Transport device and removal device

Abstract

To prevent abnormal traveling of unmanned transport vehicles.SOLUTION: A conveying device for conveying an object to be conveyed, comprises: a control unit having a calculation device for executing a predetermined calculation process and a storage device connected to the calculation device; drive wheels arranged on the left and right sides of the bottom of a vehicle body and rotated by power; auxiliary wheels arranged on the left and right sides of the bottom of the vehicle body and freely rotatable; and an exclusion device extending downward from the bottom of the vehicle body and attached to the front side of the conveying device. The exclusion device has a width covering the auxiliary wheels, is formed in a shape in which the sides are set back from the center, and extends to a position covering the outside of the auxiliary wheels that are closer to the exclusion device, and the exclusion device excludes obstacles to the side of the vehicle body when the conveying device moves forward, and excludes obstacles in the rotational direction when the conveying device rotates.SELECTED DRAWING: Figure 1A

Description

[Technical field]

[0001] The present invention relates to a transport device and an exclusion device mounted on the transport device. [Background technology]

[0002] Automated guided vehicles may have contact and non-contact sensors to detect obstacles on their travel path. However, if the obstacle is small, it may not be detected by the sensor and may get between the bottom of the vehicle and the floor, interfering with the vehicle's travel.

[0003] To address this issue, there is a technology described in Patent Document 1 (JP Patent Publication 4-121267 A). Patent Document 1 describes a floor cleaning device for an automated guided vehicle, which is characterized in that a magnet with a length covering the width of the vehicle body is attached to the center of a magnet storage case made of non-magnetic metal or synthetic resin in the gap between the battery frame under the battery storage on the front and rear of the drive wheels in the center of the vehicle body and the floor surface by a magnet holder made of an elastic material such as spring steel, and cleaning elements made of an elastic material with a U-shape inclination are arranged in front and behind the magnet so that the center is a "mountain" and the outside is a "valley" with respect to the traveling direction of the automated guided vehicle, and the cleaning element of the rear floor cleaning device is attached in an inverted U-shape, the opposite to the above. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 4-121267 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology described in Patent Document 1 removes minute objects such as chips and dust from the travel path. Meanwhile, in a logistics warehouse or the like where an automated guided vehicle travels, products that have fallen from storage shelves can become obstacles.

[0006] With the recent development of e-commerce businesses, the number of logistics warehouses storing a wide variety of products is increasing. In such warehouses, a wide variety of products fall onto the path of an automated guided vehicle, and there are also many obstacles that can get under the vehicle. Depending on the shape of the product that becomes an obstacle, it can become entangled or tangled in the drive wheels or auxiliary wheels, making it difficult to control the automated guided vehicle.

[0007] Furthermore, magnetic tapes or markers may be laid on the roadway of an automated guided vehicle as guides for estimating the vehicle's own position, and dropped goods may interfere with the recognition of the guide for the automated guided vehicle.

[0008] Furthermore, because an automated guided vehicle can move in a straight line as well as rotate, it is necessary to prevent obstacles from getting caught not only in the vehicle from the front, but also from the side.

[0009] An object of the present invention is to prevent abnormal running of an automatic guided vehicle caused by an obstacle on the running path as described above. [Means for solving the problem]

[0010] A representative example of the invention disclosed in the present application is as follows: That is, a transport device for transporting an object to be transported includes a control unit having a calculation device that executes predetermined calculation processing and a storage device connected to the calculation device, drive wheels arranged on the left and right sides of the bottom of the vehicle body and rotated by power, auxiliary wheels arranged on the left and right sides of the bottom of the vehicle body and freely rotatable, and an exclusion device that extends downward from the bottom of the vehicle body and is attached to the front side of the transport device, the exclusion device has a width that covers the auxiliary wheels, is formed in a shape in which the sides are set back from the center, and extends to a position that covers the outside of the auxiliary wheels that are close to the exclusion device, and the exclusion device excludes obstacles to the side of the vehicle body when the transport device moves forward, and excludes obstacles in the direction of rotation when the transport device rotates. Effect of the Invention

[0011] According to one aspect of the present invention, it is possible to reduce abnormalities in an automated guided vehicle caused by obstacles on the travel path. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0012] [Figure 1A] 1 is a side view of an automated guided vehicle according to a first embodiment of the present invention. [Figure 1B] FIG. 2 is a bottom view of the automated guided vehicle of the first embodiment. [Figure 2A] 1 is a front view of an unmanned transport vehicle in which a removal device according to a first embodiment is viewed from the front. [Figure 2B] 1 is a cross-sectional view of the removal device of the first embodiment as viewed from the right side in a front view. FIG. [Figure 3A] 4A to 4C are diagrams illustrating the removal of an obstacle by the forward movement of the automated guided vehicle in the first embodiment. [Figure 3B] 4A to 4C are diagrams illustrating the removal of an obstacle by the forward movement of the automated guided vehicle in the first embodiment. [Figure 4A] FIG. 2 is a diagram showing removal of an obstacle by rotating the automatic guided vehicle of the first embodiment. [Figure 4B] FIG. 2 is a diagram showing removal of an obstacle by rotating the automatic guided vehicle of the first embodiment. [Figure 4C] FIG. 2 is a diagram showing removal of an obstacle by rotating the automatic guided vehicle of the first embodiment. [Figure 4D] FIG. 2 is a diagram showing removal of an obstacle by rotating the automatic guided vehicle of the first embodiment. [Diagram 5] FIG. 1 is a diagram illustrating a configuration example of a transport system according to a first embodiment. [Figure 6] FIG. 2 is a diagram showing an example of the layout of a transport system in a logistics center in which an automatic guided vehicle according to a first embodiment travels. [Figure 7A] 1 is a diagram showing the removal of an obstacle in an obstacle recovery area by the automated guided vehicle of the first embodiment. FIG. [Figure 7B] 1 is a diagram showing the removal of an obstacle in an obstacle recovery area by the automated guided vehicle of the first embodiment. FIG. [Figure 7C] 1 is a diagram showing the removal of an obstacle in an obstacle recovery area by the automated guided vehicle of the first embodiment. FIG. [Figure 8] 4 is a flowchart of an obstacle removal process executed by the automatic guided vehicle of the first embodiment. [Figure 9] FIG. 11 is a bottom view of the automated guided vehicle of the second embodiment. [Figure 10A] FIG. 11 is a side view of an automated guided vehicle according to a third embodiment. [Figure 10B] FIG. 11 is a bottom view of the automated guided vehicle of the third embodiment. [Figure 11A] FIG. 11 is a side view of the automatic guided vehicle of the fourth embodiment. [Figure 11B] FIG. 11 is a bottom view of the automatic guided vehicle of the fourth embodiment. [Figure 12A] FIG. 13 is a side view of the automated guided vehicle of the fifth embodiment. [Figure 12B] FIG. 13 is a bottom view of the automated guided vehicle of the fifth embodiment. [Figure 13] FIG. 13 is a diagram showing an exclusion device of Example 6. [Figure 14A] FIG. 13 is a partial side view of the automated guided vehicle of the seventh embodiment. [Figure 14B] FIG. 13 is a partial bottom view of the automated guided vehicle of the seventh embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of an automated guided vehicle, which is an example of a conveying device of the present invention, will be described with reference to the drawings. The embodiment is an example for explaining the present invention, and is omitted and simplified as appropriate for clarity of explanation. The present invention can be implemented in various other forms. Unless otherwise limited, each component may be singular or plural. The position, size, shape, range, etc. of each component shown in the drawings may not represent the actual position, size, shape, range, etc., in order to facilitate understanding of the invention. Therefore, the present invention is not necessarily limited to the position, size, shape, range, etc. disclosed in the drawings.

