply unit to the power receiving unit provided on the towed vehicle; on the other hand, when the tilt angle is less than the specified amount, the power supply from the power supply unit to the power receiving unit is not executed.

[0023] According to this structure, the tilt detection mechanism unit detects the tilt angle of the towed vehicle in a specified direction (e.g., the vehicle width direction). Also, when the tilt angle of the towed vehicle detected by the tilt detection mechanism unit is greater than or equal to a specified amount, under the control of the power supply control unit, power is supplied from the power supply unit to the power receiving unit of the towed vehicle. This electric power is supplied to the traveling motor (actuator) provided on the towed vehicle, and the drive wheels of the towed vehicle are rotationally driven by the traveling motor that receives the power supply. Therefore, when the tilt angle of the towed vehicle is greater than the specified amount, the drive wheels of the towed vehicle are driven by the traveling motor, thereby being able to stabilize the unstable traveling state of the towed vehicle and reducing the tilt angle of the towed vehicle. On the other hand, when the tilt angle of the towed vehicle detected by the tilt detection mechanism unit is less than the specified amount, the power supply from the power supply unit of the automated guided vehicle to the power receiving unit of the towed vehicle is not executed. Thereby, it is possible to prevent the unnecessary driving of the traveling motor of the towed vehicle when the tilt angle of the towed vehicle is small, thus reducing the power consumption of the entire system.

[0024] Preferably, the towed vehicle has left and right drive wheels as the drive wheels, and left and right traveling motors as the traveling motors. The left traveling motor drives the left drive wheel, and the right traveling motor drives the right drive wheel. The towed vehicle also has left and right power receiving parts as the power receiving parts. The left power receiving part receives the driving power of the left traveling motor, and the right power receiving part receives the driving power of the right traveling motor. The automated guided vehicle has left and right power supply parts as the power supply parts. The left power supply part supplies power to the left power receiving part, and the right power supply part supplies power to the right power receiving part. The power supply control unit is configured to be able to change the power supply ratio between the left power supply part and the right power supply part.

[0025] According to this structure, the power supply control unit can change the power supply ratio between the left and right power supply parts of the automated guided vehicle, thereby changing the speed ratio between the left and right traveling motors of the towed vehicle. Therefore, for example, when the towed vehicle rotates following the rotation of the automated guided vehicle, the power supply ratio can be controlled by the power supply control unit, so as to control the rotation speeds of the left and right drive wheels and make the angular velocity around the rotation center constant. Thus, it is possible to suppress the slippage of the left and right drive wheels when the towed vehicle turns and improve its traveling stability.

[0026] Preferably, the actuator provided on the towed vehicle includes a braking actuator that generates the braking force of the towed vehicle by receiving power supply.

[0027] According to this structure, a braking actuator for generating a braking force is provided on the towed vehicle. Under the control of the power supply control unit, when power is supplied from the power supply part of the automated guided vehicle, the braking actuator starts to operate and applies a braking force to the towed vehicle. Therefore, when the automated guided vehicle stops, the braking actuator of the towed vehicle can be started by performing power supply from the power supply part to the power receiving part, thereby avoiding insufficient braking force of the towed vehicle.

[0028] The automated guided vehicle system further includes: an inclination detection mechanism unit that detects the inclination angle of the towed vehicle in a specified direction; and a load estimation unit that estimates the load weight of the towed vehicle based on the inclination angle of the towed vehicle detected by the inclination detection structure unit. The power supply control unit is configured to: when the load weight estimated by the load estimation unit is greater than or equal to a specified weight, when the traveling control unit stops the automated guided vehicle, start the braking actuator by performing power supply from the power supply part to the power receiving part; on the other hand, when the load weight is less than the specified weight, when the traveling control unit stops the automated guided vehicle, do not perform the power supply from the power supply part to the power receiving part and do not start the braking actuator.

[0029] According to this configuration, the load weight (weight of the load) of the towed vehicle is estimated by the weight estimation unit based on the tilt angle of the towed vehicle in a predetermined direction (for example, the vehicle width direction) detected by the tilt detection mechanism unit. And, when the load weight of the towed vehicle estimated by the weight estimation unit is greater than or equal to the predetermined weight, when the travel control unit stops the unmanned guided vehicle, the power supply unit supplies power to the power receiving unit under the control of the power supply control unit, and the brake actuator is activated. As a result, when the unmanned guided vehicle stops, the towed vehicle can be prevented from colliding with the unmanned guided vehicle due to inertia. On the other hand, when the load weight of the towed vehicle is less than the predetermined weight, when the unmanned guided vehicle stops, the power supply unit does not supply power to the power receiving unit. Therefore, it is possible to prevent the brake actuator from being unnecessarily supplied when the load weight of the towed vehicle is small, thereby reducing the power consumption of the entire system.

