Autonomous transport vehicle

Abstract

An autonomous transport vehicle transports goods (P). An autonomous transport vehicle is provided with a housing unit (2) which is divided by inner walls into a cargo compartment (20) capable of accommodating cargo. The autonomous transport vehicle is provided with a buffer unit (5) having a plurality of bag-shaped portions (52) between fixing points fixed to the inner wall on both sides in the reference direction in the cargo compartment, the bag-shaped portions (52) bulging toward the inside of the cargo compartment by gas. The autonomous transport vehicle is provided with a compressor unit (6) that controls the entry and exit of gas into and out of each pocket.

Description

[0001] Cross-reference to Related Applications

[0002] This application is based on Japanese Patent Application No. 2022-188619 filed in Japan on November 25, 2022, and the contents of the basic application are incorporated herein by reference in their entirety. Technical Field

[0003] The present disclosure relates to an autonomous transport vehicle for transporting goods. Background Art

[0004] In Patent Document 1, an air buffer and an air compressor are disclosed. The air buffer is provided inside two opposing side surfaces of a box for storing goods, and the air compressor fills air into the air buffer. When the air buffer is filled with air by the air compressor, it bulges into the gap between the box and the goods.

[0005] Prior Art Documents

[0006] Patent Documents

[0007] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2003-246369

[0008] In the air buffer, in order to fix the goods, it is necessary to ensure the pressure of the filled air. However, the air buffer in Patent Document 1 has a structure in which only a single bag-shaped portion bulges between fixed points fixed to the side surfaces. In such an air buffer, when the air is at a relatively high pressure, the contact area between the sharpened bulging tip and the goods may become small. As a result, the goods cannot be sufficiently fixed, and the goods may move due to shaking during driving or the like. Summary of the Invention

[0009] The technical problem of the present disclosure is to provide an autonomous transport vehicle capable of more reliably fixing goods.

[0010] Hereinafter, the technical means of the present disclosure for solving the technical problem will be described. In addition, the symbols in parentheses described in the claims indicate the correspondence with the specific units described in the embodiments described later, and do not limit the technical scope of the present disclosure.

[0011] A first aspect of the present disclosure provides an autonomous transport vehicle for transporting goods, comprising: a housing unit that forms a cargo compartment capable of storing goods by being partitioned by an inner wall; a buffer unit having a plurality of bag-shaped portions that bulge toward the inside of the cargo compartment by gas between fixed points, the fixed points being fixed to the inner wall on both sides in a reference direction in the cargo compartment; and a compressor unit that controls the entry and exit of gas with respect to each bag-shaped portion.

[0012] According to this first mode, there are a plurality of bag-shaped portions bulged by the compressor unit between the fixed points, and thus the plurality of bag-shaped portions can come into contact with the goods. Therefore, the contact area of the buffer unit with respect to the goods can become relatively large. Therefore, the goods can be fixed more reliably.

[0013] The second mode of the present disclosure provides an autonomous transport vehicle for transporting goods, which includes: a housing unit that forms a cargo compartment capable of accommodating goods by partitioning through an inner wall; a buffer unit that is fixed to the inner wall in the cargo compartment and has a bag-shaped portion and an elastic portion, the bag-shaped portion bulges toward the inside of the cargo compartment by gas, and the elastic portion is provided at the bulging top end of the bag-shaped portion and has a higher degree of freedom in shape than the bag-shaped portion; and a compressor unit that controls the entry and exit of gas with respect to the bag-shaped portion.

[0014] According to this second mode, by means of the elastic portion at the bulging top end of the bag-shaped portion bulged by the compressor unit, the contact area of the buffer unit with respect to the goods can become relatively large. Moreover, the goods can be pressed against the inner wall on the opposite side of the bulging direction by the elasticity of the elastic portion. Therefore, the goods can be fixed more reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram showing the overall structure of the autonomous transport vehicle according to the first embodiment.

[0016] Figure 2 It is a partial cross-sectional view mainly showing the structure of the housing unit in the autonomous transport vehicle according to the first embodiment.

[0017] Figure 3 It is a partial cross-sectional view showing the state where the rear wall portion is open in the autonomous transport vehicle according to the first embodiment.

[0018] Figure 4 It is a partial cross-sectional view mainly showing the structure of the housing unit in the autonomous transport vehicle according to the first embodiment.

[0019] Figure 5 It is a schematic diagram showing the mounting structure of the buffer unit.

[0020] Figure 6 It is a perspective view schematically showing the bag-shaped portion and the elastic portion of the buffer unit.

[0021] Figure 7 It is a block diagram showing the functional structure of the control device.

[0022] Figure 8 It is a flowchart showing the control process according to the first embodiment.

[0023] Figure 9 It is a flowchart showing the control process according to the first embodiment.

[0024] Figure 10 is a flowchart showing the control flow of the second embodiment.

[0025] Figure 11 is a partial cross-sectional view mainly showing the structure of the outer shell unit in the autonomous transport vehicle of the third embodiment.

[0026] Figure 12 is a partial cross-sectional view mainly showing the structure of the outer shell unit in the reduced state in the autonomous transport vehicle of the third embodiment.