[0014] As examples of various information, the various information may be described using expressions such as "table," "list," and "queue," but the various information may be expressed using data structures other than these. For example, various information such as "XX table," "XX list," and "XX queue" may be expressed as "XX information." When describing identification information, expressions such as "identification information," "identifier," "name," "ID," and "number" are used, but these are mutually interchangeable.

[0015] When there are multiple components having the same or similar functions, they may be described by using the same reference numerals with different subscripts. When there is no need to distinguish between these multiple components, the subscripts may be omitted.

[0016] In this embodiment, the processing performed by executing a program may be described. Here, the computer executes the program by a processor (e.g., CPU, GPU), and performs the processing defined by the program while using storage resources (e.g., memory) and interface devices (e.g., communication ports). Therefore, the subject of the processing performed by executing the program may be the processor. Similarly, the subject of the processing performed by executing the program may be a controller, device, system, computer, or node having a processor. The subject of the processing performed by executing the program may be a calculation unit, and may include a dedicated circuit that performs specific processing. Here, the dedicated circuit is, for example, an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or a CPLD (Complex Programmable Logic Device).

[0017] A program may be installed on a computer from a program source. The program source may be, for example, a program distribution server or a computer-readable storage medium. When the program source is a program distribution server, the program distribution server may include a processor and a storage resource for storing a program to be distributed, and the processor of the program distribution server may distribute the program to be distributed to other computers. In addition, in the embodiments, two or more programs may be realized as one program, and one program may be realized as two or more programs.

[0018] <Example 1> FIG. 1A is a side view of an automated guided vehicle 1 according to a first embodiment of the present invention, and FIG. 1B is a bottom view of the automated guided vehicle 1 according to the first embodiment.

[0019] An automated guided vehicle 1, which is an example of a transport device, has a pair of drive wheels 20 provided on the left and right sides and a plurality of auxiliary wheels 21F, 21R provided on the bottom surface. For example, as shown in FIG. 1B, the front auxiliary wheels 21F are provided on the front left and front right sides of the bottom surface of the vehicle body, and the rear auxiliary wheels 21R are provided on the rear left and rear right sides of the bottom surface of the vehicle body. The drive wheels 20 are provided between the front auxiliary wheel 21F and the rear auxiliary wheel 21R on the left side of the bottom surface of the vehicle body, and between the front auxiliary wheel 21F and the rear auxiliary wheel 21R on the right side of the bottom surface of the vehicle body. The automated guided vehicle 1 travels on the floor surface by rotating and driving the drive wheels 20. When the drive wheels 20 rotate in the same direction at the same rotation speed, the automated guided vehicle 1 moves straight, and when the drive wheels 20 rotate in the opposite direction at the same rotation speed, the automated guided vehicle 1 rotates on the spot.

[0020] The auxiliary wheels 21F, 21R are freely rotatable wheels, and a plurality of them are provided on the underside of the automatic guided vehicle 1. The auxiliary wheels 21F are generally divided into the auxiliary wheels 21F in front of the driving wheels 20 and the auxiliary wheels 21R in the rear.

[0021] The unmanned guided vehicle 1 is provided with a removal device 60 between the vehicle body 1A and the floor surface. The removal device 60 extends from the front surface of the unmanned guided vehicle 1 to cover the outside of the front auxiliary wheels 21F in front of the unmanned guided vehicle 1 and to the side surface of the unmanned guided vehicle 1 behind the rear ends of the front auxiliary wheels 21F. The lower end of the removal device 60 may be in contact with the floor surface, or there may be a gap between the removal device 60 and the floor surface. In other words, the lower end of the removal device 60 is close to or in contact with the floor surface, and the unmanned guided vehicle 1 can push and remove obstacles on the floor surface by traveling.

[0022] The excluding device 60 is formed in a V-shape on the front side of the automated guided vehicle 1, and has a shape in which the side parts are set back from the center part. The excluding device 60 on the front side of the automated guided vehicle 1 may have a shape in which the side parts are set back from the center part, and may have an arc shape as shown in FIG. 9. In FIG. 1B, the excluding device 60 is illustrated as being continuous in the lateral direction, but may have a discontinuous shape with a gap in the lateral direction. The front part of the excluding device 60 prevents an obstacle from entering between the vehicle body 1A and the floor surface from the front side of the vehicle body 1A when the automated guided vehicle 1 advances and rotates. The side part of the excluding device 60 prevents an obstacle from entering between the vehicle body 1A and the floor surface from the side of the vehicle body 1A when the automated guided vehicle 1 rotates.

[0023] A contact sensor 70 is provided on the front surface of the automated guided vehicle 1. When an object comes into contact with the contact sensor 70 and the contact sensor 70 detects a force, the automated guided vehicle 1 is controlled to stop.

[0024] Fig. 2A is a front view of the excluding device 60 of this embodiment as seen from the front of the automatic guided vehicle 1, and Fig. 2B is a sectional view of the excluding device 60 of this embodiment as seen from the right side as seen from the front. Note that Fig. 2A is illustrated with the left and right sides reduced due to space limitations, and the scale is different in the vertical and horizontal directions.