[0030] Preferably, the tilt detection mechanism comprises: a prescribed mark (including characters or graphics representing a prescribed shape, etc.) provided on the towed vehicle; a camera device mounted on the unmanned guided vehicle to photograph the prescribed mark; a storage unit that stores a photographed image of the prescribed mark photographed by the camera device in a state where the towed vehicle is not tilted (reference state) as a reference image; and a tilt angle calculation unit that calculates the tilt angle of the towed vehicle by comparing the current photographed image of the prescribed mark photographed by the camera device with the reference image.

[0031] According to this configuration, the camera mounted on the unmanned guided vehicle captures an image of a predetermined mark provided on the towed vehicle, and the tilt angle calculation unit calculates the tilt angle of the towed vehicle in the predetermined direction based on a comparison between the image captured by the camera and a captured image of the predetermined mark captured by the camera when the towed vehicle is not tilted in the predetermined direction. Thus, the tilt angle of the towed vehicle in the predetermined direction can be easily detected by simple image processing alone.

[0032] [Effects of the invention] According to the unmanned transport system of the present invention, a power supply unit is provided on the unmanned transport vehicle, and a power receiving unit is provided on the towed vehicle. The power receiving unit receives power from the power supply unit as driving power for an actuator mounted on the towed vehicle. The power supply control unit mounted on the unmanned transport vehicle performs power supply control from the power supply unit to the power receiving unit, thereby performing driving control of the actuator mounted on the towed vehicle while minimizing the total weight of the towed vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] [ Figure 1Shows a side view of the unmanned transport system according to Embodiment 1 as seen from the left side of the vehicle.

[0034] Figure 2 Shows a top view of the unmanned transport system according to Embodiment 1.

[0035] Figure 3 Control block diagram of the unmanned transport system according to Embodiment 1.

[0036] Figure 4 Shows Figure 1 the corresponding diagram of Embodiment 2.

[0037] Figure 5 [Shows Figure 2 the corresponding diagram of Embodiment 2.

[0038] Figure 6 Shows Figure 2 the corresponding diagram of Embodiment 3.

[0039] Figure 7 Shows Figure 3 the corresponding diagram of Embodiment 3.

[0040] Figure 8 Shows Figure 1 the corresponding diagram of Embodiment 4.

[0041] Figure 9 Shows Figure 3 the corresponding diagram of Embodiment 4.

[0042] Figure 10 Explanatory diagram for the algorithm by which the tilt angle calculation unit of the unmanned transport system according to Embodiment 4 calculates the tilt angle of the carriage.

[0043] Figure 11 Shows Figure 2 the corresponding diagram of Embodiment 5.

[0044] Figure 12 Shows Figure 3 the corresponding diagram of Embodiment 5. Detailed Embodiments

[0045] The following describes the detailed embodiments of the present invention with reference to the accompanying drawings.

[0046] 《Embodiment 1》 As Figure 1 and 2 ​​​​​​​​​​​As shown, the unmanned transport system 1 of the present embodiment includes an unmanned transport vehicle 10 equivalent to a transport vehicle, and a trolley 50 (an example of a towed vehicle) equivalent to another vehicle detachably connected to the unmanned transport vehicle 10. Further, the unmanned transport vehicle 10 of the present embodiment travels without rails toward the destination set by the operator while avoiding obstacles, and thus delivers the load loaded on the trolley 50 to the target location. In addition, the unmanned transport vehicle 10 is not limited to traveling without rails. For example, it may also travel on a track while detecting a magnetic tape or a reflection member laid on the floor. Further, in the present example, the transport vehicle is an unmanned transport vehicle, but the transport vehicle is not limited thereto, and may also be a manned transport vehicle operated by an operator. In addition, the towed vehicle is not limited to such a trolley 50, but includes all vehicles having wheels capable of traveling.

[0047] In addition, the basic elements of the transport vehicle generally include, for example, at least: wheels; a power storage unit; a traveling drive source (such as an electric motor), which is driven by the power stored in the power storage unit to drive the wheels; a traveling control unit that controls the traveling drive source; and a power supply unit that supplies the power stored in the power storage unit to other vehicles.

[0048] The unmanned transport vehicle 10 has a transport vehicle body 11 that is rectangular parallelepiped-shaped in the vehicle length direction. As described above Figure 3 As shown, a power storage unit 21, a control device 24, and a power supply device 27, which are examples of the power storage unit, are mounted on the transport vehicle body 11. In the following description, "front side" and "rear side" refer to the front side and rear side in the vehicle length direction, and "left side" and "right side" refer to the left side and right side in the vehicle width direction.

