Article transport facility

Abstract

To realize an article transport facility which can change its transport form flexibly.SOLUTION: In a combined state in which multiple transport vehicles 1 are combined so as to be adjacent to each other, multiple transport vehicles form a transport route P in which multiple transfer sections cooperate to transport articles W. The combined transport vehicle group G1 enters a connected state in which articles W are deliverable to and from a connection target location C, by at least one transport vehicle 1 of the combined transport vehicle group G1 being disposed at an adjacent position Ca adjacent to the connection target location C. A control system is configured to move the combined transport vehicle group G1 between an adjacent position Ca adjacent to a first connection target location and an adjacent position Ca adjacent to a second connection target location while maintaining the transport vehicles 1 in the combined state.SELECTED DRAWING: Figure 11

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 the case of a transport method in which items are transported using a transport vehicle as described in Patent Document 1, there are limits to the size and number of items that a single transport vehicle can transport, and it is also difficult to adopt a transport method that transports multiple items continuously, such as a conveyor.

[0006] In view of the above circumstances, it is desirable to realize an article transport facility that is capable of flexibly changing the transport mode. [Means for solving the problem]

[0007] A plurality of transport vehicles that travel on a traveling surface without a track to transport articles; A plurality of connection target points to which the transport vehicle is to be connected; A control system for controlling the plurality of transport vehicles, The transport vehicle is A placement section for placing the article; A transfer section that transfers the article placed on the placement section; Equipped with 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 plurality of transport vehicles in the combined state are defined as a combined transport vehicle group, At least one of the transport vehicles of the combined transport vehicle group is disposed at an adjacent position adjacent to the connection target location, so that the combined transport vehicle group is in a connected state in which the article can be delivered to and from the connection target location, The plurality of connection target locations include a first connection target location and a second connection target location that is disposed at a position different from the first connection target location, The control system is configured to move the combined transport vehicle group between the adjacent position to the first connection target location and the adjacent position to the second connection target location while maintaining the multiple transport vehicles in a combined state.

[0008] According to this configuration, each transport vehicle can transport an item to each location 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 continuously transported to the same location can be realized using the transport vehicles. Furthermore, the combined transport vehicle group can use the placement units of the multiple transport vehicles that make up the combined transport vehicle group to place items of a size or number that cannot be transported by a single transport vehicle. Then, the combined transport vehicle group can move between multiple connection target locations while maintaining the combined state. Therefore, it is possible to transport items of a size or number that cannot be transported by a single transport vehicle between multiple connection target locations. As described above, according to this configuration, it is possible to flexibly change the transport form of the items.

[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 a combined transport vehicle group. [Figure 9] A diagram showing how a group of combined transport vehicles connect to the connection points. [Figure 10] FIG. 13 is a diagram showing an example of a transportation mode using a plurality of combined transportation vehicles; [Figure 11] FIG. 13 is a diagram showing an example of a transportation mode using a plurality of combined transportation vehicles; [Figure 12] FIG. 13 is a diagram showing an example of a transportation mode using a plurality of combined transportation vehicles; [Figure 13] A diagram showing how the combined transport vehicle group receives power from the power supply unit. [Figure 14] 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] In this specification, "transferring an article" means delivering an article to a transfer target location. "Conveying an article" means moving an article toward a destination, in other words, transporting an article.

[0013] As shown in Fig. 1, the article conveying equipment 100 includes a plurality of conveying vehicles 1 that travel without a track on a traveling surface to convey articles W, a plurality of connection target locations C to which the conveying vehicles 1 are connected, and a host control device H (see Fig. 2) that controls the plurality of conveying vehicles 1. In this embodiment, the article conveying equipment 100 is provided with a power supply unit 7 that supplies power to the conveying vehicles 1 with their positions fixed relative to the traveling surface. In the illustrated example, the article conveying equipment 100 is provided with a plurality of power supply units 7.