[0025] The excluding device 60 is composed of an excluder 61, the lower end of which is close to or in contact with the floor surface, and a support member 63 to which the excluder 61 is attached. The excluder 61 is composed of a brush portion 61A and a frame 61B to which the brush portion 61A is attached, and is formed, for example, in a brush shape by thin wires of soft synthetic resin planted in the frame 61B. The frame 61B is fixed to the support member 63 by adhesion or the like. The support member 63 is provided with a screw hole into which a bolt 68 can be screwed. As shown in FIG. 2A, it is preferable that a plurality of excluders 61 divided in the width direction of the support member 63 are attached to avoid the positions of the bolts 68, but an excluder 61 that is integrated over the entire width may be attached to the support member 63.

[0026] An L-shaped support member fixture 64 is attached to the underside of the vehicle body 1A of the automatic guided vehicle 1. The support member fixture 64 is provided with a hole through which a bolt 68 passes.

[0027] The removal device 60 is disposed in front of the support member fixture 64 and is fixed to the support member fixture 64 from the rear with a bolt 68 .

[0028] Although the brush-shaped excluder 61 is shown in FIGS. 2A and 2B, the excluder 60 may be configured with a plate-shaped member made of a hard material or a plate-shaped member made of a soft resin material.

[0029] 3A and 3B are diagrams illustrating the removal of an obstacle 100 by the removal device 60 as the automated guided vehicle 1 of the first embodiment travels.

[0030] As shown in Fig. 3A, an obstacle 100 that is lower than the position of the contact sensor 70 gets under the automated guided vehicle 1. Furthermore, as the automated guided vehicle 1 moves forward, as shown in Fig. 3B, the removal device 60 comes into contact with the obstacle 100, causing the obstacle 100 to slide along the removal device 60, preventing the obstacle 100 from entering between the vehicle body 1A and the floor surface from the front of the vehicle body 1A, and removing the obstacle 100 to the outside of the vehicle body 1A. When the obstacle 100 is removed to the outside of the vehicle body 1A, the automated guided vehicle 1 can travel without being affected by the obstacle 100.

[0031] 4A to 4D are diagrams showing the removal of the obstacle 100 by the excluding device 60 as the automated guided vehicle 1 rotates.

[0032] As shown in Fig. 4A, an obstacle 100 that is lower than the position of the contact sensor 70 gets under the automated guided vehicle 1, and the obstacle 100 comes into contact with the removal device 60. When the automated guided vehicle 1 rotates, as shown in Fig. 4B, the obstacle 100 is pushed by the removal device 60 on the front side of the automated guided vehicle 1 and removed to the outside of the vehicle body 1A. When the obstacle 100 is removed to the outside of the vehicle body 1A, the automated guided vehicle 1 can rotate without being affected by the obstacle 100.

[0033] Furthermore, as shown in Fig. 4C, an obstacle 100 positioned beside the automated guided vehicle 1 comes into contact with the removal device 60 when the automated guided vehicle 1 rotates, and as shown in Fig. 4D, the obstacle 100 is pushed by the removal device 60 on the side of the automated guided vehicle 1 and removed to the outside of the vehicle body 1A. When the obstacle 100 is removed to the outside of the vehicle body 1A, the automated guided vehicle 1 can rotate without being affected by the obstacle 100. In this way, by providing the removal device 60 on the side of the automated guided vehicle 1, obstacles can be removed not only when moving forward, but also when rotating.

[0034] Furthermore, once the obstacle 100 is removed from the outside of the body 1A of the unmanned guided vehicle 1, the obstacle 100 will no longer affect the movement of the unmanned guided vehicle 1, so that a work vehicle or an obstacle collection robot can collect the obstacle 100 at any time.

[0035] FIG. 5 is a diagram showing an example of the configuration of a transport system according to this embodiment.

[0036] The transport system of this embodiment includes a plurality of automated guided vehicles (transport devices) 1, a control device 4 that transmits command signals to the automated guided vehicles 1, and a network 5 that connects the automated guided vehicles 1 and the control device 4. The transport system may further include other transport equipment (e.g., vertical transport machines, etc.), transported objects (e.g., shelves, etc.), and work stations (e.g., picking stations). There may be one or more of each component of all or part of the transport system. The control device 4 and each automated guided vehicle 1 are capable of communicating with each other via the network 5.

[0037] The automated guided vehicle 1 includes a drive unit 11, a storage device 12, an interface device 13, a plurality of types of sensors 14, a battery (not shown), and a controller 10 connected to these.

[0038] The controller 10 is a control device that controls the operation of the automatic guided vehicle 1 according to movement instructions from the control device 4, the charge state of the battery, etc. The drive device 11 has drive wheels 20, auxiliary wheels 21, and a lifting body 22, as well as an actuator such as a motor (not shown) that drives and rotates the drive wheels 20, and an actuator such as a motor (not shown) that raises and lowers and rotates the lifting body 22.

[0039] The interface device 13 is a device that communicates with the control device 4 by a predetermined wireless communication method, and may be composed of, for example, a wireless LAN card.

[0040] The sensor 14 is a device for collecting information on the floor surface on which the automated guided vehicle 1 travels and various information related to the automated guided vehicle 1. For example, the multiple types of sensors 14 can read information on markers 202 displayed on sections of the storage space 201. The automated guided vehicle 1 may also have, as the sensor 14, sensors such as a camera that captures an image of the state of the storage space 201, a vibration sensor that detects vibrations generated in the automated guided vehicle 1 while moving, a speed sensor that measures the speed of the automated guided vehicle 1, an acceleration sensor that measures the acceleration of the automated guided vehicle 1, a weight sensor that measures the weight of a load (transported object), and a gyro sensor that measures the orientation of the automated guided vehicle 1.

[0041] The storage device 12 stores, for example, a route table 23, a device table 24, a map table 25, a measurement table 26, and a performance table 27. The controller 10 executes a control program 30. When the controller 10 executes the control program 30, each function of the automated guided vehicle 1, such as a communication unit, a travel control unit, a measurement unit, and a position estimation unit, is realized.

