Conveyance system

Abstract

To provide a conveyance system capable of improving operation efficiency of an unmanned conveyance vehicle.SOLUTION: A conveyance system 1 includes: an unmanned conveyance vehicle 10 with a built-in battery 12 that travels on a travel route including a predetermined work position according to operation data; and a mobile charging device 20 capable of autonomous traveling that supplies power when a remaining capacity of the battery 12 falls below a predetermined value. The mobile charging device 20 refers to the operation data and supplies power to the battery 12 in a first period in which the unmanned conveyance vehicle 10 is located on the travel route or in a second period in which the unmanned conveyance vehicle 10 performs work at the work position.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a conveyance system.

Background Art

[0002] For example, Patent Document 1 describes a mobile station for supplying power to a battery of an autonomous work machine. The mobile station described in Patent Document 1 starts moving together with the autonomous work machine from a fixed station with a fixed position, then moves together with the autonomous work machine to the work start position of the autonomous work machine, and waits at that position. The autonomous work machine starts work from that position, and when the remaining capacity of the battery of its own vehicle decreases, it interrupts the work and moves to the position where the mobile station is waiting. Then, after receiving power supply from the mobile station at the above position, the autonomous work machine moves again to the position where its own vehicle interrupted the work and resumes the work.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When applying the power supply by the above-described mobile station to an unmanned transport vehicle traveling on a travel route including a predetermined work position, it is conceivable to arrange the mobile station near the travel route. In this case, when the remaining capacity of the battery of the unmanned transport vehicle decreases, the unmanned transport vehicle interrupts traveling or work at the above-described work position and moves to the mobile station. Then, after receiving power supply from the mobile station, it moves back onto the travel route again. That is, in the power supply by the above-described mobile station, during the time required for moving to and from the mobile station and the time required for power supply, the unmanned transport vehicle cannot travel on the travel route or perform work at the above-described work position, and it is considered that the operation efficiency decreases.

[0005] The present disclosure has been made to solve the above problems, and an object thereof is to provide a transport system capable of improving the operation efficiency of an unmanned transport vehicle.

Means for Solving the Problems

[0006] A transport system according to one aspect of the present disclosure includes a battery-equipped unmanned transport vehicle that travels on a travel route including a predetermined work position according to operation data, and a self-driving capable mobile charging device that supplies power when the remaining capacity of the battery falls below a predetermined value. The mobile charging device refers to the operation data and supplies power to the battery during a first period in which the unmanned transport vehicle is located on the travel route or a second period in which the unmanned transport vehicle performs work at the work position.

[0007] In this transportation system, when the remaining capacity of the battery of the driverless transport vehicle becomes low, the mobile charging device refers to the operation data and supplies power to the battery during the above-mentioned first period or the above-mentioned second period. In this transportation system, it is not necessary for the driverless transport vehicle to move to the fixed charging device for power supply to the battery, nor is it necessary to interrupt the running on the travel route or the work at a predetermined work position. That is, in this transportation system, the power supply to the battery is not carried out as non-value-added work unrelated to the transportation of goods or the like, but is carried out during the value-added work based on the operation data of the driverless transport vehicle, so that the operation efficiency of the driverless transport vehicle can be improved.

[0008] The mobile charging device may supply power to the battery including a third period in which the driverless transport vehicle waits for another driverless transport vehicle to pass at an intersection of the travel route. In this case, power supply by the mobile charging device can also be performed during the period when the driverless transport vehicle waits for another driverless transport vehicle to pass at the intersection, and further improvement in the operation efficiency of the driverless transport vehicle can be achieved.

[0009] The mobile charging device may have a power supply unit that performs contact-type power supply to the charging unit of the battery. The power supply unit may have a pair of power supply electrodes arranged vertically. The charging unit may have a pair of charging electrodes arranged vertically corresponding to the pair of power supply electrodes and extending horizontally. In this case, even if the travel route includes a curved section, it is possible to suppress the contact between the power supply electrode and the charging electrode from being released in the curved section.