[0014] The traveling surface is, for example, the floor surface of the article conveying facility 100. "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. In addition, 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] In this embodiment, the transfer target location T includes an entrance section 81 and an exit section 82. When transferring an item W between the entrance section 81 and the transfer vehicle 1, the transfer vehicle 1 connects to the entrance section 81 (see also FIG. 3). Similarly, when transferring an item W between the transfer vehicle 1 and the exit section 82, the transfer vehicle 1 connects to the exit section 82. In this manner, the entrance section 81 and the exit section 82 are considered to be connection target locations C to which the transfer vehicle 1 is to be connected. That is, in this embodiment, the entrance section 81 and the exit section 82 are both transfer target locations T and connection target locations C.

[0019] The connection target location C includes a conveyor Cb (see also FIG. 3). In this embodiment, the loading section 81 and the unloading section 82 as the connection target location C are configured using the conveyor Cb. Examples of such a conveyor Cb include a roller conveyor, a belt conveyor, and a chain conveyor.

[0020] As shown in FIG. 2, in this embodiment, the article conveying facility 100 includes a host controller H that controls a plurality of conveying vehicles 1. The host controller H is configured to be able to communicate with a plurality of 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 of the conveying vehicles 1. The conveying vehicles 1 that receive the conveying command are configured to convey the article W based on the conveying command. In this specification, the host controller H corresponds to a "control system." However, it is sufficient that the host controller H constitutes at least a part of the control system. For example, the "control system" may be constituted by using, in addition to the host controller H, a control device other than the host controller H, a control unit H1 (described later) provided in the conveying vehicle 1, and the like. Also, the host controller H may not be provided, and a control system may be constituted by a plurality of control units H1 that are connected to each other for communication and work together.

[0021] The transport vehicle 1 includes a control unit H1 that controls the transport vehicle 1. The control unit H1 is configured to control each functional unit of 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 H1 is configured to control the transport vehicle 1 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.

[0022] The upper control device H and the control unit H1 include, for example, a processor such as a microcomputer, peripheral circuits such as a memory, etc. Each function is realized by cooperation between this hardware and a program executed on the processor of a computer or the like.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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)).

[0029] 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.

[0030] 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.

[0031] As shown in FIG. 6, the transport vehicle 1 is equipped with a perimeter detection sensor 30. The control unit H1 (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.

[0032] 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.

[0033] 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 with each other to form a transport path P along which the items W are transported (see FIG. 8). In the item transport facility 100 according to the present disclosure, each transport vehicle 1 is configured to transport items W to various locations by itself when traveling alone. That is, a transport form in which a specific item W is transported to a specific location can be realized. The multiple transport vehicles 1 are configured to transport items W along a continuous transport path P by combining with each other. That is, a transport form in which a multiple number of items W are transported continuously to the same location can be realized. In this specification, the multiple transport vehicles 1 in the combined state are defined as a combined transport vehicle group G1.

[0034] 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).

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] Therefore, as shown in Fig. 7, in this embodiment, the control unit H1 (see Fig. 2) of the transport vehicle 1 is configured to at least partially disable the periphery detection sensor 30 so as not to detect the merging target vehicle 1 when the transport vehicle 1 itself performs a merging operation with another transport vehicle 1 that is a merging target. This makes it possible for the partially disabled periphery detection sensor 30 not to detect the merging target vehicle 1 as an obstacle. Therefore, the transport vehicle 1 and the merging target vehicle 1 can be appropriately merging with each other.

[0040] In this embodiment, the control unit H1 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 front of the transport vehicle 1. In the example shown in FIG. 7, the control unit H1 of the transport vehicle 1 disables detection of the periphery detection sensor 30 in the front range R1 (see FIG. 6) when performing a merging operation with the merging target vehicle 1 in front of the transport vehicle 1. Then, the merging target vehicle 1 disables detection of the periphery detection sensor 30 in the rear range R2 (see FIG. 6).