[0042] The route table 23 stores the movement instructions received from the control device 4 and information representing the movement route specified in the movement instructions (the information representing the movement route may include information on the sections of the movement route, etc.). The equipment table 24 stores the identification information of the automated guided vehicle 1, the loading state of the transported object, the current position (section), the remaining battery level, the equipment state (for example, "standby", "moving" or "transporting"), and the ID of the transported object.

[0043] The map table 25 stores information indicating the position and attributes of each section (e.g., which area it belongs to). The map table 25 may also include information on the storage space 201 exemplified in FIG. 6. The measurement table 26 stores values ​​measured by multiple types of sensors 14 (e.g., speed, acceleration, rotation, weight, position (values ​​read from markers on the floor), photographed images of the section, etc.). The performance table 27 stores movement performance including the route traveled by the automated guided vehicle 1 and the date and time.

[0044] The control program 30 is a program having a function of transmitting and receiving commands and information to and from the control device 4 via the interface device 13. For example, the control program 30 transmits at least a part of the information in the tables 23 to 27 to the control device 4 in response to a request from the control device 4 (or without a request). Note that the control program 30 of each automatic guided vehicle 1 may transmit each of these pieces of information to the control device 4 at regular or irregular timing.

[0045] The control program 30 is a program that controls the movement of the automated guided vehicle 1 in response to a movement instruction received from the control device 4. For example, the control program 30 controls the drive device 11 to move to the position of a specified object (e.g., a shelf) in accordance with the movement instruction from the control device 4, cause the lifting body 22 to lift the object, move it to a destination (e.g., a picking station) through a specified movement path, and cause the lifting body 22 to lower the object.

[0046] The control program 30 registers the output (measurement result) of each sensor 14 in the measurement table 26. The control program 30 estimates the position of the automatic guided vehicle 1 based on the markers detected by the sensors 14 of the automatic guided vehicle 1.

[0047] The control device 4 may be one or more physical computers having hardware such as a processor 40, a memory 41, a storage device 42, an input device 43, an output device 44, and an interface device 45, or may be configured as a system (e.g., a cloud computing system) realized on one or more physical computers (e.g., a cloud platform). Each device of the control device 4 may be arranged on one physical computer, or may be distributed and arranged on multiple physical computers. Each program and each piece of information held by the storage device 42 may be stored in one storage device, or may be stored separately in multiple storage devices. Instead of the input device 43 and the output device 44, information may be input / output via a client system that can communicate through the interface device 45.

[0048] The processor 40 is a calculation device that controls the overall operation of the control device 4. The memory 41 is used as a work memory for the processor 40. The storage device 42 stores programs and tables. The input device 43 is composed of, for example, a mouse or a keyboard, and is used for an operator to input necessary information and instructions to the control device 4. The output device 44 may be composed of a display device such as a liquid crystal display or an organic EL (Electro Luminescence) display. The interface device 45 is a device that communicates with the automatic guided vehicle 1 by a predetermined wireless communication method, and may be composed of, for example, a wireless LAN card.

[0049] The storage device 42 stores, for example, an equipment table 53, an inventory table 54, an order table 55, and a map table 56. The equipment table 53 stores information transmitted from and collected from each automated guided vehicle 1. For each automated guided vehicle 1, the equipment table 53 stores information such as the ID of the automated guided vehicle 1, the loading state of the transported object, the current position (section), the remaining battery level, the equipment state (for example, "standby," "moving," or "transporting"), and the ID of the transported object. The equipment table 53 may also store information on movement instructions for each automated guided vehicle 1 (for example, information on the destination position to which the vehicle is to be moved, etc.).

[0050] The inventory table 54 stores information about the transported objects (e.g., products and containers such as shelves for storing products). For each transported object, the inventory table 54 stores information such as the ID of the transported object, the position of the transported object (e.g., the position of the container, the position of the product in the container, etc.), and the number of items in stock (e.g., the number of items in stock).

[0051] The order table 55 is a table that stores various information related to orders from customers, and stores, for each order, information such as the order ID, information about the order originator, information about the shipping destination, the ID and quantity of the item (e.g., product) specified in the order, delivery date, date and time the order was received, and the date and time of work to transport or pick the item specified in the order.

[0052] The map table 56 stores information representing a map of the travel area (for example, information representing the position (coordinates) and attributes (for example, shelf storage section, picking station, battery station, travel section, etc.) of each section of the travel area). The map table 56 may be distributed to each automated guided vehicle 1 and stored as the map table 25 in each automated guided vehicle 1. The map table 56 may include information on the storage space 201 exemplified in FIG. 6.

[0053] The storage device executes a processing program 50. A storage unit and a processing unit are realized by the processor 40 executing the processing program 50. For example, the processing program 50 stores tables 53 to in the storage device .

[0054] The processing program 50 may refer to the order table 55 and process the orders in the order of earliest (oldest) operation date and time, for example. The processing program 50 identifies the location of the item specified in the order in the inventory table 54. The processing program 50 also refers to the equipment table 53 and identifies, for example, an unmanned guided vehicle 1 in a standby state (if there are multiple unmanned guided vehicles 1 in a standby state, for example, one unmanned guided vehicle 1 is identified, such as the unmanned guided vehicle 1 that is closest to the location of the item). The processing program 50 transmits a movement instruction to the identified unmanned guided vehicle 1 to transport the transported object (the item specified in the order or a container that stores the item) to the destination (for example, a picking station). For example, the movement instruction is an instruction for the unmanned guided vehicle 1 to move to the location of the specified transported object, pick up the transported object, move to the destination through the specified movement route, and unload the transported object. This movement instruction may be issued all at once, or may be divided and issued according to the status of the unmanned guided vehicle 1.

[0055] FIG. 6 is a diagram showing an example of the layout of a transport system in a logistics center where the automatic guided vehicle 1 of this embodiment travels.

[0056] The logistics center has a storage space 201. A plurality of shelves (not shown) and a plurality of automated guided vehicles 1 are arranged in the storage space 201. The automated guided vehicles 1 enter under the shelves and lift up the shelves to move.

[0057] The floor surface of the storage space 201 is divided into sections of a predetermined size, and each section is marked with a marker 202. The automated guided vehicle 1 can know its position (section number) by reading the information on the marker.

[0058] A work station 205 is disposed at a predetermined position on the outer edge of the storage space 201. At the work station 205, workers and robots perform the work of storing and retrieving items. A station terminal that displays work instructions to the worker is disposed at the work station 205. In addition, a work space for sorting and packing is provided near the work station.