[0049] As Figure 2 shown, on the lower surface of the transport vehicle body 11, a left drive wheel 12, a right drive wheel 13, a front driven wheel 14, and a rear driven wheel 15, which are examples of the wheels, are mounted. The left drive wheel 12 and the right drive wheel 13 are symmetrically arranged on the center line C1 in the vehicle width direction on the center portion in the vehicle length direction of the lower surface of the transport vehicle body 11. The left drive wheel 12 and the right drive wheel 13 are rotationally driven by a left traveling motor 19 and a right traveling motor 20, which are examples of the traveling drive source, connected to their respective axles. Each traveling motor 19, 20 is composed of a DC motor in the present example. In addition, in the present example, the unmanned transport vehicle 10 does not have a dedicated steering mechanism, and its steering function is achieved by the traveling control unit 25 described later changing the rotational speeds of the left and right traveling motors 19, 20. The traveling control unit 25 is an example of the traveling control unit.

[0050] When viewed from above, the front driven wheel 14 and the rear driven wheel 15 are located on the center line C1. The front driven wheel 14 and the rear driven wheel 15 are composed of casters that can rotate following the traveling direction of the unmanned transport vehicle 10.

[0051] A connecting plate 16 extending horizontally rearward is connected to the central portion in the vehicle width direction of the rear side surface of the carrier main body 11 (refer to Figure 1 , Figure 2 which is not shown in the figure). A connecting pin 17 is protrudingly provided at the rear end portion of the connecting plate 16. The connecting plate 16 is connected to the connecting plate 56 of the carriage 50 through the connecting pin 17.

[0052] Above the connecting plate 16 on the rear side surface of the carrier main body 11, a protruding pipe 11a protruding horizontally rearward is connected. A part of the power supply device 27, that is, the power supply unit 28 as an example of the power supply unit, is fixed to the front end of the protruding pipe 11a. Wiring members connected to the power supply unit 28 are inserted through the inside of the protruding pipe 11a. The power supply surface 28a of the power supply unit 28 is a vertical surface facing the rear side of the automated guided vehicle 10. The power supply device 27 supplies a part of the power stored in the power storage unit 21 to the power receiving unit 63 of the carriage 50 described later through the power supply unit 28.

[0053] As Figure 3 shown, the power storage unit 21 is constituted by, for example, a rechargeable battery or a capacitor. The power storage unit 21 is connected to the left traveling motor 19 and the right traveling motor 20, and can be powered by the drivers 22 and 23. In addition, the power storage unit 21 is connected to the control device 24 and the power supply device 27, and can supply power to the control device 24 and the power supply device 27.

[0054] The power supply device 27 is configured to supply power to the power receiving unit 63 of the power receiving device 62 mounted on the carriage 50 in a non-contact manner through the power supply unit 28. For example, power is supplied from the power supply unit 28 to the power receiving unit 63 by electromagnetic induction, but it is not limited thereto, and power can also be supplied by means such as radio waves, electric field resonance, or magnetic field resonance.

[0055] Returning to Figure 1 and Figure 2 , the carriage 50 has a carriage main body 51 having a rectangular parallelepiped shape in the vehicle length direction. A power receiving device 62 for receiving power from the power supply device 27 is mounted on the carriage main body 51 (refer to Figure 3 ), and an accommodation space for accommodating a workpiece or other load is ensured inside thereof. However, as Figure 3 shown, the carriage 50 is not provided with a power storage unit equivalent to the power storage unit 21 provided on the automated guided vehicle 10.

[0056] On the lower surface of the carriage body 51, drive wheels 70, a left driven wheel 71, and a right driven wheel 72 are mounted. The drive wheel 70 is disposed at the front end of the vehicle at the center position in the vehicle width direction of the carriage body 51. The drive wheel 70 is driven by a traveling motor 75 (an example of an actuator) connected to its axle. The traveling motor 75 is constituted by a DC motor in this example. The left driven wheel 71 and the right driven wheel 72 are symmetrically disposed on the rear end of the vehicle of the carriage body 51 with respect to the center line C2 in the vehicle width direction. Each of the driven wheels 71, 72 is constituted by a caster that can rotate following the traveling direction of the carriage 50.

[0057] At the center portion in the vehicle width direction of the front side surface of the carriage body 51, a connection plate 56 extending horizontally forward is connected (refer to Figure 1 , Figure 2 not shown in the figure). A fitting hole (not shown) is formed at the front end portion of the connection plate 56. And, by rotatably fitting the fitting hole with a connection pin 17 provided on the connection plate 16 of the automated guided vehicle 10, the automated guided vehicle 10 and the carriage 50 are connected by the two connection plates 16, 56.

