Article transport facility

Abstract

To provide an article transport facility which realizes multiple transport forms while reducing the number of types of transport devices.SOLUTION: In a combined state in which multiple transport vehicles 1 are combined in such a manner as to be adjacent to each other, multiple transfer sections cooperate to form a transport route P to transport articles W. While the transport vehicle performs a combining operation with a combination target vehicle 1 that is another transport vehicle 1 that is a combination target, a control unit at least partially disables a surrounding area detection sensor so as not to detect the combination target vehicle 1.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to an article transport facility that includes a plurality of transport vehicles that travel without tracks on a traveling surface to transport articles. [Background technology]

[0002] In recent years, automation of goods transportation has progressed in goods transportation facilities such as logistics warehouses. In such goods transportation facilities, for example, a transport vehicle (10) as disclosed in JP 2022-050240 A (Patent Document 1) may be used.

[0003] The transport vehicle (10) is configured to transport an article by traveling unmanned on a traveling floor. In the facility described in Patent Document 1, a transport command is given to each of the multiple transport vehicles (10), and each of the multiple transport vehicles (10) transports a specific article from a source to a destination based on the transport command. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2022-050240 Summary of the Invention [Problem to be solved by the invention]

[0005] In such technical fields, in addition to the above-mentioned transport form using an unmanned guided vehicle, for example, a transport form in which a plurality of articles are continuously transported by a conveyor arranged along a transport path is also used. However, when operating a facility in a plurality of transport forms, different types of transport devices are required for each transport form.

[0006] In view of the above circumstances, there is a need for an article transport facility that can realize a plurality of transport modes while limiting the number of types of transport devices. [Means for solving the problem]

[0007] An article transport facility including a plurality of transport vehicles that travel on a traveling surface without a track to transport articles, The transport vehicle is A placement section for placing the article; A transfer unit that transfers the object placed on the placement unit between a transfer target location and the object placed on the placement unit; A perimeter detection sensor; A control unit that controls the vehicle; Equipped with the control unit is configured to stop or decelerate the host vehicle when an obstacle is detected in the vicinity of the host vehicle by the vicinity detection sensor while the host vehicle is traveling; In a combined state in which the plurality of transport vehicles are combined so as to be adjacent to each other, a transport path is formed along which the plurality of transfer units cooperate to transport the articles, When the host vehicle performs a combining operation with a target vehicle that is a target for combining with the other transport vehicle, the control unit at least partially disables the periphery detection sensor so as not to detect the target vehicle for combining.

[0008] According to this configuration, each transport vehicle can transport items to various locations by itself, and multiple transport vehicles can be combined to transport items along a continuous transport path. That is, a transport form in which a specific item is transported to a specific location and a transport form in which multiple items are transported continuously to the same location can be realized using the transport vehicles. Then, such multiple types of transport forms can be flexibly changed according to the operation of the facility. Also, according to this configuration, when each transport vehicle runs alone, contact between the transport vehicles can be avoided by the perimeter detection sensor. When each transport vehicle performs a combining operation, the perimeter detection sensor is partially disabled, so that the combining operation can be performed appropriately. As described above, according to this configuration, multiple transport forms can be realized while limiting the types of transport devices.

[0009] Further features and advantages of the techniques disclosed herein will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief description of the drawings]

[0010] [Figure 1] Plan view of the goods transport facility [Diagram 2] Control Block Diagram [Diagram 3] FIG. 13 is a diagram showing how an article is transferred between a transport vehicle and a transfer target location. [Figure 4] Diagram showing the transfer structure of the transport vehicle [Diagram 5] Diagram showing the running structure of the transport vehicle [Figure 6] Schematic plan view of the transport vehicle [Figure 7] A diagram showing the combined state of multiple transport vehicles. [Figure 8] A diagram showing one form of combination of multiple transport vehicles. [Figure 9] FIG. 13 is a diagram showing an example of a transportation mode using a plurality of combined transportation vehicles; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of an article transport facility will be described with reference to the drawings.

[0012] As shown in FIG. 1, the article conveying facility 100 includes a plurality of conveying vehicles 1 that convey articles W by traveling on a traveling surface without a track. The traveling surface is, for example, the floor surface of the article conveying facility. "Traveling without a track" means traveling without using a track such as a rail. Therefore, the conveying vehicle 1 is configured to be able to travel freely on the floor surface of the article conveying facility 100 without being bound by a track such as a rail. For example, a configuration may be adopted in which a plurality of detectable objects such as two-dimensional codes and RF (Radio Frequency) tags are placed on the floor surface, and the conveying vehicle 1 travels along a route connecting the plurality of detectable objects. Also, a configuration may be adopted in which such detectable objects are not placed on the floor surface, and the conveying vehicle 1 travels along a route calculated based on the recognition result of the surrounding environment.