[0027] Figure 13 is a schematic diagram showing the mounting structure of the buffer unit in the autonomous transport vehicle of the third embodiment.

[0028] Figure 14 is a partial cross-sectional view mainly showing the structure of the outer shell unit in the autonomous transport vehicle of the fourth embodiment. Detailed Embodiments

[0029] Hereinafter, a plurality of embodiments of the present disclosure will be described based on the drawings. In addition, in each embodiment, sometimes the same reference numerals are assigned to corresponding components, thereby omitting redundant descriptions. In addition, when only a part of the structure is described in each embodiment, for the other parts of the structure, the structures of other previously described embodiments can be applied. And not only the combinations of the structures explicitly shown in the description of each embodiment, but also the structures of a plurality of embodiments can be partially combined with each other as long as there is no particular hindrance to the combination, even if not explicitly stated.

[0030] (First Embodiment)

[0031] Figure 1 The autonomous transport vehicle 1 of the first embodiment shown transports the cargo P by autonomous driving. The autonomous transport vehicle 1 autonomously drives in any direction of front, rear, left, and right. The autonomous transport vehicle 1 may be a delivery vehicle that autonomously drives on the road and transports the cargo P to the delivery destination. The autonomous transport vehicle 1 may be a logistics vehicle that autonomously drives inside and outside the warehouse and transports the cargo P. As long as the autonomous transport vehicle 1 has the function of transporting the cargo P, it may be a vehicle other than these. In addition, the autonomous transport vehicle 1 may also receive remote driving assistance or driving control through communication with an external center. Hereinafter, the front-rear direction of the autonomous transport vehicle 1 is expressed as the X direction, the left-right direction is expressed as the Y direction, and the up-down direction is expressed as the Z direction.

[0032] The autonomous transport vehicle 1 includes an outer shell unit 2, a drive system 3, a sensor system 4, a buffer unit 5, and a compressor unit 6. In addition, in Figure 1In the figure, the illustration of the buffer unit 5 is omitted. Additionally, in Figures 2 - 4 In Figures 2 - 4 , the illustration of the drive system 3 is omitted. The housing unit 2 forms the main body of the autonomous transport vehicle 1, and the autonomous transport vehicle 1 is driven by the drive system 3 based on the sensor information of the sensor system 4.

[0033] The drive system 3 is configured to include drive wheels 30, drive actuators 31, and a battery 32. A plurality of drive wheels 30 are supported by the housing unit 2. Each drive wheel 30 is configured to be able to rotate independently. The drive wheels 30 are, for example, Mecanum wheels, omnidirectional wheels, etc., which can perform a turning motion through the rotational speed difference between the drive wheels 30. Additionally, in addition to the drive wheels 30, driven wheels may also be provided.

[0034] The drive actuators 31 are mounted inside the housing unit 2. Each drive actuator 31 is mainly constituted by a separate electric motor. Each drive actuator 31 independently rotationally drives the corresponding drive wheel 30. Each drive actuator 31 may also respectively include a braking unit that applies braking during the rotation of the corresponding drive wheel 30. Each drive actuator 31 may also respectively include a locking unit that locks the corresponding drive wheel 30 in a stopped state.

[0035] The battery 32 is, for example, mounted on the lower part of the housing unit 2. The battery 32 is mainly constituted by a storage battery such as a lithium-ion battery. The battery 32 stores the power supplied to the electrical components mounted on the autonomous transport vehicle 1 through discharge by being charged from the outside. The battery 32 may also store the regenerative power from the drive actuators 31. The battery 32 is connected to the drive actuators 31, the sensor system 4, and the control device 65 in a power supplyable manner via a wiring harness or the like.

[0036] The sensor system 4 obtains sensing information that can be utilized by the autonomous transport vehicle 1 through sensing the external and internal environments of the autonomous transport vehicle 1. Therefore, the structural elements of the sensor system 4 are mounted on the housing unit 2. Specifically, the sensor system 4 is configured to include an external sensor 40 and an internal sensor 41.

[0037] The external sensor 40 obtains external information as sensing information from the outside, which is the surrounding environment of the autonomous transport vehicle 1. The external sensor 40 obtains external information by detecting an object existing outside the autonomous transport vehicle 1. The external sensor 40 of the object detection type is, for example, at least one of a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, and sonar.

[0038] The external sensor 40 can also obtain external information by receiving a positioning signal from a GNSS (Global Navigation Satellite System) satellite existing in the external environment of the autonomous transport vehicle 1. The external sensor 40 of the positioning type is, for example, a GNSS receiver or the like. The external sensor 40 can also obtain external information by transmitting and receiving communication signals between the autonomous transport vehicle 1 and a V2X system existing in the external environment. The external sensor 40 of the communication type is, for example, at least one of a DSRC (Dedicated Short Range Communications) communicator, a cellular V2X (C-V2X) communicator, a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, and an infrared communication device. In particular, the external sensor 40 of the V2X type in the communication type can communicate with at least one of an external center and other autonomous transport vehicles.