[0058] Above the connection plate 56 on the front side surface of the carriage body 51, a protruding pipe 51a protruding horizontally forward is connected. A power receiving portion 63 which is a part of the power receiving device 62 is fixed to the front end portion of the protruding pipe 51a. The power receiving surface 63a of the power receiving portion 63 is a vertical surface facing the front of the vehicle of the carriage 50. The power receiving surface 63a and the power supply surface 28a of the power supply portion 28 provided on the automated guided vehicle 10 are parallel to each other in a state where the automated guided vehicle 10 travels straight (in a state where the center line C1 of the automated guided vehicle 10 and the center line C2 of the carriage 50 are on the same straight line when viewed from above).

[0059] As Figure 3 shown, the power receiving device 62 has the power receiving portion 63 and a power receiving circuit 64. The power receiving portion 63 receives the power supplied from the power supply portion 28 of the automated guided vehicle 10. The power receiving circuit 64 smoothes the power received by the power receiving portion 63, converts it into DC power, and then supplies it to the traveling motor 75. In addition, the power supplied from the power supply portion 28 to the power receiving portion 63 includes not only the power for driving the traveling motor 75 but also a control signal for controlling the traveling motor 75. The power supply portion 28 supplies at least the power for driving the traveling motor 75 to the power supply portion 63.

[0060] The power supply control from the power supply portion 28 of the automated guided vehicle 10 to the power receiving portion 63 of the carriage 50 is executed by a control device 24 mounted in the carriage body 11.

[0061] As Figure 3As shown, the control device 24 has a travel control unit 25 and a power supply control unit 26. The control device 24 is composed of a computer including a CPU, a RAM, a ROM, etc. The functions of the travel control unit 25 and the power supply control unit 26 are implemented by computer programs and perform the processes described later.

[0062] The travel control unit 25 executes a program based on the SLAM (Simultaneous Localization And Mapping) method. This SLAM method can, for example, estimate its own position and create an environmental map simultaneously. Also, the travel control unit 25 calculates the travel route from the current position of the automated guided vehicle 10 to the destination point, and controls the rotational speeds of the left travel motor 19 and the right travel motor 20 through the drivers 22, 23 that cause the automated guided vehicle 10 to travel along the calculated travel route. That is, when the travel control unit 25 causes the automated guided vehicle 10 to travel straight based on the calculated travel route, it rotates the left travel motor 19 and the right travel motor 20 at the same speed, and when causing the automated guided vehicle 10 to rotate, it rotates the two motors 19, 20 at different speeds according to the rotation direction and rotation radius of the automated guided vehicle 10.

[0063] The power supply control unit 26 determines whether the cart 50 towing mode is set based on an operation signal from an operation panel (not shown) provided on the side of the automated guided vehicle 10. When it is determined that the towing mode is set, it executes the power supply control from the power supply unit 28 of the power supply device 27 to the power receiving unit 63. Specifically, the power supply control unit 26 obtains the travel condition of the automated guided vehicle 10 from the travel control unit 25, and when it is determined that the automated guided vehicle 10 is traveling, it executes the power supply from the power supply unit 28 to the power receiving unit 63, and when it is determined that the automated guided vehicle 10 has stopped, it stops the power supply from the power supply unit 28 to the power receiving unit 63. When the power supply control unit 26 determines that the automated guided vehicle 10 is traveling, when executing the power supply from the power supply unit 28 to the power receiving unit 63, it controls the power supply power from the power supply unit 28 to the power receiving unit 63 so that the cart 10 and the automated guided vehicle 10 travel at the same speed.

[0064] On the other hand, when the power supply control unit 26 determines that the towing mode is not set based on an operation signal from an operation panel provided on the side of the automated guided vehicle 10, it does not execute the power supply control. In this case, the power of the power storage unit 21 is only supplied to the travel motors 19, 20 of the automated guided vehicle 10.

[0065] According to the unmanned transport system 1 configured as described above, when the unmanned transport vehicle 10 starts to travel toward the destination while the traction mode is set on the operation panel of the unmanned transport vehicle 10, power is supplied from the power supply unit 28 of the unmanned transport vehicle 10 to the power receiving unit 63 of the carriage 50 under the control of the power supply control unit 26. The supplied power is converted into direct current by the power receiving circuit 64 and then supplied to the traveling motor 75 of the carriage 50. Further, the traveling motor 75 that receives the power supply rotates to drive the drive wheels 70 of the carriage 50. On the other hand, when the unmanned transport vehicle 10 stops traveling, the power supply control unit 26 stops the power supply from the power supply unit 28 to the power receiving unit 63, whereby the traveling motor 75 of the carriage 50 also stops rotating.