[0013] In the article conveying facility 100, a plurality of transfer target locations T where the article W is transferred are set. In this embodiment, the article conveying facility 100 includes an inbound / outbound area 9 where the article W is received or shipped between the inside and outside of the facility, and an automated warehouse 8 provided inside the facility.

[0014] The loading / unloading area 9 is, for example, a truck berth. A plurality of transfer target locations T are set in the loading / unloading area 9. At the transfer target locations T in the loading / unloading area 9, the goods W to be received or the goods W to be shipped are transferred by a forklift or conveyor (not shown), or by a transport vehicle 1.

[0015] In this embodiment, a plurality of automated warehouses 8 are provided inside the facility. Each of the plurality of automated warehouses 8 includes a storage shelf (not shown) for storing items W, an entry section 81 for storing items W into the storage shelf, an exit section 82 for retrieving items W from the storage shelf, and an in-shelf transport device (not shown) for transporting items W inside the storage shelf. Examples of the in-shelf transport device include a stacker crane, a lifter, a conveyor, and a transport cart.

[0016] In this embodiment, the storage section 81 and the delivery section 82 are configured using conveyors. Examples of such conveyors include a roller conveyor, a belt conveyor, and a chain conveyor. The storage section 81 and the delivery section 82 are one of the transfer target locations T where the article W is transferred between the transport vehicle 1 and the storage section 81 and the delivery section 82.

[0017] As shown in Fig. 2, in this embodiment, the article conveying facility 100 includes a host controller H that controls multiple conveying vehicles 1. The host controller H is configured to be able to communicate with the multiple conveying vehicles 1. The host controller H is configured to transmit, for example, a conveying command that specifies a specific article W, a conveying origin, and a conveying destination to each conveying vehicle 1. The conveying vehicle 1 that receives the conveying command is configured to convey the article W based on the conveying command.

[0018] The transport vehicle 1 is equipped with a control unit C that controls the vehicle itself. The control unit C is configured to control each functional unit equipped in the transport vehicle 1. Each functional unit of the transport vehicle 1 includes a functional unit for traveling, a functional unit for transferring an article W, a functional unit for communication, and the like. The control unit C is configured to control the vehicle itself so as to transport an article W from a specified transport source to a transport destination based on a transport command from a higher-level control device H.

[0019] The upper control device H and the control unit C each include, for example, a processor such as a microcomputer, a peripheral circuit such as a memory, etc. Each function is realized by the cooperation of this hardware and a program executed on the processor of a computer or the like.

[0020] As shown in Figs. 3 and 4, the transport vehicle 1 includes a placement section 13 on which an item W is placed, and a transfer section 14 that transfers the item W placed on the placement section 13 between the transfer target location T. Fig. 3 shows the transport vehicle 1 transferring the item W between the loading section 81 as the transfer target location T. As shown in Fig. 3, the transport vehicle 1 is configured to deliver the item W placed on the placement section 13 to the loading section 81 (transfer target location T) by the transfer section 14. Note that when the transport vehicle 1 transfers the item W between the unloading section 82 as the transfer target location T, the above is reversed. That is, the transport vehicle 1 is configured to receive the item W placed in the unloading section 82 (transfer target location T) by the transfer section 14.

[0021] 4, in this embodiment, the transfer unit 14 includes a first transfer mechanism 141 that moves the article W on the placement unit 13, and a second transfer mechanism 142 that moves the article W in a direction different from that of the first transfer mechanism 141. All or some of the multiple transport vehicles 1 included in the article conveying equipment 100 are equipped with a transfer unit 14 that includes such a first transfer mechanism 141 and second transfer mechanism 142.

[0022] In this embodiment, the first transfer mechanism 141 is configured to move the article W along the vehicle body front-rear direction X. In the illustrated example, the first transfer mechanism 141 is configured using a roller conveyor. Each of the multiple rollers constituting the roller conveyor is arranged side by side in the vehicle body front-rear direction X, extending in the vehicle body width direction Y.