[0039] The internal sensor 41 obtains internal information as sensed information from the internal environment of the autonomous transport vehicle 1 as the interior. The internal sensor 41 obtains internal information by detecting the cargo P on the loading platform in the cargo compartment 20 which is the internal environment of the autonomous transport vehicle 1. The internal sensor 41 of the cargo detection type is, for example, at least one of a weight sensor, a pressure sensor, a camera, and an RFID (Radio Frequency Identifier) reader. The internal sensor 41 can also obtain internal information by detecting a specific motion physical quantity in the internal environment of the autonomous transport vehicle 1. The internal sensor 41 of the motion detection type is, for example, at least one of a speed sensor, an acceleration sensor, and a yaw rate sensor.

[0040] The outer shell unit 2 is formed to surround the cargo compartment 20 from above, below, front, back, left, and right. In the outer shell unit 2, the cargo compartment 20 has a spatial dimension capable of loading at least one cargo P.

[0041] The outer shell unit 2 is formed in a hollow shape, for example, from metal, resin, etc. The outer shell unit 2 divides and forms the cargo compartment 20 capable of accommodating the cargo P through the inner wall. The outer shell unit 2 has a plurality of wall portions 21, 22, 23, 24, 25, 26 forming the inner wall, and an elastic rolling body 27.

[0042] The plurality of wall portions 21, 22, 23, 24, 25, 26 include, for example, an upper wall portion 21, a lower wall portion 22, a rear wall portion 23, a front wall portion 24, a left wall portion 25, and a right wall portion 26. Through these plurality of wall portions, the cargo compartment 20 is formed in a substantially rectangular parallelepiped shape in the outer shell unit 2.

[0043] The upper wall portion 21 is provided at the upper part of the housing unit 2 and forms an upper inner wall 21a that divides the upper surface of the loading compartment 20. The lower wall portion 22 is provided opposite to the upper wall portion 21 at the lower part of the housing unit 2 and forms a lower inner wall 22a that divides the lower surface of the loading compartment 20.

[0044] The rear wall portion 23 is the wall portion on the rear side in the front-rear direction among the four side walls of the housing unit 2. The rear wall portion 23 forms a rear inner wall 23a that divides the rear surface in the loading compartment 20. As Figure 3 shown, the rear wall portion 23 is configured as a door portion that opens toward the side from the closed state as the cargo P enters and exits the loading compartment 20. The rear wall portion 23 has a structure in which the rear inner wall 23a faces upward in the open state. Specifically, for example, the lower end portion 231 of the rear wall portion 23 is fixed so as to be rotatable relative to the lower wall portion 22. For example, a rotating shaft that is supported by the lower wall portion 22 so as to be rotatable and an actuator that can drive the rotating shaft to rotate are provided at the lower end portion 231. The actuator is rotationally driven according to an instruction from a control device 65 described later, whereby the closed state in which the loading compartment 20 is blocked by the rear wall portion 23 and the open state in which the loading compartment 20 is opened to the side by the rotation of the rear wall portion 23 about the lower end portion 231 can be switched. The rear wall portion 23 may also have a locking mechanism that locks itself to at least one of the upper wall portion 21, the left wall portion 25, and the right wall portion 26. In addition, the rear wall portion 23 may also be a manually openable and closable structure.

[0045] The front wall portion 24 is the wall portion on the front side in the front-rear direction among the four side walls of the housing unit 2. The front wall portion 24 forms a front inner wall 24a that divides the front surface in the loading compartment 20. The front inner wall 24a is an example of a door-opposing inner wall that opposes the door portion, that is, the rear wall portion 23. The left wall portion 25 is the wall portion on the left side in the left-right direction among the four side walls of the housing unit 2. The left wall portion 25 forms a left inner wall 25a that serves as a side inner wall that divides the left surface in the loading compartment 20. The right wall portion 26 is the wall portion on the right side in the left-right direction among the four side walls of the housing unit 2. The right wall portion 26 forms a right inner wall 26a that divides the right surface in the loading compartment 20.

[0046] As Figure 4 shown, an impact absorption member 26b is provided on the right inner wall 26a in the right wall portion 26. The impact absorption member 26b is provided so as to cover most of the right inner wall 26a. The impact absorption member 26b is formed of an elastic material such as sponge or rubber. The impact absorption member 26b is a member provided on the inner wall that faces the side inner wall where a buffer unit 5 described later is provided.

[0047] The elastic rolling body 27 can move the goods P in and out of the cargo compartment 20 by rolling. For example, a plurality of elastic rolling bodies 27 are provided on the inner wall 22a, 23a sides of the lower wall portion 22 and the rear wall portion 23. The elastic rolling body 27 has a rotating shaft portion, an actuator, and an elastic cylinder portion. The rotating shaft portion in each elastic rolling body 27 is supported by the lower wall portion and the rear wall portion so as to be rotatable. The actuator rotationally drives the rotating shaft portion according to an instruction from a control unit described later. The elastic cylinder portion is a cylindrical body covering the rotating shaft portion. The elastic cylinder portion is formed of, for example, rubber, sponge, or the like.

[0048] The buffer unit 5 is formed with a flexible sheet member as a main body and is hollow. The buffer unit 5 is a buffer member that expands by injecting gas into the hollow interior. The gas injected is, for example, air. The buffer unit 5 is provided, for example, on the upper inner wall 21a, the front inner wall 24a, and the left inner wall 25a, respectively.