[0066] As described above, according to the present embodiment, during the travel of the unmanned transport vehicle 10, the carriage 50 is driven to travel by the power of the traveling motor 75. Therefore, for example, in a situation where the traveling stability of the carriage 50 is likely to be impaired, such as when the unmanned transport vehicle 10 turns, the traveling stability of the carriage 50 can be sufficiently ensured. Further, the drive power of the traveling motor 75 provided on the carriage 50 is supplied from the power storage unit 21 mounted on the unmanned transport vehicle 10 via the power supply device 27, and the control device 24 that controls the power supply device 27 is also mounted on the unmanned transport vehicle 10. Therefore, it is not necessary to mount a power storage unit or a control device for driving the traveling motor 75 on the carriage 50, and thus an increase in the total weight of the carriage 50 can be suppressed. Therefore, problems such as a decrease in traveling stability due to an increase in the total weight of the carriage 50 or insufficient power of the unmanned transport vehicle 10 can be avoided.

[0067] In addition, the power supply unit 28 of the unmanned transport vehicle 10 is configured to supply power to the power receiving unit 63 of the carriage 50 in a non-contact manner.

[0068] According to this configuration, when connecting the carriage 50 to the unmanned transport vehicle 10, it is not necessary to perform wiring work to electrically connect the power supply unit 28 and the power receiving unit 63. Further, if the power supply unit 28 and the power receiving unit 63 are connected by wiring, each time the unmanned transport vehicle 10 turns, the wiring will bend and there is a risk of disconnection. However, according to the above configuration, by adopting non-contact power supply, the risk of disconnection can be avoided, and thus power can be stably supplied from the power supply unit 28 to the power receiving unit 63.

[0069] <<Embodiment 2>> Figure 4 and Figure 5 Embodiment 2 is shown. The difference between the present embodiment and Embodiment 1 lies in the structures of the power supply unit 28 and the power receiving unit 63. In addition, other structures other than this are the same as those in Embodiment 1. In the following embodiments, the same reference numerals are given to the same structures as those in Embodiment 1, and their detailed descriptions are omitted.

[0070] That is, in the present embodiment, the power supply surface 28a of the power supply unit 28 and the power receiving surface 63a of the power receiving unit 63 are both formed by horizontal planes and are arranged to face each other in the vertical direction. When viewed from above, the power supply surface 28a and the power receiving surface 63a are circular and are coaxially arranged with each other. In addition, the axis A1 of the power supply surface 28a and the power receiving surface 63a is coaxial with the axis A2 of the connecting pin 17.

[0071] In the present embodiment, the power supply surface 28a of the power supply unit 28 and the power receiving surface 63a of the power receiving unit 63 face each other in the vertical direction. Even if the traveling direction of the automated guided vehicle 10 changes, the distance between the power supply surface 28a of the power supply unit 28 and the power receiving surface 63a of the power receiving unit 63 can be kept constant. Therefore, regardless of the traveling direction of the automated guided vehicle 10, the power supply efficiency from the power supply unit 28 to the power receiving unit 63 can be kept constant.

[0072] In addition, the axis A1 of the power supply surface 28a and the power receiving surface 63a is coaxial with the axis A2 of the connecting pin 17. Even if the angle of the carriage around the connecting pin 17 changes when the automated guided vehicle 10 turns, the area of the relative part between the power supply surface 28a and the power receiving surface 63a remains unchanged. Therefore, the power supply efficiency from the power supply unit 28 to the power receiving unit 63 can be reliably kept constant.

[0073] Embodiment 3 Figure 6 and Figure 7 Embodiment 3 is shown. The difference between the present Embodiment 3 and Embodiment 1 lies in the wheel structure of the carriage 50 and the structures of the power supply unit 28 and the power receiving unit 63.

[0074] First, with reference to Figure 6 , the wheel structure of the carriage 50 will be described. The carriage 50 has a left drive wheel 52, a right drive wheel 53, a front driven wheel 54, and a rear driven wheel 55. The left drive wheel 52 and the right drive wheel 53 are symmetrically arranged on the left and right sides across the vehicle width direction center line C2 at the center part in the vehicle length direction of the carriage body 51. When viewed from above, the front driven wheel 54 and the rear driven wheel 55 are arranged on the center line C2. The left drive wheel 52 and the right drive wheel 53 are driven by a left traveling motor 60 and a right traveling motor 61 connected to their respective axles.

[0075] Secondly, with reference to 6 and Figure 7 , the structures of the power supply unit 28 and the power receiving unit 63 will be described. The power supply unit 28 provided on the automated guided vehicle 10 is composed of a left power supply unit 28L and a right power supply unit 28R. The power receiving unit 63 provided on the carriage 50 is composed of a left power receiving unit 63L that receives power from the left power supply unit 28L and a right power receiving unit 63R that receives power from the right power supply unit 28R.

[0076] As Figure 6As shown, on the rear side surface of the carrier body 11 of the automated guided vehicle 10, left protruding pipes 11c and right protruding pipes 11d that are arranged at intervals in the vehicle width direction are prominently provided. When observed from above, the left protruding pipe 11c and the right protruding pipe 11d are arranged symmetrically about the center line C1 in the vehicle width direction, and the left power supply unit 28L is fixed to the front end of the left protruding pipe 11c, and the right power supply unit 28R is fixed to the front end of the right protruding pipe 11d.