[0023] In this embodiment, the second transfer mechanism 142 is configured to move the article W along the vehicle body width direction Y. That is, in this example, the first transfer mechanism 141 and the second transfer mechanism 142 are configured to move the article W along directions perpendicular to each other when viewed in the up-down direction.

[0024] In this embodiment, the second transfer mechanism 142 is configured using a conveyor having a plurality of chains or belts. Each of the plurality of chains or belts (three belts in the illustrated example) is disposed between each of the rollers constituting the first transfer mechanism 141.

[0025] The second transfer mechanism 142 is configured to move up and down between a storage position located below the first transfer mechanism 141 and a protruding position located above the first transfer mechanism 141. The second transfer mechanism 142 is stored inside the transport vehicle 1 when in the storage position. In this state, the item W is supported by the first transfer mechanism 141 and can be transferred by the first transfer mechanism 141 (see FIG. 4(a)). In addition, the second transfer mechanism 142 protrudes above the first transfer mechanism 141 when in the protruding position. In this state, the item W is supported by the second transfer mechanism 142 and can be transferred by the second transfer mechanism 142 (see FIG. 4(b)).

[0026] 5, the transport vehicle 1 includes a vehicle body 10 and a plurality of wheels 11 supported by the vehicle body 10. At least one of the plurality of wheels 11 is driven by a driving source such as a motor. This provides the transport vehicle 1 with a propulsive force.

[0027] In this embodiment, the transport vehicle 1 includes a swivel mechanism 12 that rotates each wheel 11 around a vertical axis. Each of the wheels 11 is supported by the vehicle body 10 via the swivel mechanism 12. The swivel mechanism 12 orients the rotation axis of the wheel 11 in the vehicle body width direction Y, so that the transport vehicle 1 assumes a first running posture that allows the transport vehicle 1 to run in the vehicle body front-rear direction X (see FIG. 5(a)). The swivel mechanism 12 orients the rotation axis of the wheel 11 in the vehicle body front-rear direction X, so that the transport vehicle 1 assumes a second running posture that allows the transport vehicle 1 to run in the vehicle body width direction Y (see FIG. 5(b)). The transport vehicle 1 can basically run vertically and horizontally on the running surface by changing direction in the first running posture.

[0028] As shown in Fig. 6, the transport vehicle 1 is equipped with a perimeter detection sensor 30. The control unit C (see Fig. 2) of the transport vehicle 1 is configured to stop or decelerate the transport vehicle when the perimeter detection sensor 30 detects an obstacle around the transport vehicle while the transport vehicle is traveling. Examples of obstacles detected by the perimeter detection sensor 30 include other transport vehicles 1. This makes it possible to avoid collisions between transport vehicles 1 traveling unmanned. Examples of the perimeter detection sensor 30 include optical sensors, ultrasonic sensors, LiDER (Light Detection And Ranging), sonar sensors, millimeter wave radars, etc.

[0029] In this embodiment, the perimeter detection sensor 30 is configured to detect obstacles in a front range R1, a rear range R2, a left range R3, and a right range R4 of the host vehicle, which are detection ranges R. In this example, the perimeter detection sensor 30 includes a front sensor 31 that detects the front range R1 of the host vehicle, a rear sensor 32 that detects the rear range R2 of the host vehicle, a left sensor 33 that detects the left range R3 of the host vehicle, and a right sensor 34 that detects the right range R4 of the host vehicle. That is, in this example, the transport vehicle 1 is equipped with at least four perimeter detection sensors 30.

[0030] As shown in FIG. 7, the multiple transport vehicles 1 are configured to be able to combine with each other. In a combined state in which the multiple transport vehicles 1 are combined so as to be adjacent to each other, the multiple transfer units 14 cooperate to form a transport path P along which the article W is transported (see FIG. 8). In the article transport facility 100 according to the present disclosure, each transport vehicle 1 is configured to transport the article W to each location by itself when traveling alone. That is, a transport form in which a specific article W is transported to a specific location can be realized. The multiple transport vehicles 1 are configured to transport the article W along a continuous transport path P by combining with each other. That is, a transport form in which a multiple number of articles W are continuously transported to the same location can be realized. The transport path P formed by the multiple transport vehicles 1 in a combined state can include a straight path, a branch path, a merging path, and the like. In the example shown in FIG. 8, the transport path P includes a straight path and a merging path.