[0049] The buffer unit 5 has a bottom portion 51, a plurality of bag-shaped portions 52, and an elastic portion 53. The bottom portion 51 is a portion of the buffer unit 5 that faces the inner wall. The bottom portion 51 is formed, for example, in substantially the same shape and substantially the same size as the inner wall to which it is installed. That is, in the present embodiment, the bottom portion 51 is formed in a rectangular shape. A hole portion for the air of a compressor unit 6 described later to enter and exit is formed in the bottom portion 51.

[0050] Regarding the buffer unit 5 installed on the upper inner wall 21a, as Figure 5 shown, the mounting portion 51a in the bottom portion 51 is fixed to the inner wall edge portion 21b in the upper inner wall 21a. Here, the mounting portion 51a is an outer edge portion of the bottom portion 51. The mounting portion 51a can also be fixed by an adhesive member such as an adhesive, an adhesive tape, or the like. Alternatively, the mounting portion 51a can be fixed to the upper inner wall 21a via a frame that is installed along the shape of the inner wall edge portion 21b.

[0051] Through such a bottom portion 51, both ends of the bottom portion 51 of the buffer unit 5 installed on the upper inner wall 21a in the X direction and the Y direction are the mounting portions 51a, and these mounting portions 51a are fixed points respectively fixed to the inner wall. That is, in this buffer unit 5, the X direction and the Y direction are the "reference directions". Similarly, for the buffer unit 5 installed on the front inner wall 24a, both ends of the bottom portion 51 in the Y direction and the Z direction are the mounting portions 51a, and these mounting portions 51a are fixed points respectively fixed to the front inner wall 24a. That is, in this buffer unit 5, the Y direction and the Z direction are the "reference directions". Moreover, for the buffer unit 5 installed on the left inner wall 25a, both ends of the bottom portion 51 in the X direction and the Z direction are the mounting portions 51a, and these mounting portions 51a are fixed points respectively fixed to the left inner wall 25a. That is, in this buffer unit 5, the X direction and the Z direction are the "reference directions".

[0052] A plurality of bag-like portions 52 are provided between the fixing points on both sides at least in a specific direction. For example, for Figure 5 the buffer unit 5 provided on the upper inner wall 21a as shown, in the X direction and the Y direction, a plurality of bag-like portions 52 are provided between the edge portions in the bottom 51. The root portions of the bag-like portions 52 are separated from the bottom 51 except at the portions connected to the edge portions. That is, the internal spaces in the plurality of bag-like portions 52 are continuous with each other.

[0053] As Figure 6 shown, the bag-like portions 52 bulge toward the inside of the cargo compartment 20 by the injection of gas by the compressor unit 6 described later. In addition, Figure 6 shows the bag-like portions 52 and the elastic portions 53 in the buffer unit 5 mounted on the upper inner wall 21a. In addition, in Figure 6 , the bottom 51 is omitted, and only a part of the bag-like portions 52 and the elastic portions 53 are shown. The bulged bag-like portions 52 are in a state of elongating in the long side direction (in Figure 6 it is the up and down direction) according to the internal pressure. The cross section orthogonal to the long side direction in the bulged bag-like portions 52 is formed into a rectangular frame shape, for example. In other words, the shape of the bulged bag-like portions 52 observed along the long side direction is rectangular.

[0054] The elastic portions 53 are provided at the bulging tips of the respective bag-like portions 52. The elastic portions 53 are composed of members having elasticity and a higher degree of freedom in shape than the bag-like portions 52. Here, a member having a higher degree of freedom in shape than the bag-like portions 52 means a member that requires less external force to generate the same shape deformation than the member constituting the bag-like portions 52. The elastic portions 53 can also be composed of a bag body and granular substances accommodated in the bag body, for example. The granular substances are, for example, resin beads obtained by foam molding or non-foam molding. The elastic portions 53 can also be a bag body and a viscous substance accommodated in the bag body.

[0055] The compressor unit 6 controls the entry and exit of gas with respect to the bag-like portions 52 in the buffer unit 5. In the present embodiment, the compressor unit 6 causes air to enter and exit the bag-like portions 52 in the buffer unit 5. The compressor unit 6 includes a compressor 61, a pipe 62, a connection portion 63, an air pressure sensor 64, and a control device 65. The compressor 61 can suck air from the external air and press it into the bag-like portions 52 via the pipe 62. The compressor 61 can also suck air from the bag-like portions 52 via the pipe 62 and discharge it to the external air. In other words, the compressor 61 can control the internal pressure of the buffer unit 5.

[0056] The pipe 62 provides an air passage between the compressor 61 and the buffer unit 5. The pipe 62 forms, for example, a branch passage that branches from the compressor 61 with respect to the three buffer units 5. A switching valve is provided at the branch portion in the pipe 62. The switching valve can switch the opening and closing of the air passage in the pipe 62 leading to each buffer unit 5. Thus, the switching valve can switch the buffer unit 5 that is the control object based on the internal pressure of the compressor 61.

[0057] The connecting portion 63 is a pipe end portion that is attached to the wall portion on which the buffer unit 5 is mounted and to the bottom portion 51 of the buffer unit 5. The connecting portion 63 is provided with a joint that connects and communicates the pipe 62 with the inside of the buffer unit 5. The air pressure sensor 64 is provided, for example, at the joint of the connecting portion 63 or the like, and can detect the internal pressure in the buffer unit 5. In addition, the air pressure sensor 64 may be provided inside the pipe 62.