[0077] On the front side surface of the carriage body 51, left protruding pipes 51c and right protruding pipes 51d that are arranged at intervals in the vehicle width direction are prominently provided. When observed from above, the left protruding pipe 51c and the right protruding pipe 51d are arranged symmetrically about the center line C2 in the vehicle width direction, and the left power receiving unit 63L is fixed to the front end of the left protruding pipe 51c, and the right power receiving unit 63R is fixed to the front end of the right protruding pipe 51d.

[0078] The power supply surfaces 28a of the respective power supply units 28L and 28R and the power receiving surfaces 63a of the respective power receiving units 63L and 63R face each other in the vehicle length direction in the state where the automated guided vehicle 10 travels straight ( Figure 6 the state shown).

[0079] As Figure 7 shown, the power receiving device 62 has a power receiving circuit 67 connected to the left power receiving unit 63L and a power receiving circuit 68 connected to the right power receiving unit 63R. And the power supplied from the left power supply unit 28L of the automated guided vehicle 10 to the left power receiving unit 63L of the carriage 50 is converted into direct current by the power receiving circuit 67 (refer to Figure 7 ) and then supplied to the left traveling motor 60. In addition, the power supplied from the right power supply unit 28R of the automated guided vehicle 10 to the right power receiving unit 36R of the carriage 50 is converted into direct current by the power receiving circuit 68 and then supplied to the right traveling motor 61.

[0080] Further, when performing power supply control, the power supply control unit 26 controls the speed ratio between the left traveling motor 60 and the right traveling motor 61 of the carriage 50 by controlling the power supply ratio between the left power supply unit 28L and the right power supply unit 28R. Specifically, the power supply control unit 26 obtains the traveling condition of the automated guided vehicle 10 through the traveling control unit 25, and when it is determined based on the obtained condition that the automated guided vehicle 10 is traveling straight (forward or backward), the power supply ratio between the left power supply unit 28L and the right power supply unit 28R is set to 1:1, so as to drive the left traveling motor 60 and the right traveling motor 61 of the carriage 50 at the same speed. On the other hand, when it is determined that the automated guided vehicle 10 is turning, the power supply control unit 26 makes the power supply of the left power supply unit 28L and the right power supply unit 28R different according to the turning radius of the carriage 50, so as to generate a speed difference between the left traveling motor 60 and the right traveling motor 61 of the carriage 50, and make the rotation angles of the left drive wheel 52 and the right drive wheel 53 consistent.

[0081] As described above, in the present embodiment, the power supply control unit 26 is configured to be able to change the power supply ratio between the left power supply unit 28L and the right power supply unit 28R. Thereby, when the carriage 50 turns, the rotation speed ratio between the left traveling motor 60 and the right traveling motor 61 can be controlled, improving its traveling stability.

[0082] Embodiment 4 Figure 8 and Figure 9 Embodiment 4 is shown. The difference between this embodiment and the above-described Embodiment 1 is that: there is an inclination detection mechanism unit 35 for detecting the inclination angle of the carriage 50 in the vehicle width direction (an example of a specified direction), and power supply control is performed by the power supply control unit 26 based on the inclination angle of the carriage 50 detected by the inclination detection mechanism unit 35.

[0083] That is, in the automated guided vehicle system 1 of the present embodiment, the inclination detection mechanism unit 35 includes: a camera device 29 mounted on the automated guided vehicle 10, a specified identifier 30 mounted on the carriage 50, a reference image storage unit 32 provided in a control device 24 described later, and an inclination angle calculation unit 33.

[0084] The specified identifier 30 is mounted at the center in the vehicle width direction on the front side surface of the carriage main body 51. In this example, the specified identifier 30 is a square graphic identifier. The camera device 29 is composed of, for example, a CCD camera, etc., and is mounted on the rear side surface of the carriage main body 11. And, the camera device 29 captures an image of the specified identifier 30, and sends the captured image to the inclination angle calculation unit 33. In addition, the specified identifier 30 is not limited to a square, and may be, for example, a triangle or a rhombus, and is not limited to a graphic identifier, and may be, for example, a character identifier, etc.

[0085] AsFigure 9 As shown, the control device 24 has a travel control unit 25, a power supply control unit 26, a reference image storage unit 32, and a tilt angle calculation unit 33. The functions of the tilt angle calculation unit 33, like those of the travel control unit 25 and the power supply control unit 26, are implemented by a computer program, and the reference image storage unit 32 is implemented by a storage medium such as a ROM, for example.

[0086] In the reference image storage unit 32, an image of a specified marker 30 captured by the imaging device 29 in a state where the carriage 50 is not tilted in the vehicle width direction is pre-stored as a reference image g2.