[0010] The mobile charging device may have a power supply unit that performs non-contact power supply to the charging unit of the battery. The mobile charging device may perform coordinated control of speed and steering so that the distance between the own vehicle and the driverless transport vehicle to be powered becomes constant based on the operation data. When performing non-contact power supply, by performing coordinated control of speed and steering so that the distance between the driverless transport vehicle and the mobile charging device becomes constant, power supply by the mobile charging device during the value-added work can be preferably carried out.

Advantages of the Invention

[0011] According to the present disclosure, the operating efficiency of the automated guided vehicle can be improved.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Modes for Carrying Out the Invention

[0013] Hereinafter, with reference to the drawings, a preferred embodiment of an automated guided vehicle according to one aspect of the present disclosure will be described in detail.

[0014] Referring to FIG. 1, an example of the travel of the automated guided vehicle 10 in the transport system 1 will be described. FIG. 1 is a diagram showing an example of the travel of the automated guided vehicle 10 in the transport system 1. As shown in FIG. 1, the transport system 1 includes an automated guided vehicle 10, a mobile charging device 20, and a fixed charging device 30. The automated guided vehicle 10 is a vehicle with a built-in battery and is an autonomous driving vehicle that operates, for example, in a logistics warehouse or the like. In the transport system 1, the automated guided vehicle 10 travels on a preset travel route according to operation data and performs a predetermined operation. The predetermined operation performed by the automated guided vehicle 10 is, for example, a loading and unloading operation. When performing the loading and unloading operation, the automated guided vehicle 10 executes an operation of, for example, receiving a load at a predetermined position, transporting the load to another position, and placing the load at the other position. The travel route includes a work position as a position for performing the above-described operation, and the automated guided vehicle 10 performs, for example, a loading and unloading operation at the work position.

[0015] As shown in FIG. 1, in the present embodiment, a travel route L1 including predetermined work positions P1 and P2 is laid, and the automated guided vehicle 10 travels on the travel route L1. That is, the travel route L1 is a travel route set for the automated guided vehicle 10. In the example shown in FIG. 1, the automated guided vehicle 10 receives a load at the work position P1, transports the received load to the work position P2, and performs unloading at the work position P2. Therefore, in the example shown in FIG. 1, the work position P1 is a load receiving position, and the work position P2 is a load placing position.

[0016] Furthermore, as shown in FIG. 1, in this embodiment, a travel route L2 is laid so as to intersect with the travel route L1. This travel route L2 is a travel route set for another automated guided vehicle 10A different from the automated guided vehicle 10. The automated guided vehicle 10A performs its own vehicle's work at a predetermined work position set on the travel route L2. As described above, since the travel route L1 and the travel route L2 intersect, there are intersections P3 and P4 on both travel routes. When the travel of the automated guided vehicle 10 and the travel of the automated guided vehicle 10A overlap at the intersections P3 and P4, either one of the automated guided vehicles waits until the other automated guided vehicle passes, and after the other automated guided vehicle has passed, resumes its own vehicle's travel. In this embodiment, when the travel of the automated guided vehicle 10 and the travel of the automated guided vehicle 10A overlap, the automated guided vehicle 10 waits at the intersections P3 and P4 until the automated guided vehicle 10A passes, and after the automated guided vehicle 10A has passed, resumes its own vehicle's travel.

[0017] The operation of the automated guided vehicle 10 on such a travel route L1 is classified into, for example, a first period T1, a second period T2, and a third period T3. The first period T1 is a period in which the automated guided vehicle 10 is located on the travel route L1. In this embodiment, the first period T1 includes a period in which the automated guided vehicle 10 is traveling on the travel route L1 and a period in which the automated guided vehicle 10 is stopped on the travel route L1. The second period T2 is a period in which the automated guided vehicle 10 performs work at the work positions P1 and P2. In this embodiment, the second period T2 includes a period in which the automated guided vehicle 10 performs loading at the work position P1 and a period in which the automated guided vehicle 10 performs unloading at the work position P2. The third period T3 is a period in which the automated guided vehicle 10 waits for another automated guided vehicle 10A at the intersections P3 and P4 of the travel route L1.