[0058] The control device 65 is mainly composed of at least one dedicated computer that is included in the computer mounted on the housing unit 2 in the autonomous transport vehicle 1. Therefore, the dedicated computer that constitutes the control device 65 is connected to the drive actuator 31, the sensor system 4, the compressor 61, etc. via at least one of a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line.

[0059] The dedicated computer that constitutes the control device 65 may also be a planning ECU (Electronic Control Unit) that plans the target track for the autonomous transport vehicle 1 to travel. The dedicated computer that constitutes the control device 65 may also be a track control ECU that makes the actual track follow the target track of the autonomous transport vehicle 1. The dedicated computer that constitutes the control device 65 may also be an actuator ECU that controls each drive actuator 31 of the autonomous transport vehicle 1.

[0060] The dedicated computer that constitutes the control device 65 may also be a sensing ECU that controls the sensor system 4 of the autonomous transport vehicle 1. The dedicated computer that constitutes the control device 65 may also be a locator ECU that infers the own state quantity including the own position of the autonomous transport vehicle 1. The dedicated computer that constitutes the control device 65 may also be an information prompt ECU that controls the information prompt of the autonomous transport vehicle 1. The dedicated computer that constitutes the control device 65 may also be, for example, a computer outside the housing unit 2 that constitutes an external center or a mobile terminal that can communicate via the communication-type external sensor 40.

[0061] The dedicated computer that constitutes the control device 65 has at least one memory 101 and at least one processor 102. The memory 101 is at least one non-transitory tangible storage medium such as a semiconductor memory, a magnetic medium, and an optical medium that non-temporarily stores programs and data that can be read by the computer.

[0062] Here, the storage can be an accumulation that retains data even when the autonomous transport vehicle 1 is started and shut down, or it can be a temporary preservation that deletes data when the autonomous transport vehicle 1 is started and shut down. The processor 102 includes, for example, at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RISC (Reduced Instruction Set Computer)-CPU, a DFP (Data Flow Processor), and a GSP (Graph Streaming Processor) as a core.

[0063] In the control device 65, the processor 102 executes a plurality of commands included in the loading / unloading control program stored in the memory 101 for controlling the loading / unloading process of the cargo P in the autonomous transport vehicle 1. Thereby, the control device 65 constructs a plurality of functional modules for controlling the loading / unloading process of the cargo P. As Figure 7 shown, among the plurality of functional modules constructed in the control device 65, there are included an acquisition block 110 and an output block 120.

[0064] By sharing these blocks 110 and 120, the loading / unloading control method for controlling the loading / unloading process of the cargo P in the autonomous transport vehicle 1 is executed according to Figures 8 - 9 the control flow shown. This control flow is executed during the startup of the autonomous transport vehicle 1. In addition, each "S" in this flow respectively means a plurality of steps executed according to a plurality of commands included in the loading / unloading control program.

[0065] First, the control during loading will be described according to Figure 8 the following flow. This flow is executed when the rear wall portion 23 is opened and the loading of the cargo P starts. First, in S10, the acquisition block 110 determines whether the loading of the cargo P is completed. The acquisition block 110 can determine that the loading of the cargo P is completed, for example, when information indicating the completion of loading is obtained from the outside. If it is determined that the loading is completed, this flow proceeds to S20.

[0066] In S20, the output block 120 injects air into the buffer units 5 provided on the side inner walls, that is, the front inner wall 24a and the left inner wall 25a, through the control of the compressor unit 6, causing each buffer unit 5 to bulge. The output block 120 performs the bulging until the internal pressure of each buffer unit 5 reaches a specified threshold value. When the bulging is completed, this process moves to S30. In S30, the output block 120 injects air into the buffer unit 5 provided on the upper inner wall 21a, causing the buffer unit 5 to bulge. Similar to the case of the side inner walls, the output block 120 performs the bulging until the internal pressure of the buffer unit 5 reaches a specified threshold value. When the bulging is completed, this process ends.

[0067] Next, the control during unloading will be described according to Figure 9 the following process. First, in S40, the acquisition block 110 determines whether it has reached the transportation destination of the cargo P, that is, the destination. The acquisition block 110 can determine whether it has reached the pre-recorded destination, for example, based on the positioning signal of the external sensor 40 of the positioning type and the map information.

[0068] If it is determined that the destination has been reached, then in S50, the output block 120 causes each buffer unit 5 provided on the upper inner wall 21a and the left inner wall 25a to contract. The output block 120 outputs a control instruction to the compressor unit 6, for example, to substantially discharge all the air in the buffer unit 5.

[0069] In the subsequent S60, the output block 120 causes the buffer unit 5 provided on the front inner wall 24a to contract temporarily. For example, the output block 120 outputs a control instruction to the compressor unit 6 to discharge air until the pressure of the cargo P pressed against the rear inner wall 23a by the buffer unit 5 is within the allowable internal pressure range, that is, a substantially zero internal pressure. The allowable internal pressure range is, for example, a range smaller than the internal pressure during the transportation of the cargo P and larger than the internal pressure of each buffer unit 5 provided on the upper inner wall 21a and the left inner wall 25a that contracts in S50.