[0031] As shown in Fig. 6 and Fig. 7, in this embodiment, the transport vehicle 1 further includes a coupling part 20 for coupling with another transport vehicle 1. The coupling part 20 is provided on the vehicle body 10 and is arranged so as to protrude from the vehicle body 10 when viewed in the up-down direction. The transport vehicle 1 and the other transport vehicle 1, that is, the combination target vehicle 1, are configured to be in a combined state by being coupled to each other by the coupling part 20 (see Fig. 7).

[0032] In this embodiment, the transport vehicle 1 has, as connecting parts 20, a front connecting part 21 provided at the front of the vehicle, a rear connecting part 22 provided at the rear of the vehicle, a left connecting part 23 provided at the left part of the vehicle, and a right connecting part 24 provided at the right part of the vehicle.

[0033] The front connecting part 21 of the own vehicle is configured to connect to the rear connecting part 22 of the target vehicle 1, and the rear connecting part 22 of the own vehicle is configured to connect to the front connecting part 21 of the target vehicle 1. In this embodiment, the front connecting part 21 and the rear connecting part 22 have shapes corresponding to each other and are configured to engage with each other. In this example, the front connecting part 21 has a tapered insertion part. The rear connecting part 22 has a hole part into which the insertion part of the front connecting part 21 is inserted. The insertion part of the front connecting part 21 is inserted into the hole part of the rear connecting part 22, whereby the front connecting part 21 and the rear connecting part 22 are connected to each other.

[0034] The left connecting part 23 of the own vehicle is configured to connect with the right connecting part 24 of the vehicle to be combined 1, and the right connecting part 24 of the own vehicle is configured to connect with the left connecting part 23 of the vehicle to be combined 1. In this embodiment, the left connecting part 23 and the right connecting part 24 have corresponding shapes and are configured to engage with each other. In this example, the left connecting part 23 has a tapered insertion part. The right connecting part 24 has a hole part into which the insertion part of the left connecting part 23 is inserted. The insertion part of the left connecting part 23 is inserted into the hole part of the right connecting part 24, whereby the left connecting part 23 and the right connecting part 24 are connected to each other.

[0035] In this way, each transport vehicle 1 can combine with other transport vehicles 1, and by combining, a continuous transport path P can be formed. However, as described above, each transport vehicle 1 is equipped with a perimeter detection sensor 30 as a collision prevention means, and if an obstacle is present within the detection range R of the perimeter detection sensor 30, the transport vehicle 1 stops or decelerates. Therefore, the vehicle 1 to be combined with the transport vehicle 1 is detected as an obstacle by the perimeter detection sensor 30 before the combination. In this case, the collision prevention means using the perimeter detection sensor 30 prevents the transport vehicles 1 from combining with each other.

[0036] Therefore, as shown in FIG. 7 and FIG. 8, in the article conveying facility 100 according to the present disclosure, the control unit C (see FIG. 2) of the conveying vehicle 1 is configured to at least partially disable the periphery detection sensor 30 so as not to detect the combination target vehicle 1 when the vehicle itself performs a combination operation with another conveying vehicle 1 that is a combination target, that is, the other conveying vehicle 1 to be combined. This makes it possible for the partially disabled periphery detection sensor 30 not to detect the combination target vehicle 1 as an obstacle. Therefore, the conveying vehicle 1 and the combination target vehicle 1 can be appropriately combined. Note that the partial disablement of the periphery detection sensor 30 is not only performed when multiple conveying vehicles 1 perform a combination operation, but is also performed, for example, when the conveying vehicle 1 transfers an article W between the transfer target location T, as shown in FIG. 3.

[0037] In this embodiment, the transport vehicle 1 and the target vehicle 1 for combination are configured to perform a combination operation by approaching each other or one approaching the other. When the transport vehicle 1 and the target vehicle 1 for combination approach each other relatively, their coupling parts 20 are coupled, and the transport vehicle 1 and the target vehicle 1 for combination enter a combined state.

[0038] In this embodiment, the transport vehicle 1 and the combination target vehicle 1 are configured to be able to combine in the vehicle body longitudinal direction X. For example, the front connecting portion 21 of the transport vehicle 1 and the rear connecting portion 22 of the combination target vehicle 1 are connected to each other, so that the transport vehicle 1 and the combination target vehicle 1 combine in the vehicle body longitudinal direction X (see FIG. 7). At this time, the front sensor 31 of the transport vehicle 1 is disabled, and the rear sensor 32 of the combination target vehicle 1 is disabled. In addition, when the transport vehicle 1 and the combination target vehicle 1 perform a combining operation to combine in the vehicle body longitudinal direction X, the running posture of at least one of the transport vehicle 1 and the combination target vehicle 1 (the one approaching the other) becomes the first running posture (see FIG. 5(a)). This allows the transport vehicle 1 and the combination target vehicle 1 to approach each other relatively along the vehicle body longitudinal direction X, and the two can be appropriately combined in the vehicle body longitudinal direction X.