[0087] As Figure 10 shown, the tilt angle calculation unit 33 calculates the tilt angle of the carriage 50 in the vehicle width direction (the tilt angle of the vehicle width direction relative to directly above, in other words, the angle formed by the vehicle width direction and the horizontal plane) by comparing the image g1 captured by the imaging device 29 and the reference image g2 stored in the reference image storage unit 32. Specifically, the power supply control unit 26 calculates the tilt angle θ of the captured image g1 relative to the reference image g2, and calculates the tilt angle of the carriage 50 in the vehicle width direction corresponding to the calculated tilt angle θ. Among them, the tilt angle of the carriage 50 corresponding to the tilt angle θ of the captured image g1 can be calculated, for example, by geometric theory, or can be calculated based on measurement data indicating the correlation between the tilt angle θ of the captured image g1 and the tilt angle of the carriage 50. In the latter case, the measurement data is pre-stored in a storage unit such as a ROM.

[0088] The power supply control unit 26 is configured to: when the tilt angle of the carriage 50 in the vehicle width direction calculated by the tilt angle calculation unit 33 is greater than or equal to a specified amount, perform power supply from the power supply unit 25 of the automated guided vehicle 10 to the power receiving unit 63 of the carriage 50. On the other hand, when the tilt angle is less than the specified amount, power supply from the power supply unit 23 to the power receiving unit 63 is not performed.

[0089] According to this configuration, when the tilt angle of the carriage 50 detected by the tilt detection mechanism unit 35 is greater than or equal to the specified amount, under the control of the power supply control unit 26, power is supplied from the power supply unit 28 to the power receiving unit 63 of the carriage 50. The supplied power is converted into direct current by the power receiving circuit 64, and then supplied to the travel motor 75 of the carriage 50, and the drive wheels 70 are rotationally driven by the travel motor 75 receiving the power supply. Thus, when the tilt angle of the carriage 50 in the vehicle width direction is greater than or equal to the specified amount, the drive wheels 70 of the carriage 50 rotate, improving its travel stability and even reducing the tilt angle of the carriage 50.

[0090] On the other hand, when the inclination angle of the carriage 50 detected by the inclination detection mechanism unit 35 is less than a specified amount, the power supply control unit 26 does not perform power supply from the power supply unit 28 of the automated guided vehicle 10 to the power receiving unit 63 of the carriage 50. Therefore, it is possible to prevent the traveling motor 75 of the carriage 50 from being unnecessarily driven when the inclination angle of the carriage 50 is small, and the power consumption of the entire automated guided vehicle system 1 can even be reduced.

[0091] Embodiment 5 Figure 11 and Figure 12 Embodiment 5 is shown. The difference between this embodiment and the above-described Embodiment 4 is that the actuator mounted on the carriage 50 is constituted by an electromagnetic brake 69, and the control device 24 has a weight estimation unit 34.

[0092] That is, in this embodiment, the carriage 50 is not provided with a traveling motor 75 as in Embodiment 1, and all three wheels 71 to 73 are driven wheels. And, an excitation operation type electromagnetic brake 69 that applies a deceleration force to the carriage 50 is mounted on the front driven wheel 73. The electromagnetic brake 69 has an electromagnetic coil 69a, and a friction member (not shown) is pressed against the driven wheel 73 by the electromagnetic force generated by energizing the electromagnetic coil 69a, thereby generating a braking force. Additionally, in the Figure 11 example, the electromagnetic brake 69 is mounted only on the front driven wheel 73, but it is not limited thereto, and the electromagnetic brake 69 may also be mounted on all three driven wheels 71 to 73.

[0093] The control device 24 of the automated guided vehicle 10 further has a weight estimation unit 34 that estimates the weight of the load loaded on the carriage 50.

[0094] When the carriage 50 turns, the weight estimation unit 34 estimates the weight of the load on the carriage 50 based on the inclination angle of the carriage 50 in the vehicle width direction calculated by the inclination angle calculation unit 33. When making the estimation, for example, relevant data can be used for estimation, etc., and the relevant data is obtained by previously measuring the correlation between the weight of the load on the carriage 50 and the inclination angle in the vehicle width direction when the carriage 50 turns. In addition to this, for example, the maximum value of the inclination angle of the carriage 50 in the vehicle width direction generated when the automated guided vehicle 10 travels straight can also be calculated by the inclination angle calculation unit 33, and the weight of the load (loading weight) on the carriage 50 can be estimated based on the calculated maximum value of the inclination angle.