[0059] A plurality of chargers 204 for charging the automated guided vehicles 1 are disposed at predetermined locations in the storage space 201. An obstacle recovery area 206 for recovering obstacles 100 removed by the automated guided vehicles 1 is disposed at a predetermined position on the outer edge of the storage space 201.

[0060] 3A and 3B and the rotational movements shown in Figures 4A to 4D may not remove the obstacle, and the automated guided vehicle 1 may continue to travel with the obstacle 100 stuck between the remover and the floor surface. In an obstacle recovery area 206 provided adjacent to the storage space 201, the obstacle 100 dragged by the automated guided vehicle 1 can be removed.

[0061] A step 206A is provided at the rear side of the obstacle recovery area 206 as viewed from the storage space 201, lowering the floor surface by one step. When the automated guided vehicle 1 stops at the position of the marker 202 in the obstacle recovery area 206, the auxiliary wheels 21 and the driving wheels 20 do not reach the position of the step 206A, and the front end of the removal device 60 stops at a position exceeding the step 206A. The obstacle recovery area 206 and the charger 204 are arranged in close proximity to each other, so that the automated guided vehicle 1 that has transported the obstacle 100 to the recovery area can be charged, improving the operating rate of the automated guided vehicle 1. The obstacle recovery area 206 may also be arranged in the vicinity of a work station 205 that the automated guided vehicle 1 frequently visits, improving the operating rate.

[0062] The automated guided vehicle 1 may also be one that does not follow the markers 202 but travels freely by inertial navigation using a gyro.

[0063] 7A to 7C are diagrams illustrating the removal of an obstacle 100 in an obstacle recovery area 206 by the automated guided vehicle 1 of the first embodiment.

[0064] 7A, a step 206A that lowers the floor surface by one step is provided at the rear side of the obstacle recovery area 206 as seen from the storage space 201. When the automated guided vehicle 1 enters the obstacle recovery area 206, the auxiliary wheels 21 and the drive wheels 20 do not reach the position of the step 206A, and the front end of the removal device 60 stops at a position beyond the step 206A.

[0065] As shown in FIG. 7B, the automated guided vehicle 1 advances with the obstacle 100 sandwiched between the remover 61 (brush portion 61A) and the floor surface and enters the obstacle recovery area 206. When the automated guided vehicle 1 advances further and the remover 61 passes over the step 206A and is located in an area where the floor surface is low, the gap between the brush portion 61A and the floor surface becomes large as shown in FIG. 7C, and the obstacle 100 sandwiched between the remover 61 and the floor surface falls to the floor below the step 206A. The automated guided vehicle 1 then retreats and exits the obstacle recovery area 206. Through such an operation, the automated guided vehicle 1 can collect obstacles in the obstacle recovery area 206.

[0066] Fig. 8 is a flowchart of the obstacle removal process executed by the automated guided vehicle 1, and shows the entry into and exit from the obstacle recovery area 206. The obstacle removal process shown in Fig. 8 starts simultaneously with the start of forward movement and rotational motion of the automated guided vehicle.

[0067] Through the process shown in FIG. 8, the automated guided vehicle 1 removes the obstacle 100 by forward movement and rotational movement during movement and shelf transport, and transports the obstacle 100 to the obstacle recovery area 206 after charging is completed or picking is completed.

[0068] The controller 10 of the automated guided vehicle 1 determines whether the next operation is to move forward (S11). For example, if the end point indicated by the movement command signal received from the control device 4 is different from the current location, it can be determined that the next operation is to move forward. If the next operation is to move forward, the controller 10 rotates the two drive wheels 20 in the forward direction to move the automated guided vehicle 1 forward (S12). This forward movement of the automated guided vehicle 1 removes obstacles when moving forward (FIGS. 2A and 2B) (S13).

[0069] Next, the controller 10 determines whether the next operation is rotation (S14). For example, if the movement command signal received from the control device 4 includes a rotation command at the end point, it can be determined that the next operation is rotation. If the next operation is rotation, the controller 10 rotates the two drive wheels 20 in opposite directions to rotate the automated guided vehicle 1 (S15). This rotation operation of the automated guided vehicle 1 removes obstacles during rotation (FIGS. 4A to 4D) (S16).

[0070] Next, the controller 10 judges whether the automated guided vehicle 1 has arrived at the obstacle collection area 206 (S17). For example, if the sensor 14 of the automated guided vehicle 1 detects the marker 202 in the obstacle collection area 206, it can be judged that the automated guided vehicle 1 has arrived at the obstacle collection area 206. If the automated guided vehicle 1 has arrived at the obstacle collection area 206, the controller 10 rotates the two drive wheels 20 in the reverse direction to move the automated guided vehicle 1 backward and exit the obstacle collection area 206 (S18). This exit operation of the automated guided vehicle 1 removes obstacles in the obstacle collection area 206 (FIGS. 7A to 7C) (S19).

[0071] Next, the controller 10 judges whether traveling has ended (S21). If all commands received from the control device 4 have been executed, it is judged that traveling has ended and the obstacle removal process is terminated. On the other hand, if there are any commands received from the control device 4 that have not been executed, the process returns to step S11 and the operation of the automated guided vehicle 1 is controlled according to the unexecuted commands.

[0072] As described above, according to the embodiment of the present invention, it is possible to reduce abnormalities in the automated guided vehicle 1 caused by obstacles on the travel path, suppress a decrease in the operating rate of the automated guided vehicle 1, and improve the productivity of the factory or logistics warehouse where the automated guided vehicle 1 travels.

[0073] <Example 2> Next, a second embodiment of the present invention will be described. The second embodiment differs from the first embodiment in the shape of the removal device 60. In the second embodiment, differences from the first embodiment will be mainly described, and descriptions of the same configurations and processes as the first embodiment will be omitted.

[0074] 9 is a bottom view of the automated guided vehicle 1 according to the second embodiment of the present invention. Note that a side view of the automated guided vehicle 1 according to the present embodiment is omitted since it is the same as FIG. 1A of the first embodiment described above.

[0075] The automated guided vehicle 1 of this embodiment is provided with a pair of drive wheels 20 on the left and right sides that are rotatably driven, and a plurality of auxiliary wheels 21F, 21R that can rotate freely, on the bottom surface. A contact sensor 70 is provided on the front surface of the automated guided vehicle 1.