[0041] In addition, partial disabling of the peripheral detection sensor 30 is performed not only when multiple transport vehicles 1 perform a combining operation, but also when the transport vehicle 1 transfers an item W between the transport vehicle 1 and a transfer target location T, as shown in Figure 3, for example.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] When multiple transport vehicles 1 perform a combined operation, they may cooperate with each other by emitting and receiving optical signals. Alternatively, they may cooperate with each other by short-distance wireless communication instead of emitting and receiving optical signals. Alternatively, they may cooperate with each other based on the position information of each transport vehicle 1 that the upper control device H knows.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] In this embodiment, each of the multiple transport vehicles 1 includes a power transmission unit 52 that transmits power to the other transport vehicles 1 when combined with the other transport vehicles 1. In this example, the power lines of the power transmission unit 52 are provided in the coupling unit 20. When the transport vehicles 1 to be combined are coupled to each other via the coupling units 20, the terminals of the power transmission units 52 of the transport vehicles 1 are connected to each other. As a result, the transport vehicles 1 to be combined are electrically connected to each other via their respective power transmission units 52.

[0050] As described above, the article transport facility 100 is provided with a power supply unit 7 that supplies power to the transport vehicle 1 (see FIG. 1). As shown in FIG. 6, the transport vehicle 1 is provided with a power receiving unit 51 for receiving power from the power supply unit 7. In this example, the power receiving unit 51 is configured using a power receiving pad, and the transport vehicle 1 is configured to receive power in a non-contact manner from the power supply unit 7 that is equipped with a power transmission pad. The power receiving unit 51 is provided on the vehicle body 10 of the transport vehicle 1. In the illustrated example, the power receiving unit 51 is provided on each of both sides of the vehicle body 10 in the vehicle body width direction Y. However, the power receiving unit 51 may be provided on only one side of the vehicle body 10 in the vehicle body width direction Y.

[0051] FIG. 8 shows one form of the combined transport vehicle group G1. As described above, the combined transport vehicle group G1 forms a transport path P for the article W. In this embodiment, the upper control device H (see FIG. 2) is configured to selectively form the combined transport vehicle group G1 into a serial form in which the transport path P is one path, a branch form in which a branching portion Pa is provided at at least one location on the transport path P where one path branches into two or more paths, and a merging form in which a merging portion Pb is provided at at least one location on the transport path P where two or more paths merge into one path. The upper control device H is configured to control the combined transport vehicle group G1 to form each of the serial form, the branching form, and the merging form alone, or to form a combination of these forms. In the example shown in FIG. 8, the transport path P formed by the combined transport vehicle group G1 is a form that includes all of the serial form, the branching form, and the merging form. In addition to being linear, the serial form may be curved in an L shape or may be gently curved in a U shape. The in-line configuration may also be a ring with no end portions.

[0052] As shown in FIG. 9, at least one transport vehicle 1 of the combined transport vehicle group G1 is disposed at an adjacent position Ca adjacent to the connection target location C, so that the combined transport vehicle group G1 is in a connected state in which an item W can be handed over to and from the connection target location C. In this example, at least one transport vehicle 1 at one end of the combined transport vehicle group G1 (in other words, the transport vehicle 1 constituting at least one end of the transport path P) is disposed at the adjacent position Ca. Also, in this example, in the connected state of the combined transport vehicle group G1, a gap is formed between the transport vehicle 1 disposed at the adjacent position Ca and the connection target location C. In other words, the transport vehicle 1 disposed at the adjacent position Ca and the connection target location C are not physically connected. This allows the combined transport vehicle group G1 to smoothly connect to and disconnect from the connection target location C.

[0053] In FIG. 9, the storage section 81 is exemplified as the connection target location C. As described above, the connection target location C includes the conveyor Cb. In this embodiment, when the combined transport vehicle group G1 is in a connected state, the upper control device H moves the combined transport vehicle group G1 along the conveyor transport direction in which the conveyor Cb transports the article W, and moves it close to the adjacent position Ca, thereby disposing at least one transport vehicle 1 of the combined transport vehicle group G1 at the adjacent position Ca. In this example, the combined transport vehicle group G1 is moved to approach the adjacent position Ca as described above, thereby disposing the transport vehicle 1 at one end of the combined transport vehicle group G1 at the adjacent position Ca. This makes it easy to appropriately align the direction in which the article W is transported by the conveyor Cb at the connection target location C and the direction in which the article W is transported by each transport vehicle 1 constituting the combined transport vehicle group G1. For example, by starting to transport an item W on the combined transport vehicle group G1 before the combined transport vehicle group G1 is connected to the connection target location C, the item W can be handed over to the conveyor Cb at the connection target location C immediately after the combined transport vehicle group G1 is connected to the connection target location C. In this example, the combined transport vehicle group G1 moves along the conveyor transport direction at least within a range of a predetermined distance or less from the adjacent position Ca. Note that when the combined transport vehicle group G1 moves away from the adjacent position Ca, it may move along the conveyor transport direction, a direction perpendicular to the conveyor transport direction, or a direction oblique to the conveyor transport direction.