[0070] Moreover, in S70, the output block 120 opens the rear wall portion 23. Specifically, the output block 120 automatically opens the rear wall portion 23 by outputting a control instruction to the actuator that drives the rear wall portion 23.

[0071] Then, in S80, the output block 120 causes the buffer unit 5 on the front inner wall 24a to bulge and performs the rotational drive of the elastic rolling body 27. The output block 120 outputs a control instruction to the compressor unit 6 to increase the internal pressure of the buffer unit 5 to a specified value. Moreover, the output block 120 outputs a control instruction to drive the elastic rolling body 27 to rotate in the direction of moving the cargo P to the outside of the housing unit 2.

[0072] According to the first embodiment described above, the autonomous transport vehicle 1 includes a housing unit 2 that forms a cargo compartment 20 capable of accommodating the cargo P by means of an inner wall. The autonomous transport vehicle 1 includes a buffer unit 5 that has a plurality of bag-shaped portions 52 that bulge toward the inside of the cargo compartment 20 through gas between fixed points on the inner wall fixed to both sides in the reference direction in the cargo compartment 20. The autonomous transport vehicle 1 includes a compressor unit 6 that controls the entry and exit of gas with respect to each bag-shaped portion 52. Thus, there are a plurality of bag-shaped portions 52 that bulge through the compressor unit 6 between the fixed points, and thus the plurality of bag-shaped portions 52 can come into contact with the cargo P. Therefore, the contact area of the buffer unit 5 with respect to the cargo P may become relatively large. Therefore, the cargo P can be fixed more reliably.

[0073] In addition, according to the first embodiment, the buffer unit 5 has an elastic portion 53 with a higher degree of freedom in shape than the bag-shaped portion 52 at the bulging tip of each bag-shaped portion 52. Thus, the contact area with the cargo P can be further increased by the elastic portion 53. Moreover, the cargo P can be pressed against the inner wall on the opposite side of the bulging direction by the elasticity of the elastic portion 53. Thus, the cargo P can be fixed more reliably.

[0074] Furthermore, according to the first embodiment, the housing unit 2 has a rear wall portion 23 that opens toward the side from a closed state as the cargo P enters and exits the cargo compartment 20, and an inner wall that faces upward in the open state is formed. Moreover, an elastic rolling body 27 that is elastic and allows the cargo P to enter and exit the cargo compartment 20 by rolling is provided on the rear inner wall 23a. Therefore, the cargo P can enter and exit through the elastic rolling body 27 from the open rear wall portion. Therefore, by utilizing the rear wall portion 23, the entry and exit of the cargo P can be made easier.

[0075] In addition, according to the first embodiment, the buffer unit 5 is provided at least on the front inner wall 24a opposite to the closed rear wall portion 23, the upper inner wall 21a that divides the upper part of the cargo compartment 20, and the side inner wall adjacent to the front inner wall 24a. Thus, the bag-shaped portions 52 bulge from three surfaces of the inner wall that forms the cargo compartment 20. Therefore, the cargo P can be fixed more reliably by the bulging of the bag-shaped portions 52 from three directions.

[0076] Before the cargo P is unloaded from the cargo compartment 20, the compressor unit 6 reduces the internal pressure to be lower than that during transportation, and injects gas into the buffer unit 5 on the front inner wall 24a in the open state of the rear wall portion 23 during unloading. Therefore, when unloading the cargo P, the cargo P can be pushed toward the rear wall portion 23 side by the buffer unit 5. Therefore, the buffer unit 5 can be utilized to perform the unloading of the cargo P.

[0077] (Second Embodiment)

[0078] As Figure 10As shown, the second embodiment is a modification of the first embodiment. The control of the autonomous transport vehicle 1 during unloading in the second embodiment is different from that in the first embodiment.

[0079] According to Figure 10 the following process, the control during unloading in the second embodiment will be described. First, S40 is a process substantially the same as the step with the same reference numeral in Figure 9 .

[0080] If it is determined in S40 that the destination has been reached, then in S51, the output block 120 causes each of the buffer units 5 provided in the upper inner wall 21a, the left inner wall 25a, and the front inner wall 24a to contract. The output block 120 outputs a control instruction to the compressor unit 6 to discharge air until substantially all of the air in the buffer unit 5 has been discharged.

[0081] In S70 following S51, the output block 120 opens the rear wall portion 23. Similar to Figure 9 the processing flow, the output block 120 automatically opens the rear wall portion 23 by outputting a control instruction to the actuator that drives the rear wall portion 23.

[0082] Then, in S81, the output block 120 performs the rotational drive of the elastic rolling body 27. Specifically, the output block 120 outputs a control instruction to drive the elastic rolling body 27 to rotate in the direction of moving the cargo P to the outside of the housing unit 2.

[0083] According to the above second embodiment, the autonomous transport vehicle 1 can perform unloading based on the drive of the elastic rolling body 27 without using the buffer unit 5 provided in the front inner wall 24a to push out the cargo P during unloading.

[0084] (Third Embodiment)

[0085] As Figures 11 - 12 shown, the third embodiment is a modification of the first embodiment.