[0039] In this embodiment, the transport vehicle 1 and the combination target vehicle 1 are configured to be able to combine in the vehicle body width direction Y. For example, the left connecting portion 23 of the transport vehicle 1 and the right connecting portion 24 of the combination target vehicle 1 are connected to each other, so that the transport vehicle 1 and the combination target vehicle 1 combine in the vehicle body width direction Y. At this time, the left sensor 33 of the transport vehicle 1 is disabled, and the right sensor 34 of the combination target vehicle 1 is disabled. In addition, when the transport vehicle 1 and the combination target vehicle 1 perform a combining operation to combine in the vehicle body width direction Y, the running posture of at least one of the transport vehicle 1 and the combination target vehicle 1 (the one approaching the other) becomes the second running posture (see FIG. 5(b)). This allows the transport vehicle 1 and the combination target vehicle 1 to approach each other relatively along the vehicle body width direction Y, so that the two can be appropriately combined in the vehicle body width direction Y.

[0040] In this embodiment, the multiple transport vehicles 1 are configured to be able to travel on a travel surface in a combined state. The multiple transport vehicles 1 in the combined state are configured to be able to travel while maintaining the combined state in cooperation with each other by a command from a higher-level control device H or by communication between the control units C mounted on each transport vehicle 1. For example, the multiple transport vehicles 1 in the combined state are configured to move between different transfer target locations T while maintaining the combined state.

[0041] In this embodiment, the control unit C of the transport vehicle 1 sets the upper limit travel speed when the vehicle performs a combining operation lower than the upper limit travel speed when the vehicle travels alone. This makes it possible to prevent the transport vehicles 1 to be combined from coming into contact with each other forcefully when performing a combining operation. Although detailed illustration is omitted, when performing a combining operation, the multiple transport vehicles 1 may cooperate with each other by projecting and receiving optical signals. Alternatively, instead of projecting and receiving optical signals, the transport vehicles 1 may cooperate with each other by performing short-range wireless communication. Alternatively, the transport vehicles 1 may cooperate based on the position information of each transport vehicle 1 that the upper control device H knows.

[0042] 6 and 7, in this embodiment, the transport vehicle 1 is provided with a contact sensor 40 that detects that an object has come into contact with the transport vehicle itself, in addition to the periphery detection sensor 30. As a result, even if the periphery detection sensor 30 is disabled, the contact sensor 40 can detect an object that has come into contact with the vehicle body 10. For example, when the transport vehicles 1 are not properly coupled to each other and the vehicle bodies 10 come into contact with each other, it is possible to stop the transport vehicles 1 from each other.

[0043] In this embodiment, the contact detection range of the contact sensor 40 is set to the entire outer periphery of the body 10 of the transport vehicle 1. In other words, the detection unit of the contact sensor 40 is provided around the entire outer periphery of the body 10 of the transport vehicle 1. For example, the contact sensor 40 is configured using a bumper sensor.

[0044] As shown in FIG. 7, when multiple transport vehicles 1 are combined, a gap is formed between the contact sensors 40 of adjacent transport vehicles 1. That is, when multiple transport vehicles 1 are combined, a gap is formed between adjacent transport vehicles 1. This prevents the vehicle bodies 10 or contact sensors 40 of adjacent transport vehicles 1 in the combined state from coming into contact with each other. Therefore, according to the above configuration, when multiple transport vehicles 1 are combined, it is possible to avoid erroneous detection of the transport vehicles 1 by the contact sensors 40.

[0045] 8 shows one form of combination of multiple transport vehicles 1. In the illustrated example, multiple transport vehicles 1 (five transport vehicles 1) are combined in the vehicle body front-rear direction X, and in a part of this transport vehicle train, multiple transport vehicles 1 (three transport vehicles 1) are combined in the vehicle body width direction Y.

[0046] In this embodiment, the control unit C (see FIG. 2) of the transport vehicle 1 is configured to disable detection of at least the detection range R on the side where the merging target vehicle 1 is present among the multiple detection ranges R when the transport vehicle 1 performs a merging operation with the merging target vehicle 1. In this example, the control unit C of the transport vehicle 1 is configured to enable detection of the detection range R on the side where the merging target vehicle 1 is not present among the multiple detection ranges R. Detection of the detection range R on the side where the merging target vehicle 1 is not present is enabled at least while the transport vehicle 1 is traveling.