[0076] In the automatic guided vehicle 1 of this embodiment, an elimination device 60 is provided between the vehicle body 1A and the floor surface. The elimination device 60 covers the outside of the front auxiliary wheel 21F from the front of the automatic guided vehicle 1, and extends from the rear end of the front auxiliary wheel 21F to the side of the automatic guided vehicle 1 behind. The lower end of the elimination device 60 may be in contact with the floor surface, or there may be a gap between the elimination device 60 and the floor surface. That is, the lower end of the elimination device 60 is close to or in contact with the floor surface, and the automatic guided vehicle 1 can push and eliminate obstacles on the floor surface by traveling. The elimination device 60 is formed in an arc shape on the front of the automatic guided vehicle 1, and has a shape in which the side parts are set back from the center part. Note that the elimination device 60 on the front of the automatic guided vehicle 1 may have a shape in which the side parts are set back from the center part. In FIG. 9, the elimination device 60 is illustrated as being continuous in the horizontal direction, but it may have a discontinuous shape with a gap in the horizontal direction.

[0077] <Example 3> Next, a third embodiment of the present invention will be described. The third embodiment differs from the first embodiment in the shape of the removal device 60. In the third embodiment, differences from the first embodiment will be mainly described, and descriptions of the same configurations and processes as the first embodiment will be omitted.

[0078] FIG. 10A is a side view of an automated guided vehicle 1 according to a third embodiment of the present invention, and FIG. 10B is a bottom view of the automated guided vehicle 1 according to the third embodiment.

[0079] The automated guided vehicle 1 of this embodiment is provided with a pair of drive wheels 20 on the left and right sides that are rotatably driven, and a plurality of auxiliary wheels 21F, 21R that can rotate freely, on the bottom surface. A contact sensor 70 is provided on the front surface of the automated guided vehicle 1.

[0080] In the automated guided vehicle 1 of this embodiment, a front clearance device 60F and a rear clearance device 60R are provided between the vehicle body 1A and the floor surface. The front clearance device 60F is the same as the clearance device 60 in the first embodiment, and extends from the front surface of the automated guided vehicle 1 to cover the outside of the front auxiliary wheel 21F and from the rear end of the front auxiliary wheel 21F to a side surface of the automated guided vehicle 1 rearward. The rear clearance device 60R is the same as the clearance device 60 in the first embodiment, and extends from the rear surface of the automated guided vehicle 1 to cover the outside of the rear auxiliary wheel 21R and from the front end of the rear auxiliary wheel 21R to a side surface of the automated guided vehicle 1 forward.

[0081] The lower ends of the front removal device 60F and the rear removal device 60R may be in contact with the floor surface, or there may be a gap between the front removal device 60F and the rear removal device 60R and the floor surface. In other words, the lower ends of the front removal device 60F and the rear removal device 60R are close to or in contact with the floor surface, and the automatic guided vehicle 1 can push and remove obstacles on the floor surface by traveling.

[0082] The front clearance device 60F is formed in a V-shape on the front surface of the automated guided vehicle 1, with the sides recessed from the center. The rear clearance device 60R is formed in a V-shape on the rear surface of the automated guided vehicle 1, with the sides recessed from the center. The clearance devices 60F, 60R on the front or rear surface of the automated guided vehicle 1 may have any shape in which the sides are recessed from the center, and may be arc-shaped as shown in FIG. 9. In FIG. 10B, the front clearance device 60F and the rear clearance device 60R are illustrated as being continuous in the horizontal direction, but may be discontinuous with a gap in the horizontal direction.

[0083] In the third embodiment, the automated guided vehicle 1 can remove the obstacle 100 during a backward movement in addition to a forward movement and a rotation movement in the storage space 201.

[0084] <Example 4> Next, a fourth embodiment of the present invention will be described. The fourth embodiment differs from the first embodiment in the shape of the removal device 60. In the fourth embodiment, differences from the first embodiment will be mainly described, and the description of the same configuration and process as the first embodiment will be omitted.

[0085] FIG. 11A is a side view of an automated guided vehicle 1 according to a fourth embodiment of the present invention, and FIG. 11B is a bottom view of the automated guided vehicle 1 according to the fourth embodiment.

[0086] The automated guided vehicle 1 of this embodiment is provided with a pair of drive wheels 20 on the left and right sides that are rotatably driven, and a plurality of auxiliary wheels 21F, 21R that can rotate freely, on the bottom surface. A contact sensor 70 is provided on the front surface of the automated guided vehicle 1.

[0087] In the automated guided vehicle 1 of this embodiment, an elimination device 60 is provided between the vehicle body 1A and the floor surface. The elimination device 60 extends from the front of the automated guided vehicle 1 to the rear of the automated guided vehicle 1, covering the outside of the front auxiliary wheels 21F, the drive wheels 20, and the rear auxiliary wheels 21R. The lower end of the elimination device 60 may be in contact with the floor surface, or there may be a gap between the elimination device 60 and the floor surface. In other words, the lower end of the elimination device 60 is close to or in contact with the floor surface, and the automated guided vehicle 1 can push and eliminate obstacles on the floor surface by traveling.

[0088] The excluding device 60 is formed in a V-shape on the front and rear of the automated guided vehicle 1, with the sides recessed from the center. The excluding device 60 on the front or rear of the automated guided vehicle 1 may have any shape as long as the sides are recessed from the center, and may be in an arc shape as shown in Fig. 9. In Fig. 11B, the excluding device 60 is illustrated as being continuous in the horizontal direction, but it may also be in a discontinuous shape with a gap in the horizontal direction.

[0089] <Example 5> Next, a fifth embodiment of the present invention will be described. The fifth embodiment differs from the first embodiment in the shape of the excluding device 60. In the fifth embodiment, differences from the first embodiment will be mainly described, and the description of the same configuration and process as the first embodiment will be omitted.

[0090] FIG. 12A is a side view of an automated guided vehicle 1 according to a fifth embodiment of the present invention, and FIG. 12B is a bottom view of the automated guided vehicle 1 according to the fifth embodiment.

[0091] The automated guided vehicle 1 of this embodiment is provided with a pair of drive wheels 20 on the left and right sides that are rotatably driven, and a plurality of auxiliary wheels 21F, 21R that can rotate freely, on the bottom surface. A contact sensor 70 is provided on the front surface of the automated guided vehicle 1.