[0018] The mobile charging device 20 is a charging device capable of autonomous driving. The mobile charging device 20 is arranged, for example, in a facility where the automated guided vehicle 10 operates such as a logistics warehouse, and supplies power to the battery when the remaining capacity of the battery of the automated guided vehicle 10 falls below a predetermined value.

[0019] The stationary charging device 30 is a charging device whose position is fixed. The stationary charging device 30 is connected to a power supply provided in a facility where the unmanned transport vehicle 10 such as a logistics warehouse operates, and supplies power to the mobile charging device 20. The stationary charging device 30 may perform contact power supply or non-contact power supply to the mobile charging device 20.

[0020] As described above, the unmanned transport vehicle 10 is a vehicle with a built-in battery, and the remaining capacity of its battery 12 (see FIG. 2) decreases due to traveling on the traveling route L1 and handling operations. Therefore, the unmanned transport vehicle 10 needs to be supplied with power to the battery 12. At this time, it is conceivable to install a charging device for supplying power to the battery 12 outside the traveling route L1, and the unmanned transport vehicle 10 travels to the charging device to supply power to the battery 12. However, in this case, the unmanned transport vehicle 10 needs to move to the charging device. Furthermore, since it is necessary to stop while the power supply by the charging device is being performed, it is not possible to perform operations at the traveling and working positions P1 and P2 on the traveling route L1. Such operations that are not related to the transportation of goods by the unmanned transport vehicle 10 are also called "non-value-added operations". If the time required for this non-value-added operation becomes long, the operating efficiency of the unmanned transport vehicle 10 may decrease. On the other hand, in the transport system 1, the mobile charging device 20 reduces the time required for non-value-added operations and improves the operating efficiency of the unmanned transport vehicle 10 by supplying power to the battery 12 during operations based on the operation data of the unmanned transport vehicle 10 called "value-added operations". Hereinafter, the details of the configuration for realizing the function will be described.

[0021] FIG. 2 is a block diagram showing an example of the configuration of the transport system 1. As shown in FIG. 2, the transport system 1 includes a server 40 in addition to the above-described unmanned transport vehicle 10, mobile charging device 20, and stationary charging device 30 (see FIG. 1).

[0022] First, the configuration of the automated guided vehicle 10 will be described. As shown in FIG. 2, the automated guided vehicle 10 includes a traveling motor 11, a battery 12, a charging unit 13, an electric pin 14, a charging contact 15, a control unit 16, and a communication unit 17.

[0023] FIG. 3 is a side view of the automated guided vehicle 10. As shown in FIG. 3, the automated guided vehicle 10 further includes a vehicle body 18A and a plurality of wheels 18B. In the present embodiment, the traveling motor 11 (see FIG. 2), the battery 12 (see FIG. 2), the charging unit 13, the electric pin 14, the charging contact 15, the control unit 16, and the communication unit 17 are mounted on the vehicle body 18A.

[0024] The traveling motor 11 is a motor that rotationally drives the plurality of wheels 18B by the electric power stored in the battery 12. The battery 12 is a part for storing the electric power for driving the traveling motor 11. The battery 12 is composed of a secondary battery such as a nickel-metal hydride secondary battery or a lithium-ion secondary battery, for example. The charging unit 13 is electrically connected to the battery 12 and supplies electric power to the battery 12 in response to power supply from the outside.