[0047] 8, each of the multiple guided vehicles 1 combined in the vehicle body longitudinal direction X disables detection in a front range R1 or a rear range R2 where the vehicle 1 to be combined is located. Each of the multiple guided vehicles 1 combined in the vehicle body width direction Y disables detection in a left range R3 or a right range R4 where the vehicle 1 to be combined is located.

[0048] FIG. 9 shows an example of a transport form by multiple transport vehicles 1 in a combined state. As described above, multiple transport vehicles 1 are combined to form a continuous transport path P. This makes it possible to continuously transport multiple items W along the transport path P. In other words, multiple transport vehicles 1 are combined to form a transport path P connecting different transfer target locations T, so that multiple items W can be continuously transported between different transfer target locations T. In this way, according to the item transport equipment 100 of the present disclosure, a transport form in which multiple items W are continuously transported to the same location can be realized.

[0049] In the example shown in Fig. 9, multiple transport vehicles 1 are combined to form a transport route P connecting the receiving / shipping area 9 to the automated warehouse 8. This allows multiple items W to be transported continuously from the receiving / shipping area 9 to the automated warehouse 8.

[0050] A transport vehicle 1 that is not combined with another transport vehicle 1 can transport an item W by itself from a transfer target location T that is the source of the transport to another transfer target location T that is the destination of the transport based on a transport command. In this way, the item transport equipment 100 according to the present disclosure can realize a transport mode in which a specific item W is transported to a specific location.

[0051] Although detailed illustration is omitted, two or more combined transport vehicles 1 can move within the facility while maintaining the combined state. The movement while maintaining the combined state may be performed while holding an article W. This makes it possible to properly transport a large article W that is difficult to transport by one vehicle by two or more combined transport vehicles 1.

[0052] Other embodiments Next, other embodiments will be described.

[0053] (1) In the above embodiment, an example has been described in which the combined state of the multiple transport vehicles 1 is realized by connecting the connecting parts 20 of each transport vehicle 1. However, the present invention is not limited to such an example, and the multiple transport vehicles 1 may not be physically connected, and may be combined by approaching each other. In this case, in the combined state of the multiple transport vehicles 1, each of the multiple transport vehicles 1 may be configured to run in synchronization with each other while maintaining the combined state. The control units C provided in each transport vehicle 1 communicate with each other, so that the transport vehicles 1 cooperate with each other and run in synchronization. Note that some of the multiple transport vehicles 1 in the combined state may be combined using the connecting parts 20, and the other parts may be combined by being synchronized in terms of control.

[0054] (2) In the above embodiment, an example has been described in which the connecting portion 20 of the transport vehicle 1 and the connecting portion 20 of the target vehicle 1 to be combined have corresponding shapes and are configured to engage with each other. However, the present invention is not limited to such an example, and the connecting portion 20 may be configured using, for example, an electromagnet. In this case, the connecting portion 20 of the transport vehicle 1 and the connecting portion 20 of the target vehicle 1 to be combined are configured to adhere to each other in an electrically conductive state.

[0055] (3) In the above embodiment, an example has been described in which the transport vehicle 1 is equipped with at least four perimeter detection sensors 30. However, the present invention is not limited to this example, and the number of perimeter detection sensors 30 equipped in the transport vehicle 1 may be three or less. The wider the detection range R that the perimeter detection sensors 30 can detect, the fewer the number of perimeter detection sensors 30 mounted on the transport vehicle 1. For example, a total of two perimeter detection sensors 30 may be mounted at diagonal positions (front right and rear left, or front left and rear right) of the transport vehicle 1 when viewed in the up-down direction.

[0056] (4) In the above embodiment, an example has been described in which the transport vehicle 1 is provided with the contact sensor 40 that detects that a contacting object has come into contact with the transport vehicle 1, in addition to the periphery detection sensor 30. However, the contact sensor 40 is not a required component. The transport vehicle 1 does not necessarily have to be provided with the contact sensor 40.

[0057] (5) In the above embodiment, an example has been described in which the first transfer mechanism 141 of the transport vehicle 1 is configured using a roller conveyor. However, without being limited to such an example, the first transfer mechanism 141 may be configured using other conveyors such as a belt conveyor or a chain conveyor, or may be configured using a mechanism such as a fork.