[0054] FIG. 10 shows an example of a transport form by multiple transport vehicles 1 in a combined state. As described above, multiple transport vehicles 1 combine to form a combined transport vehicle group G1 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 combine to form a transport path P connecting different transfer target locations T, making it possible to continuously transport multiple items W 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.

[0055] In the example shown in Fig. 10, multiple transport vehicles 1 are combined to form a transport route P connecting the loading / unloading area 9 to the automated warehouse 8. In other words, a combined transport vehicle group G1 is arranged to connect the loading / unloading area 9 to the automated warehouse 8. In this example, multiple transport vehicles 1 are lined up in a row to form a single transport route P and configure the combined transport vehicle group G1. This allows multiple items W to be transported continuously from the loading / unloading area 9 to the automated warehouse 8.

[0056] As shown in Fig. 11, the upper control device H is configured to move the combined transport vehicle group G1 between the multiple connection target locations C while maintaining the multiple transport vehicles 1 in a combined state. In the illustrated example, the upper control device H moves the combined transport vehicle group G1 from the receiving section 81 to the discharging section 82 of the automated warehouse 8 while maintaining the multiple transport vehicles 1 in a combined state. This allows the combined transport vehicle group G1 to continuously store multiple items W into the automated warehouse 8, and then continuously discharge multiple items W to be discharged from the automated warehouse 8.

[0057] Here, the combined transport vehicle group G1 can use the placement sections 13 (see FIG. 3) of each of the multiple transport vehicles 1 that make up the combined transport vehicle group G1 to place items W of a size or number that cannot be transported by a single transport vehicle 1. As described above, the combined transport vehicle group G1 can move between multiple connection target locations C while maintaining the combined state. Therefore, it becomes possible to transport items W of a size or number that cannot be transported by a single transport vehicle 1 between multiple connection target locations C. In addition, with the above-mentioned configuration, the combined transport vehicle group G1 can move between multiple different connection target locations C in a shorter time than if each transport vehicle 1 moves independently to the target connection target location C and then combines with each other to form the combined transport vehicle group G1.

[0058] In order to distinguish between two connection target points C arranged at different positions, one can be defined as a first connection target point and the other as a second connection target point. That is, the multiple connection target points C include a first connection target point and a second connection target point arranged at a position different from the first connection target point, and the upper control device H is configured to move the combined transport vehicle group G1 between an adjacent position Ca to the first connection target point and an adjacent position Ca to the second connection target point while maintaining the multiple transport vehicles 1 in a combined state.

[0059] 12, in this embodiment, the upper control device H is configured to selectively change the form of the transport route P for the combined transport vehicle group G1 connected to the connection target location C. For example, the upper control device H may add at least one of a serial form, a branch form, and a merging form to the transport form of the current transport route P for the combined transport vehicle group G1 connected to the connection target location C. Alternatively, the upper control device H may delete at least one of a serial form, a branch form, and a merging form from the transport form of the current transport route P.

[0060] In the example shown in FIG. 12, the upper control device H controls the combined transport vehicle group G1 to provide a branching section Pa to the transport route P, which is a serial form extending in a straight line from the delivery section 82 as the connection target location C, to add a branching form. The two transport routes P downstream of the branching section Pa are each connected to a different transfer target location T. This makes it possible to distribute the multiple items W transported from the delivery section 82 by the combined transport vehicle group G1 to multiple transfer target locations T, for example, when the number of items W to be delivered from the automated warehouse 8 is large. Although detailed illustration is omitted, the upper control device H may control the combined transport vehicle group G1 to provide a junction section Pb to add a junction form to the transport route P, which is a serial form extending in a straight line from the delivery section 82 as the connection target location C.