[0025] FIG. 4 is a perspective view showing an example of the charging unit 13 included in the automated guided vehicle 10. As shown in FIG. 4, the charging unit 13 has a pair of charging electrodes E1 and E2. In the present embodiment, the charging electrode E1 is a positive charging electrode, and the charging electrode E2 is a negative charging electrode. The charging unit 13 further includes a main body 131 having an upper surface 131a, a lower surface 131b, a pair of side surfaces 131c, and a front surface 131d. The main body 131 is formed of an insulator such as rubber or resin, for example. The upper surface 131a and the lower surface 131b face each other in the vertical direction and are arranged parallel to each other. The pair of side surfaces 131c face each other in the left-right direction and are arranged parallel to each other. In the present embodiment, the charging unit 13 is attached to the rear surface of the vehicle body 18A such that the front surface 131d is orthogonal to the front-rear direction, which is the traveling direction of the automated guided vehicle 10.

[0026] The pair of charging electrodes E1 and E2 are arranged inside the main body 131. Inside the main body 131, the pair of charging electrodes E1 and E2 are arranged vertically. In the example shown in FIG. 4, the charging electrode E1, which is the positive charging electrode, is arranged above the charging section 13, and the charging electrode E2, which is the negative charging electrode, is arranged below the charging section 13.

[0027] The charging electrode E1 has a charging port CP1 that opens to the front surface 131d. The charging electrode E2 has a charging port CP2 that opens to the front surface 131d. The charging ports CP1 and CP2 have, for example, a rectangular cross-sectional shape. Therefore, the charging electrodes E1 and E2 also extend horizontally.

[0028] At the upper end of the front surface 131d of the main body 131, an upper wall portion 132 extending in the front-rear direction is provided. The upper wall portion 132 tapers toward the front surface 131d side of the main body 131. The upper surface of the upper wall portion 132 is a part of the upper surface 131a of the main body 131. The lower surface of the upper wall portion 132 is a tapered surface 132a. Both side surfaces of the upper wall portion 132 are parts of the pair of side surfaces 131c of the main body 131.

[0029] At the lower end of the front surface 131d of the main body 131, a lower wall portion 133 extending in the front-rear direction is provided. The lower wall portion 133 tapers toward the front surface 131d side of the main body 131. The upper surface of the lower wall portion 133 is a tapered surface 133a. The lower surface of the lower wall portion 133 is a part of the lower surface 131b of the main body 131. Both side surfaces of the lower wall portion 133 are parts of the pair of side surfaces 131c of the main body 131.

[0030] At the central portion in the vertical direction of the front surface 131d of the main body 131, a short-circuit prevention wall portion 134 extending in the front-rear direction is provided. The wall portion 134 is provided so as to protrude forward from the above-mentioned central portion in the vertical direction of the front surface 131d of the main body 131. The wall portion 134 is provided between the charging electrode E1 and the charging electrode E2 in the main body 131. As described above, the main body 131 is formed of an insulator such as rubber or resin. Therefore, the short-circuit prevention wall portion 134 is also formed of an insulator such as rubber or resin.

[0031] The area between the upper wall portion 132 and the wall portion 134 forms a charging area R1. Both ends of the charging area R1 in the left - right direction are open without a wall portion. That is, the upper wall portion 132 that forms a part of the side surface 131c of the main body 131 is not provided at both ends of the charging area R1 in the left - right direction. The area between the lower wall portion 133 and the wall portion 134 forms a charging area R2. Both ends of the charging area R2 in the left - right direction are open without a wall portion, similar to the charging area R1. That is, the lower wall portion 133 that forms a part of the side surface 131c of the main body 131 is not provided at both ends of the charging area R2 in the left - right direction.

[0032] The electric pin 14 shown in FIGS. 2 and 3 is a part used for connecting the unmanned transport vehicle 10 and the mobile charging device 20. The electric pin 14 is configured to be movable up and down. When the unmanned transport vehicle 10 and the mobile charging device 20 are connected, the electric pin 14 is inserted into a through - hole H (see FIG. 6) provided in a connection member 29C of the mobile charging device 20 described later. In this embodiment, the electric pin 14 moves in the up - down direction according to a command from the control unit 16 to connect the unmanned transport vehicle 10 and the mobile charging device 20.