[0086] In the third embodiment, the upper wall portion 21, the right wall portion 26, the left wall portion 25, and the lower wall portion 22 of the housing unit 2 are each divided in the front-rear direction. The rear wall portion after division is a telescopic wall that moves through the telescopic portion 28 described later. The front wall portion after division is a fixed wall fixed to the housing unit 2.

[0087] The housing unit 2 has a telescopic part 28. The telescopic part 28 includes, for example, a telescopic frame and an actuator. The telescopic frame can move each telescopic wall forward. The telescopic frame itself can also be telescoped. The actuator can move the telescopic wall part and drive the telescoping of the frame by driving the telescopic frame. The actuator is driven, for example, according to a control instruction from the control device 65. The telescopic part 28 is telescoped according to the occupancy of the goods P carried into the cargo compartment 20. Thus, the housing unit 2 can change the overall size according to the quantity of the goods P. That is, the housing unit 2 can switch Figure 11 between the expanded state shown in Figure 12 and the contracted state shown in

[0088] In such a housing unit 2, as shown in Figure 13 for the buffer unit 5 provided on the upper inner wall 21a, on the telescopic wall side, only the rear end portion 51c of the bottom 51 is fixed to the rear end portion 21c of the upper inner wall 21a. Thus, the housing unit 2 can be contracted without the buffer unit 5 hindering the contraction. In this case, the rear end portion 51c also becomes a "fixed point". In addition, on the fixed wall side, the mounting portion 51a of the bottom 51 corresponding to the fixed wall is mounted on the edge portion 21b of the fixed wall. The buffer unit 5 provided on the left inner wall 25a is the same. On the telescopic wall side, only the rear end is fixed to the rear end portion of the left inner wall 25a.

[0089] (Fourth Embodiment)

[0090] As shown in Figure 14 the fourth embodiment is a modification of the first embodiment.

[0091] Each buffer unit 5 in the fourth embodiment has a single bag-shaped portion 52. Moreover, an elastic portion 53 is provided at the top end portion of each bag-shaped portion 52. Thus, when there is only one bag-shaped portion 52, as long as the buffer unit 5 has the elastic portion 53, the goods P can be reliably fixed by the elastic portion 53. That is, when there is a single bag-shaped portion 52 formed between the fixed points with respect to the inner wall, as long as the elastic portion 53 is provided, the buffer unit 5 can reliably fix the goods P.

[0092] (Other Embodiments)

[0093] As described above, multiple embodiments have been described, but the present disclosure is not limited to these embodiments and can be applied to various embodiments and combinations without departing from the gist of the present disclosure.

[0094] As a modification, as long as multiple bag-shaped portions 52 are formed between the fixed points on the inner wall, the buffer unit 5 may not have the elastic portion 53.

[0095] As a modification, the buffer unit 5 may also have a plurality of bag-shaped portions 52 between fixed points only in one direction.

[0096] As a modification, the buffer unit 5 may not have a bottom 51, and the outer edge of the bag-shaped portion 52 may be attached to the inner wall. In this case, the buffer unit 5 only needs to attach the entire outer edge of the bag-shaped portion 52 to be in close contact with the inner wall in a manner that seals the inside.

[0097] As a modification, the buffer unit 5 may be formed such that the plurality of bag-shaped portions 52 divide the internal space from each other. Alternatively, the buffer unit 5 may be formed to divide the internal space for each group of the plurality of bag-shaped portions 52.

[0098] In the modification, the dedicated computer constituting the control device 65 may also have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is, for example, at least one of an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), an SOC (System on a Chip), a PGA (Programmable Gate Array), and a CPLD (Complex Programmable Logic Device). In addition, such a digital circuit may also have a memory storing a program.

[0099] In addition to the above-described manners of explanation, the above-described embodiments and modifications may also be implemented in the form of a processing circuit or a semiconductor device as a control device configured to be mountable on the autonomous transport vehicle 1 and having at least one processor 102 and at least one memory 101. The processing circuit is, for example, a processing ECU or the like. The semiconductor device is, for example, a semiconductor chip or the like.

[0100] (Disclosure of Technical Ideas)

[0101] This specification discloses a plurality of technical ideas described in the following-listed items. Some items are sometimes described in a multiple-dependent form that alternatively refers to multiple previous items in subsequent items. And some items are sometimes described in a multiple-dependent form that refers to another multiple-dependent form item. The items described in these multiple-dependent forms define a plurality of technical ideas.

[0102] (Technical idea 1)

[0103] An autonomous transport vehicle for transporting goods (P), comprising: a housing unit (2) that forms a cargo compartment (20) capable of accommodating the goods through an inner wall; a buffer unit (5) having a plurality of bag-shaped parts (52) that bulge toward the inside of the cargo compartment through gas between fixed points, and the fixed points are fixed to the inner wall on both sides in a reference direction in the cargo compartment; and a compressor unit (6) that controls the entry and exit of the gas with respect to each of the bag-shaped parts.

[0104] (Technical idea 2)

[0105] According to the autonomous transport vehicle described in Technical idea 1, wherein the buffer unit has an elastic part (53) with a higher degree of freedom in shape than the bag-shaped part at the bulging tip of each of the bag-shaped parts.