[0061] As described above, the article transport facility 100 is provided with a plurality of power supply units 7 that supply power to the transport vehicles 1. In this embodiment, at least one of the plurality of power supply units 7 is provided at a position adjacent to the connection target location C. This makes it possible to supply power to the combined transport vehicle group G1 or the single transport vehicle 1 while the combined transport vehicle group G1 or the single transport vehicle 1 connected to the connection target location C is stopped.

[0062] As shown in FIG. 13, in this embodiment, the power receiving transport vehicle 1, which is at least a part of the transport vehicles 1 in the combined transport vehicle group G1, is configured to receive power supply from the power supply unit 7. In this example, the power receiving transport vehicle 1 is a transport vehicle 1 that is arranged at an adjacent position Ca of the connection target location C among the multiple transport vehicles 1 that constitute the combined transport vehicle group G1. Then, the multiple transport vehicles 1 that constitute the combined transport vehicle group G1 are electrically connected to each other by the power transmission unit 52 (in other words, via the power transmission unit 52) ​​so that the remaining transport vehicles 1 in the combined transport vehicle group G1 receive power supply from the power receiving transport vehicle 1.

[0063] In this embodiment, the power receiving transport vehicle 1 is configured to receive power from the power supply unit 7 in a non-contact manner. As described above, the power line of the power transmission unit 52 is provided in the connection unit 20 that connects adjacent transport vehicles 1 to each other. Therefore, transport vehicles 1 other than the power receiving transport vehicle 1 are configured to transmit and receive power via the connection unit 20 with other adjacent transport vehicles 1. In this example, multiple transport vehicles 1 other than the power receiving transport vehicle 1 are configured to transmit and receive power to each other during the period when the power receiving transport vehicle 1 is receiving power from the power supply unit 7.

[0064] With this configuration, it is possible to charge multiple transport vehicles 1 that make up the combined transport vehicle group G1 at once. Furthermore, since the power supply unit 7 only needs to supply power to at least some of the transport vehicles 1 in the combined transport vehicle group G1, it is not necessary to directly supply power to all of the multiple transport vehicles 1 that make up the combined transport vehicle group G1. This allows the power supply unit 7 to be made smaller. Furthermore, by making the power supply unit 7 smaller, the freedom in arranging the power supply unit 7 is improved.

[0065] Other embodiments Next, other embodiments will be described.

[0066] (1) In the above embodiment, an example has been described in which a plurality of transport vehicles 1 are combined so as to be adjacent to each other to form a combined transport vehicle group G1, and the transfer units 14 of each transport vehicle 1 cooperate to form a transport path P along which an item W is transported. Such a combined transport vehicle group G1 may be formed by two or more transport vehicles 1. For example, as shown in FIG. 14, the combined transport vehicle group G1 may be formed by two transport vehicles 1. In this case, the transport path P is formed by the transfer units 14 of each of the two transport vehicles 1. Such a configuration is suitable for transporting items W of a size or number that cannot be transported by a single transport vehicle 1 to a specific location.

[0067] (2) In the above embodiment, an example has been described in which the coupling units 20 of the transport vehicles 1 are coupled to each other to form the combined transport vehicle group G1. However, the present invention is not limited to such an example, and the multiple transport vehicles 1 do not need to be physically coupled, and may be brought close to each other to form the combined transport vehicle group G1. In this case, when the multiple transport vehicles 1 are combined, 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 H1 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 that constitute the combined transport vehicle group G1 may be combined using the coupling units 20, and the other parts may be combined by being synchronized in terms of control.

[0068] (3) In the above embodiment, an example has been described in which, in the connected state of the combined transport vehicle group G1, a gap is formed between the transport vehicle 1 arranged at the adjacent position Ca and the connection target location C. However, the present invention is not limited to such an example, and the transport vehicle 1 arranged at the adjacent position Ca and the connection target location C may be physically connected so as not to have a gap.

[0069] (4) In the above embodiment, an example has been described in which a single transport route P is formed by lining up multiple transport vehicles 1 in a row and a combined transport vehicle group G1 is constituted. However, the present invention is not limited to this example, and a single transport route P may be formed and a combined transport vehicle group G1 may be constituted by lining up multiple transport vehicles 1 in two or more rows. In this case, the transport route P is a route that is wider than the route formed by a single row of multiple transport vehicles 1.