[0095] Further, the power supply control unit 26 is configured to: when the load weight of the carriage 50 estimated by the weight estimation unit 34 is greater than or equal to a specified weight, when the travel control unit 25 stops the automated guided vehicle 10, supply power from the power supply unit 25 of the automated guided vehicle 10 to the power receiving unit 63 of the carriage 50 to energize the electromagnetic coil 69a, thereby activating the electromagnetic brake 69. On the other hand, when the load weight of the carriage 50 estimated by the weight estimation unit 34 is less than the specified weight, when the travel control unit 25 stops the automated guided vehicle 10, the power supply from the power supply unit 28 to the power receiving unit 63 is not executed.

[0096] Therefore, according to the automated guided vehicle system 1 of the present embodiment, when the load weight of the carriage 50 is greater than or equal to the specified weight, when the automated guided vehicle 10 stops, power is supplied from the power supply unit 28 of the automated guided vehicle 10 to the power receiving unit 63 of the carriage 50 to activate the electromagnetic brake 69. Thereby, it is possible to prevent the carriage 50 from colliding with the rear of the automated guided vehicle 10 due to its inertial force when the carriage 50 stops. On the other hand, when the load weight of the carriage 50 is less than the specified weight, the power supply from the power supply unit 28 to the power receiving unit 63 is not executed. Therefore, it is possible to prevent the electromagnetic brake 69 from being unnecessarily activated when the load weight of the carriage 50 is small, thereby increasing the power consumption of the entire system.

[0097] 《Other Embodiments》 In the above embodiment, as an example of the actuator mounted on the carriage 50, the travel motor 75 and the electromagnetic brake 69 are described, but the present invention is not limited thereto. The actuator may be, for example, a work robot mounted on the carriage 50, an electric hoist for lifting an object, or the like.

[0098] In addition, in the above embodiment, the power supply control unit 26 performs power supply control only when the towing mode of the carriage 50 is set through the operation panel, but it is not limited thereto. For example, when wireless communication units are respectively provided in the power supply device 27 and the power receiving device 62, and communication (such as infrared communication) is established between the wireless communication units, the power supply control unit 26 can perform power supply control.

[0099] In addition, in the above embodiment, the non-contact power supply method is adopted as the power supply method from the power supply unit 28 to the power receiving unit 63, but it is not limited thereto, and a contact power supply method may also be adopted.

[0100] In addition, the present invention includes any combination of the above embodiments.

[0101] In addition, the description of the above embodiments is exemplary in all aspects and not restrictive. Those skilled in the art can make appropriate modifications and changes. The scope of the present invention is shown by the claims rather than the above embodiments. Furthermore, the scope of the present invention includes changes implemented to the embodiments within the scope of the claims and their equivalents.

[0102]

Reference Signs

Claims

1. A transporter, characterized in that, comprising: a power storage unit; a traveling drive source that is driven by the power stored in the power storage unit to drive the wheels; a traveling control unit that controls the traveling drive source; and a power supply unit that supplies the power stored in the power storage unit to other vehicles.

2. The transporter according to claim 1, characterized in that, the other vehicle has an actuator that operates by receiving power supply, and the power supply unit is configured to supply the power stored in the power storage unit to the actuator provided on the other vehicle.

3. The transporter according to claim 1, characterized in that, the power supply unit is configured to supply power by non-contact power supply.

4. The transporter according to claim 1, characterized in that, the other vehicle has a power receiving unit that receives power from the power supply unit, the power supply surface of the power supply unit and the power receiving surface of the power receiving unit are configured to face each other with a space therebetween in the vertical direction, and the power supply unit is configured to supply power by non-contact power supply.

5. An unmanned transportation system, comprising an unmanned transporter and a towed vehicle towed by the unmanned transporter, characterized in that: the unmanned transporter has: a power storage unit; a traveling drive source that is driven by the power stored in the power storage unit and drives the wheels of the unmanned transporter; a traveling control unit that controls the traveling drive source; a power supply unit that supplies the power stored in the power storage unit to the towed vehicle; and a power supply control unit that controls the power supply of the power supply unit, wherein the towed vehicle has a power receiving unit and an actuator, the power receiving unit receives power from the power supply unit provided on the unmanned transporter, and the actuator is driven by the power received by the power receiving unit, and the power supply control unit is configured to control the operation of the actuator by controlling the power supply from the power supply unit to the power receiving unit provided on the towed vehicle.

6. The unmanned transportation system according to claim 5, characterized in that, the power supply unit is configured to supply power to the power receiving unit by non-contact power supply.

7. The unmanned transportation system according to claim 5, characterized in that, the power supply surface of the power supply unit and the power receiving surface of the power receiving unit are configured to face each other with a space therebetween in the vertical direction, and the power supply unit is configured to supply power to the power receiving unit by non-contact power supply.

8. The unmanned transportation system according to claim 5, characterized in that, the actuator provided on the towed vehicle includes a traveling motor that rotates by receiving power supply, and the towed vehicle has drive wheels that are rotationally driven by the traveling motor.

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