[0092] In the automated guided vehicle 1 of this embodiment, an elimination device 60 is provided between the vehicle body 1A and the floor surface. The elimination device 60 extends from the front of the automated guided vehicle 1 to cover the outside of the front auxiliary wheels 21F and to the side of the automated guided vehicle 1 rearward from the rear end of the front auxiliary wheels 21F. On the side of the automated guided vehicle 1, the elimination device 60 is located outside the side of the automated guided vehicle 1. The lower end of the elimination device 60 may be in contact with the floor surface, or there may be a gap between the elimination device 60 and the floor surface. In other words, the lower end of the elimination device 60 is close to or in contact with the floor surface, and the automated guided vehicle 1 can push and eliminate obstacles on the floor surface by traveling.

[0093] The excluding device 60 is formed in a V-shape on the front side of the automated guided vehicle 1, with the sides recessed from the center. The excluding device 60 on the front side of the automated guided vehicle 1 may have any shape as long as the sides are recessed from the center, and may be in an arc shape as shown in Fig. 9. In Fig. 12B, the excluding device 60 is illustrated as being continuous in the horizontal direction, but it may also be in a discontinuous shape with a gap in the horizontal direction.

[0094] As described above, the exclusion device 60 of the fifth embodiment is positioned outside the side of the unmanned guided vehicle 1, so that even if the drive wheels 20 and the auxiliary wheels 21F, 21R are positioned near the side of the unmanned guided vehicle 1, the exclusion device 60 can be attached to the unmanned guided vehicle 1 while avoiding the drive wheels 20 and the auxiliary wheels 21F, 21R.

[0095] <Example 6> Next, a sixth embodiment of the present invention will be described. The sixth embodiment is different from the first embodiment in the removal device 60. In the sixth embodiment, differences from the first embodiment will be mainly described, and the description of the same configuration and process as the first embodiment will be omitted. The sixth embodiment may be combined with any of the first to fifth embodiments.

[0096] Fig. 13 is a view of a removal device 60 according to a sixth embodiment of the present invention, seen from the rear of the automatic guided vehicle 1. In Fig. 13, the drive wheels 20 and the auxiliary wheels 21F, 21R are omitted. Note that Fig. 13 is illustrated with reduced dimensions on the left and right due to space limitations, and the scale is different between the vertical and horizontal directions.

[0097] The excluding device 60 of this embodiment is composed of an excluder 61, the lower end of which is close to or in contact with the floor surface, and a support member 63 to which a frame 61B of the excluder 61 is attached. The excluder 61 is composed of a brush portion 61A and a frame 61B to which the brush portion 61A is attached, and is formed, for example, in a brush shape by thin wires of soft synthetic resin planted in the frame 61B. The frame 61B is fixed to the support member 63 by adhesion or the like. The support member 63 is provided with a hole into which an engagement pin 66 can be inserted. As shown in FIG. 13, an integral excluder 61 may be attached to the entire width of the support member 63, or an excluder 61 divided in the width direction of the support member 63 may be attached.

[0098] An L-shaped support member fixture 64 is attached to the underside of the vehicle body 1A of the automatic guided vehicle 1. The support member fixture 64 is provided with an elongated hole 65 formed long in the vertical direction and through which an engagement pin 66 passes.

[0099] The excluder 61 and the support member 63 are disposed in front of a support member fixture 64, and the support member 63 is attached to the support member fixture 64 with an engagement pin 66. A stopper (e.g., a C-ring) may be attached to the end of the engagement pin 66 to prevent the engagement pin 66 from falling off. The horizontal position of the engagement pin 66 is restrained by the long hole 65 of the support member fixture 64, but it is movable up and down, so that the exclusion device 60 is attached to the vehicle body 1A so as to be movable up and down.

[0100] The floor surface of the storage space 201 is not flat due to undulations, and depending on the location of travel, a gap may be formed between the lower end of the excluder and the floor surface, or the excluder may be pressed against the floor surface, increasing friction. For this reason, in the sixth embodiment, the excluder 61 is attached so as to be movable up and down, so that the excluder 60 moves up and down according to the height of the vehicle body 1A and the unevenness of the floor surface, and the position where the excluder 61 contacts the floor surface can be maintained, small obstacles 100 can be efficiently removed, and pressing of the excluder 61 against the floor surface can be reduced.

[0101] <Example 7> Next, a seventh embodiment of the present invention will be described. The seventh embodiment differs from the first embodiment described above in that it has a detection member 71. In the seventh embodiment, differences from the first embodiment described above will be mainly described, and descriptions of the same configurations and processes as the first embodiment will be omitted. Note that the seventh embodiment may be combined with any of the first to fifth embodiments described above.

[0102] Fig. 14A is a partial side view of an automated guided vehicle 1 according to a seventh embodiment of the present invention, and Fig. 14B is a partial bottom view of the automated guided vehicle 1 according to this embodiment. Note that Figs. 14A and 14B both show only the front center portion of the automated guided vehicle 1.

[0103] The automated guided vehicle 1 of the seventh embodiment is attached with a detection member 71 located in front of the contact sensor 70. In the figure, the detection member 71 is supported by a support member 72 extending forward from the removal device 60 so as to be horizontally movable. The support member 72 may be formed of, for example, an elastic body so that the detection member 71 can press the contact sensor 70 from the front. The detection member 71 may be attached to the contact sensor 70, in which case there is no need to provide the support member 72. The detection member 71 may be provided in a predetermined range in the center of the automated guided vehicle 1 in the width direction. The detection member 71 is attached so that a small gap is generated between its lower end and the floor surface.

[0104] When the automated guided vehicle 1 advances with an obstacle in contact with the detection member 71, the detection member 71 moves and presses the contact sensor 70, and the automated guided vehicle 1 stops. As shown in FIG. 6, the automated guided vehicle 1 may remove the obstacle by pushing the obstacle with the removal device 60 or by running with the obstacle sandwiched under the removal device 60 in the storage space 201, which may damage the surface of the marker 202 attached in the center of the travel path. Therefore, in the seventh embodiment, when strong friction occurs between the obstacle 100 caught on the detection member 71 and the floor surface in the center of the travel path, the contact sensor 70 is activated and the travel of the automated guided vehicle 1 is stopped. That is, the detection member 71 is urged backward by the friction between the obstacle 100 sandwiched between the lower end of the detection member 71 and the floor surface and the floor surface, which presses the contact sensor 70 and stops the travel of the automated guided vehicle 1. Therefore, the automatic guided vehicle 1 does not transport an obstacle in a position where it interferes with the marker 202 to the obstacle collection area 206, and the detection member 71 provided in the center of the width of the automatic guided vehicle 1 activates the contact sensor 70, causing the automatic guided vehicle 1 to stop. Therefore, the automatic guided vehicle 1 of the seventh embodiment can suppress damage to the marker 202 caused by the obstacles it collects.