[0070] (5) In the above embodiment, the loading section 81 and the unloading section 82 are exemplified as the connection target location C. However, the present invention is not limited to such an example, and the connection target location C may be any location where the transport vehicle 1 is connected to transfer the item W. Other examples of the connection target location C include the boundary of a work area where various operations are performed, transport devices other than the transport vehicle 1, etc.

[0071] (6) In the above embodiment, an example has been described in which multiple transport vehicles 1 other than the power receiving transport vehicle 1 transmit and receive power to each other during a period in which the power receiving transport vehicle 1 is supplied with power from the power supply unit 7. However, the present invention is not limited to this example, and the power receiving transport vehicle 1 may receive a sufficient supply of power from the power supply unit 7, store the power, and after the entire combined transport vehicle group G1 leaves the power supply unit 7, the multiple transport vehicles 1 other than the power receiving transport vehicle 1 may receive power from the power receiving transport vehicle 1 and transmit and receive power to each other. In this case, it is preferable that the power receiving transport vehicle 1 is equipped with a large-capacity battery that can be charged quickly.

[0072] (7) In the above embodiment, an example has been described in which the power receiving unit 51 of the transport vehicle 1 is configured using a power receiving pad, and the transport vehicle 1 is configured to receive power supply from the power supply unit 7 having a power transmission pad in a non-contact manner. However, the transport vehicle 1 is not limited to this example, and may be configured to receive power supply from the power supply unit 7 in a state where it is connected to the power supply unit 7 via a power line.

[0073] (8) In the above embodiment, an example has been described in which the transport vehicles 1 constituting the combined transport vehicle group G1 are electrically connected to each other by the power transmission unit 52 that transmits power to the other transport vehicles 1 in a contact manner. However, the present invention is not limited to such an example, and the transport vehicles 1 constituting the combined transport vehicle group G1 may be configured to be electrically connected to each other by the power transmission unit 52 that transmits power to the other transport vehicles 1 in a non-contact manner.

[0074] (9) 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.

[0075] [Summary of this embodiment] The following is a summary of this embodiment.

[0076] A plurality of transport vehicles that travel on a traveling surface without a track to transport articles; A plurality of connection target points to which the transport vehicle is to be connected; A control system for controlling the plurality of transport vehicles, The transport vehicle is A placement section for placing the article; A transfer section that transfers the article placed on the placement section; Equipped with 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 plurality of transport vehicles in the combined state are defined as a combined transport vehicle group, At least one of the transport vehicles of the combined transport vehicle group is disposed at an adjacent position adjacent to the connection target location, so that the combined transport vehicle group is in a connected state in which the article can be delivered to and from the connection target location, The plurality of connection target locations include a first connection target location and a second connection target location that is disposed at a position different from the first connection target location, The control system is configured to move the combined transport vehicle group between the adjacent position to the first connection target location and the adjacent position to the second connection target location while maintaining the multiple transport vehicles in a combined state.

[0077] According to this configuration, each transport vehicle can transport an item to each location 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 continuously transported to the same location can be realized using the transport vehicles. Furthermore, the combined transport vehicle group can use the placement units of the multiple transport vehicles that make up the combined transport vehicle group to place items of a size or number that cannot be transported by a single transport vehicle. Then, the combined transport vehicle group can move between multiple connection target locations while maintaining the combined state. Therefore, it is possible to transport items of a size or number that cannot be transported by a single transport vehicle between multiple connection target locations. As described above, according to this configuration, it is possible to flexibly change the transport form of the items.

[0078] The connection target location includes a conveyor, When the control system is in the connected state, it is preferable that the control system positions at least one of the transport vehicles in the combined transport vehicle group at the adjacent position by moving the combined transport vehicle group along a conveyor transport direction, in which the conveyor transports the items, to approach the adjacent position.

[0079] According to this configuration, when the transport vehicle arranged at the adjacent position is a transport vehicle at one end of the combined transport vehicle group, the direction in which the goods are transported by the conveyor at the connection target location and the direction in which the goods are transported by each transport vehicle constituting the combined transport vehicle group can be easily aligned appropriately. Also, the combined transport vehicle group can easily be connected to the connection target location.