[0058] (6) In the above embodiment, an example has been described in which the transfer unit 14 of the transport vehicle 1 is provided with the second transfer mechanism 142 that moves the article W in a direction different from that of the first transfer mechanism 141. However, without being limited to such an example, the transfer unit 14 does not have to be provided with the second transfer mechanism 142. For example, the transfer unit 14 may be configured to be able to change the transfer direction of the article W by the first transfer mechanism 141 by including a rotating unit that rotates the first transfer mechanism 141 about a vertical axis.

[0059] (7) In the above embodiment, an example has been described in which the control unit C of the transport vehicle 1 is configured to at least partially disable the perimeter detection sensor 30 so as not to detect the merging target vehicle 1 when the transport vehicle 1 performs a merging operation with another transport vehicle 1 that is a merging target. This "partially disabling" includes disabling the detection of any of the multiple perimeter detection sensors 30, as well as partially disabling the detection range R of the perimeter detection sensor 30 itself. That is, in this case, each perimeter detection sensor 30 is configured to expand and reduce the detection range R.

[0060] (8) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradiction occurs. As for other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0061] [Summary of this embodiment] The following is a summary of this embodiment.

[0062] An article transport facility including a plurality of transport vehicles that travel on a traveling surface without a track to transport articles, The transport vehicle is A placement section for placing the article; A transfer unit that transfers the object placed on the placement unit between a transfer target location and the object placed on the placement unit; A perimeter detection sensor; A control unit that controls the vehicle; Equipped with the control unit is configured to stop or decelerate the host vehicle when an obstacle is detected in the vicinity of the host vehicle by the vicinity detection sensor while the host vehicle is traveling; In a combined state in which the plurality of transport vehicles are combined so as to be adjacent to each other, a transport path is formed along which the plurality of transfer units cooperate to transport the articles, When the host vehicle performs a combining operation with a target vehicle that is a target for combining with the other transport vehicle, the control unit at least partially disables the periphery detection sensor so as not to detect the target vehicle for combining.

[0063] According to this configuration, each transport vehicle can transport items to various locations by itself, and multiple transport vehicles can be combined to transport items along a continuous transport path. That is, a transport form in which a specific item is transported to a specific location and a transport form in which multiple items are transported continuously to the same location can be realized using the transport vehicles. Then, such multiple types of transport forms can be flexibly changed according to the operation of the facility. Also, according to this configuration, when each transport vehicle runs alone, contact between the transport vehicles can be avoided by the perimeter detection sensor. When each transport vehicle performs a combining operation, the perimeter detection sensor is partially disabled, so that the combining operation can be performed appropriately. As described above, according to this configuration, multiple transport forms can be realized while limiting the types of transport devices.

[0064] It is preferable that the control unit sets an upper limit traveling speed when the host vehicle performs the combination operation to be lower than an upper limit traveling speed when the host vehicle travels alone.

[0065] According to this configuration, when a combining operation is performed, it is possible to prevent the guided vehicles to be combined from coming into contact with each other forcefully.

[0066] the transport vehicle includes a contact sensor that detects that a contact object has come into contact with the transport vehicle, in addition to the periphery detection sensor; It is preferable that, in the combined state of the plurality of transport vehicles, a gap is formed between the contact sensors of the transport vehicles adjacent to each other.

[0067] According to this configuration, even if the perimeter detection sensor is disabled, the contact sensor can detect an object contacting the vehicle body. For example, when the transport vehicles are not properly coupled and the vehicle bodies come into contact with each other, it is possible to stop the transport vehicles. In addition, when multiple transport vehicles are combined, a gap is formed between adjacent transport vehicles, so that the transport vehicles can be prevented from being erroneously detected by the contact sensor.

[0068] It is preferable that, in the combined state of the plurality of transport vehicles, each of the plurality of transport vehicles is configured to travel in synchronization with one another while maintaining the combined state.

[0069] According to this configuration, the multiple transport vehicles can be controlled to travel in a synchronous manner, which eliminates the need for connecting parts for physically connecting the multiple transport vehicles to each other.