[0105] The present invention is not limited to the above-described embodiments, and includes various modified examples and equivalent configurations within the spirit of the appended claims. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the configurations described. Furthermore, a part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Furthermore, the configuration of another embodiment may be added to the configuration of one embodiment. Furthermore, a part of the configuration of each embodiment may be added, deleted, or replaced with another configuration.

[0106] In addition, each of the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in hardware, for example by designing some or all of them as an integrated circuit, or may be realized in software by a processor interpreting and executing a program that realizes each function.

[0107] Information such as programs, tables, and files that realize each function can be stored in a storage device such as a memory, a hard disk, or an SSD (Solid State Drive), or in a recording medium such as an IC card, an SD card, or a DVD.

[0108] In addition, the control lines and information lines shown are those considered necessary for the explanation, and do not necessarily show all the control lines and information lines necessary for implementation. In reality, it can be considered that almost all components are connected to each other. [Explanation of symbols]

[0109] 1. Automated guided vehicle 1A Body 4. Control device 5. Network 10 Controller 11 Drive unit 12 Storage device 13 Interface Device 14 Sensors 20 Drive wheels 21, 21F, 21R training wheels 22 Lifting body 23 Routing Table 24 Equipment Table 25 Map Table 26 Measurement Table 27 Performance Table 30 Control Program 32 Location Estimation Program 40 processors 41 Memory 42 Storage device 43 Input Devices 44 Output Device 45 Interface Device 50 Processing Program 53 Equipment Table 54 Inventory Table 55 Order Table 56 Map Table 60, 60F, 60R exclusion device 61 Excluder 61A Brush part 61B Frame 63 Support member 64 Support member fixing device 65 Slot 66 Engagement pin 68 Volts 70 Contact Sensor 71 Detection member 72 Support member 100 Obstacles 201 Storage Space 202 Marker 204 Charger 205 Work Station 206 Obstacle Collection Area 206A Step

Claims

1. A conveying device that conveys an object to be conveyed, A control unit having a calculation device that executes a predetermined calculation process and a storage device connected to the calculation device; The drive wheels are located on the left and right sides of the bottom of the vehicle and rotate by power. The auxiliary wheels are located on the left and right sides of the bottom of the vehicle and can rotate freely. a removal device extending downward from the bottom surface of the vehicle body and attached to the front side of the transport device; the removal device has a width sufficient to cover the auxiliary wheels, is formed in a shape in which the sides are recessed from the center, and extends to a position covering the outer side of the auxiliary wheels close to the removal device, The transportation device, characterized in that the removal device removes obstacles to the side of the vehicle body when the transportation device moves forward, and removes obstacles in the rotation direction when the transportation device rotates.

2. 2. The conveying device according to claim 1, The auxiliary wheels are disposed on the front left side, the front right side, the rear left side, and the rear right side of the bottom surface of the vehicle body, The drive wheels are disposed between the left auxiliary wheels on the bottom surface of the vehicle body and between the right auxiliary wheels on the bottom surface of the vehicle body, The transport device is characterized in that the removal device is disposed at a position that covers the outside of the auxiliary wheels that are close to the removal device and covers an area just in front of the drive wheels.

3. 2. The conveying device according to claim 1, The exclusion device is an excluder that comes into contact with an obstacle when the conveying device travels; A support member for supporting an upper portion of the remover; a support member fixing device attached to a vehicle body of the transport device, A conveying device according to claim 1, wherein the support member is attached to the support member fixing device by a bolt.

4. 2. The conveying device according to claim 1, an obstacle recovery area having a step where the floor surface is lowered on the floor surface on which the transport device travels; The transporting device is characterized in that the front auxiliary wheels stop at a position just before the step and where the exclusion device clears the step, and the obstacles held by the exclusion device are dropped onto the lower floor surface to be separated.

5. The conveying device according to claim 4, Entering the obstacle recovery area in a forward motion; A transport device characterized in that a front auxiliary wheel stops in front of the step and at a position where the removal device exceeds the step, and then the front auxiliary wheel moves backward to separate the obstacle held by the removal device.

6. 2. The conveying device according to claim 1, The auxiliary wheels are disposed on the front left side, the front right side, the rear left side, and the rear right side of the bottom surface of the vehicle body, The drive wheels are disposed between the left auxiliary wheels on the bottom surface of the vehicle body and between the right auxiliary wheels on the bottom surface of the vehicle body, A transport device, characterized in that the removal device is arranged in a position covering the outsides of all of the drive wheels and the outsides of all of the auxiliary wheels.

7. 4. The conveying device according to claim 3, The support member fixing device has a guide portion that allows the support member to move in the up and down direction, and the support member has a member that engages with the guide portion, A conveying device, characterized in that the remover is attached to a vehicle body of the conveying device so as to be restrained from moving in a horizontal direction and movable in a vertical direction.

8. 2. The conveying device according to claim 1, A contact sensor that detects a contacting object; A detection member disposed in front of the contact sensor; a support member that supports the detection member so as to be horizontally movable, A conveying device, characterized in that when the detection member is urged rearward, the contact sensor is pressed.

9. A removal device that can be attached to a transport device that transports an object to be transported, The conveying device is A control unit having a calculation device that executes a predetermined calculation process and a storage device connected to the calculation device; The drive wheels are located on the left and right sides of the bottom of the vehicle and rotate by power. The auxiliary wheels are located on the left and right sides of the bottom of the vehicle and can rotate freely. a removal device extending downward from the bottom surface of the vehicle body and attached to the front side of the transport device; The exclusion device is The width covers the auxiliary wheels, The sides are recessed from the center, When attached to the transport device, the length extends to a position covering a side of the auxiliary wheel that is closest to the removal device, removing obstacles to the side of the vehicle body when the transport device moves forward; A removal device for removing obstacles in the rotation direction of the transport device when the transport device rotates.

Images