[0106] (Technical idea 3)

[0107] An autonomous transport vehicle for transporting goods (P), comprising: a housing unit (2) that forms a cargo compartment (20) capable of accommodating the goods through an inner wall; a buffer unit (5) fixed to the inner wall in the cargo compartment, having a bag-shaped part and an elastic part, the bag-shaped part bulges toward the inside of the cargo compartment through gas, and the elastic part is provided at the bulging tip of the bag-shaped part and has a higher degree of freedom in shape than the bag-shaped part; and a compressor unit (6) that controls the entry and exit of the gas with respect to the bag-shaped part.

[0108] (Technical idea 4)

[0109] According to the autonomous transport vehicle described in Technical idea 1 or Technical idea 3, wherein the housing unit has a door part (23), and when the goods enter and exit the cargo compartment, the door part opens toward the side from a closed state, the door part forms an inner wall facing upward in an open state, and an elastic rolling body (27) is provided on the inner wall of the door part, and the elastic rolling body has elasticity and enables the goods to enter and exit the cargo compartment by rolling.

[0110] (Technical idea 5)

[0111] According to the autonomous transport vehicle described in Technical idea 4, wherein the buffer unit is provided at least on a door-opposite inner wall opposite to the door part in the closed state, an upper inner wall that divides the upper part of the cargo compartment, and a side inner wall that is adjacent to the door-opposite inner wall and divides the side part of the cargo compartment.

[0112] (Technical idea 6)

[0113] According to the autonomous transport vehicle described in Technical Idea 5, in the closed state of the door portion after the goods are moved into the cargo compartment, after the compressor unit injects the gas into the buffer unit provided on the inner wall opposite to the door and the inner wall of the side portion, the compressor unit performs the injection of the gas into the buffer unit provided on the upper inner wall.

[0114] (Technical Idea 7)

[0115] According to the autonomous transport vehicle described in Technical Idea 5, before the goods are moved out of the cargo compartment, the compressor unit makes the internal pressure of the buffer unit provided on the inner wall opposite to the door lower than that during transportation, and injects the gas into the buffer unit provided on the inner wall opposite to the door in the open state of the door portion during moving out.

[0116] (Technical Idea 8)

[0117] According to the autonomous transport vehicle according to any one of Technical Ideas 1 to 7, the outer shell unit has an expansion and contraction portion that expands and contracts according to the occupancy of the cargo compartment by the goods.

Claims

1. An autonomous transport vehicle for transporting goods (P), characterized in that, Comprising: A housing unit (2) which is partitioned by an inner wall to form a cargo compartment (20) capable of accommodating the goods; A buffer unit (5) having a plurality of bag-shaped portions (52) that bulge toward the inside of the cargo compartment through gas between fixed points, and the fixed points are fixed to the inner wall on both sides in the reference direction in the cargo compartment; And A compressor unit (6) which controls the entry and exit of the gas relative to each of the bag-shaped portions.

2. The autonomous transport vehicle according to claim 1, wherein The buffer unit has an elastic portion (53) with a higher degree of freedom in shape than the bag-shaped portion at the bulging tip of each of the bag-shaped portions.

3. An autonomous transport vehicle for transporting goods (P), characterized in that, Comprising: A housing unit (2) which is partitioned by an inner wall to form a cargo compartment (20) capable of accommodating the goods; A buffer unit (5) fixed to the inner wall in the cargo compartment, having a bag-shaped portion and an elastic portion, the bag-shaped portion bulging toward the inside of the cargo compartment through gas, and the elastic portion is provided at the bulging tip of the bag-shaped portion and has a higher degree of freedom in shape than the bag-shaped portion; And A compressor unit (6) which controls the entry and exit of the gas relative to the bag-shaped portion.

4. The autonomous transport vehicle according to claim 1 or 3, wherein The housing unit has a door portion (23) which, as the goods enter and exit the cargo compartment, opens laterally from the closed state, and the door portion forms an inner wall facing upward in the open state, An elastic rolling body (27) is provided on the inner wall in the door portion, and the elastic rolling body has elasticity and enables the goods to enter and exit the cargo compartment by rolling.

5. The autonomous transport vehicle according to claim 4, wherein The buffer unit is provided at least on a door-opposite inner wall opposite to the door portion in the closed state, an upper inner wall partitioning the upper part of the cargo compartment, and a side inner wall adjacent to the door-opposite inner wall and partitioning the side part of the cargo compartment.

6. The autonomous transport vehicle according to claim 5, wherein In the closed state of the door portion after the goods are carried into the cargo compartment, after the compressor unit injects the gas into the buffer units provided on the door-opposite inner wall and the side inner wall, it executes the injection of the gas into the buffer unit provided on the upper inner wall.

7. The autonomous transport vehicle according to claim 5, wherein Before the goods are carried out of the cargo compartment, the compressor unit makes the internal pressure of the buffer unit provided on the door-opposite inner wall lower than that during transportation, And injects the gas into the buffer unit provided on the door-opposite inner wall in the open state of the door portion during the carry-out.

8. The autonomous transport vehicle according to claim 1, wherein The housing unit has a telescopic portion that expands and contracts according to the occupancy degree of the cargo in the cargo compartment.

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