[0070] The transport vehicle further includes a coupling portion for coupling with another transport vehicle, The transport vehicle and the combination target vehicle are configured to be in the combined state by being connected to each other by the connecting portion, the transport vehicle includes, as the coupling parts, a front coupling part provided at a front part of the vehicle, a rear coupling part provided at a rear part of the vehicle, a left coupling part provided at a left part of the vehicle, and a right coupling part provided at a right part of the vehicle; the front coupling portion of the host vehicle is coupled to the rear coupling portion of the target vehicle; The rear coupling portion of the host vehicle is coupled to the front coupling portion of the target vehicle, The left side coupling portion of the host vehicle is coupled to the right side coupling portion of the target vehicle, It is preferable that the right side coupling portion of the host vehicle is coupled to the left side coupling portion of the target vehicle.

[0071] According to this configuration, each transport vehicle can be connected to other transport vehicles in the front-rear and left-right directions, so that the shape of the transport path formed by the transfer units of the multiple transport vehicles can be easily and flexibly set.

[0072] the periphery detection sensor is configured to detect an obstacle within a front range, a rear range, a left range, and a right range of the host vehicle as detection ranges, It is preferable that, when the host vehicle performs the combining operation with the target vehicle, the control unit disables detection of at least the detection range on the side where the target vehicle is present, among the multiple detection ranges.

[0073] According to this configuration, the perimeter detection sensors can effectively detect obstacles within a range that does not affect the combining operation while preventing the perimeter detection sensors from interfering with the combining operation of multiple transport vehicles. [Industrial Applicability]

[0074] The technology disclosed herein can be used in an article transport facility that includes a plurality of transport vehicles that travel without tracks on a traveling surface to transport articles. [Explanation of symbols]

[0075] 100: Goods transport equipment 1: Transport vehicle 13: Placement section 14: Transfer section 20:Connection part 21: Front connection part 22: Rear connection part 23:Left side connection part 24: Right side connection part 30: Periphery detection sensor 40: Contact sensor R: Detection range R1: Front range R2: Rear range R3: Left range R4: Right range C: Control section P: Transport route T: Transfer location W:Goods

Claims

1. An article transport facility including a plurality of transport vehicles that travel on a traveling surface without a track to transport articles, The transport vehicle is A placement section for placing the article; A transfer unit that transfers the object placed on the placement unit between a transfer target location and the object placed on the placement unit; A perimeter detection sensor; A control unit that controls the vehicle; Equipped with the control unit is configured to stop or decelerate the host vehicle when an obstacle is detected in the vicinity of the host vehicle by the vicinity detection sensor while the host vehicle is traveling; In a combined state in which the plurality of transport vehicles are combined so as to be adjacent to each other, a transport path is formed along which the plurality of transfer units cooperate to transport the articles, The control unit, when performing a combining operation with another transport vehicle that is a combining target vehicle, at least partially disables the surrounding detection sensor so as not to detect the combining target vehicle, in an item transporting facility.

2. The article transport facility according to claim 1 , wherein the control unit sets an upper limit travel speed when the host vehicle performs the combining operation lower than an upper limit travel speed when the host vehicle travels alone.

3. the transport vehicle includes a contact sensor that detects that a contact object has come into contact with the transport vehicle, in addition to the periphery detection sensor; The article transport facility according to claim 1 , wherein, when the plurality of transport vehicles are in the combined state, a gap is formed between the contact sensors of the transport vehicles adjacent to each other.

4. The article transport facility according to claim 1 , wherein, in the combined state of the plurality of transport vehicles, each of the plurality of transport vehicles is configured to run in synchronization with one another while maintaining the combined state.

5. The transport vehicle further includes a coupling portion for coupling with another transport vehicle, The transport vehicle and the combination target vehicle are configured to be in the combined state by being connected to each other by the connecting portion, the transport vehicle includes, as the coupling parts, a front coupling part provided at a front part of the vehicle, a rear coupling part provided at a rear part of the vehicle, a left coupling part provided at a left part of the vehicle, and a right coupling part provided at a right part of the vehicle; the front coupling portion of the host vehicle is coupled to the rear coupling portion of the target vehicle; The rear coupling portion of the host vehicle is coupled to the front coupling portion of the target vehicle, The left side coupling portion of the host vehicle is coupled to the right side coupling portion of the target vehicle, The article transport facility according to claim 1 , wherein the right coupling portion of the host vehicle is coupled to the left coupling portion of the target vehicle.

6. the periphery detection sensor is configured to detect an obstacle within a front range, a rear range, a left range, and a right range of the host vehicle as detection ranges, The item transport equipment described in any one of claims 1 to 5, wherein the control unit disables detection of at least one of the detection ranges on the side where the target vehicle is located when the vehicle itself performs the combining operation with the target vehicle.

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