[0080] Preferably, the control system is configured to selectively cause the group of combined transport vehicles to form a serial configuration in which the transport path is a single path, a branched configuration in which at least one location on the transport path has a branching section where a single path branches into two or more paths, and a merging configuration in which at least one location on the transport path has a merging section where two or more paths merge into one path.

[0081] According to this configuration, it is easy to flexibly set the shape of the transport path formed by the transfer units of the multiple transport vehicles, and the degree of freedom of transport is improved.

[0082] a power supply unit that supplies power to the transport vehicle while the transport vehicle is in a fixed position relative to the travel surface; Each of the plurality of transport vehicles includes a power transmission unit that transmits power to the other transport vehicles when combined with the other transport vehicles; A power receiving transport vehicle, which is at least a part of the transport vehicles in the combined transport vehicle group, receives power from the power supply unit, It is preferable that the multiple transport vehicles that make up the combined transport vehicle group are electrically connected to each other by the power transmission unit so that the remaining transport vehicles in the combined transport vehicle group receive power from the power receiving transport vehicle.

[0083] According to this configuration, it is possible to charge multiple vehicles that make up the combined transport vehicle group at once. Also, the power supply unit only needs to supply power to at least some of the vehicles in the combined transport vehicle group, and does not need to directly supply power to all of the multiple transport vehicles that make up the combined transport vehicle group. Therefore, it is easy to miniaturize the power supply unit and simplify the configuration. [Industrial Applicability]

[0084] 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]

[0085] 100: Goods transport equipment 1: Transport vehicle 7: Power supply section 13: Placement section 14: Transfer section 52: Power transmission section C: Connection target point Ca: adjacent position Cb: Conveyor G1: Combined transport vehicles H: Upper control device (control system) P: Transport route Pa: Branch Pb: Junction W:Goods

Claims

1. A plurality of transport vehicles that travel on a traveling surface without a track to transport articles; A plurality of connection target points to which the transport vehicle is to be connected; A control system for controlling the plurality of transport vehicles, The transport vehicle is A placement section for placing the article; A transfer section that transfers the article placed on the placement section; Equipped with 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 plurality of transport vehicles in the combined state are defined as a combined transport vehicle group, At least one of the transport vehicles of the combined transport vehicle group is disposed at an adjacent position adjacent to the connection target location, so that the combined transport vehicle group is in a connected state in which the article can be delivered to and from the connection target location, the plurality of connection target locations include a first connection target location and a second connection target location disposed at a position different from the first connection target location, An item transport facility, wherein the control system is configured to move the group of combined transport vehicles between the adjacent position to the first connection target location and the adjacent position to the second connection target location while maintaining the multiple transport vehicles in a combined state.

2. The connection target location includes a conveyor, The item transport equipment of claim 1, wherein when the control system places the combined transport vehicle group in the connected state, the control system moves the combined transport vehicle group along a conveyor transport direction, in which the conveyor transports the item, to approach the adjacent position, thereby positioning at least one of the transport vehicles of the combined transport vehicle group at the adjacent position.

3. The item transport facility of claim 1, wherein the control system is configured to selectively cause the group of combined transport vehicles to form a serial configuration in which the transport path is a single path, a branched configuration in which a branch section is provided at at least one location on the transport path where one path branches into two or more paths, and a merging configuration in which a merging section is provided at at least one location on the transport path where two or more paths merge into one path.

4. a power supply unit that supplies power to the transport vehicle while the transport vehicle is in a fixed position relative to the travel surface; Each of the plurality of transport vehicles includes a power transmission unit that transmits power to the other transport vehicles when combined with the other transport vehicles; A power receiving vehicle, which is at least a part of the combined transport vehicle group, receives power from the power supply unit, An item transport facility as described in any one of claims 1 to 3, wherein the multiple transport vehicles constituting the combined transport vehicle group are electrically connected to each other by the power transmission unit so that the remaining transport vehicles in the combined transport vehicle group receive power supply from the power receiving transport vehicle.

Images