[0033] The charging contact 15 is a switch portion provided between the battery 12 and the charging portion 13. That is, the charging portion 13 is electrically connected to the battery 12 via the charging contact 15. When the charging contact 15 is conductive, the battery 12 and the charging portion 13 are electrically connected, and power supply to the battery 12 is performed. In this embodiment, the charging contact 15 switches the electrical connection and disconnection between the battery 12 and the charging portion 13 according to a command from the control unit 16.

[0034] The control unit 16 is a part that controls the travel of the unmanned transport vehicle 10. In the present embodiment, the control unit 16 controls the travel of the unmanned transport vehicle 10 according to the operation data. In one example, the control unit 16 receives operation data for controlling the travel of the unmanned transport vehicle 10 from the server 40 via the communication unit 17. Here, with reference to FIG. 5, an example of the operation data used for the travel of the unmanned transport vehicle 10 will be described. FIG. 5 is a diagram showing an example of the operation data.

[0035] In one example, the operation data includes the execution order and the operation command information associated with the execution order. The execution order is information indicating the order of operation control on the travel route. In the example shown in FIG. 5, the execution order is shown in ascending order, but the execution order may be shown in descending order. The operation command information is information indicating the operation that the unmanned transport vehicle 10 should execute in the execution order associated with itself.

[0036] For example, in the example shown in FIG. 5, "acceleration" is associated with the execution order "1" and the execution order "6", "deceleration" is associated with the execution order "2", "left turn" is associated with the execution order "3", and "stop" is associated with the execution order "4" as the operation command information, respectively. Furthermore, "loading" is associated with the execution order "5" as the operation command information. Among these operation command information, the operation command information associated with the execution order "1" to "4" and "6" is information for controlling the travel of the unmanned transport vehicle 10, and the operation command information associated with the execution order "5" is information for controlling the work of the unmanned transport vehicle 10. That is, the operation command information includes information for controlling the travel of the unmanned transport vehicle 10 and information for controlling the work of the unmanned transport vehicle 10. The control unit 16 refers to such operation data and executes the operation command information associated with the execution order to control the travel on the travel route L1 and the work at each position. In FIG. 5, although "acceleration" etc. are set in the operation command information, in reality, detailed travel speeds etc. may be set.

[0037] The control unit 16 is also a part that controls the power supply operation to the battery 12. As control of the power supply operation to the battery 12, the control unit 16 performs, for example, control of the electric pin 14 and control of the charging contact 15, and acquisition of the remaining capacity of the battery 12. The control unit 16 controls the electric pin 14, for example, based on information regarding power supply to the battery 12 on the mobile charging device 20 side. In one example, when receiving information indicating that there is no obstacle between the mobile charging device 20 and the automated guided vehicle 10, and information indicating that the pair of charging electrodes E1, E2 of the charging unit 13 and the pair of power supply electrodes E3, E4 of the power supply unit 23 described later are in contact, the control unit 16 moves the electric pin 14 downward. Thereby, the electric pin 14 is inserted into the through hole H of the mobile charging device 20, and the automated guided vehicle 10 and the mobile charging device 20 are connected.

[0038] On the other hand, when receiving information indicating that there is an obstacle between the mobile charging device 20 and the automated guided vehicle 10, or information indicating that the pair of charging electrodes E1, E2 and the pair of power supply electrodes E3, E4 are not in contact, the control unit 16 does not move the electric pin 14, and the automated guided vehicle 10 and the mobile charging device 20 are not connected. When receiving information indicating that the power supply to the battery 12 is completed, the control unit 16 moves the electric pin 14 upward. Thereby, the electric pin 14 is withdrawn from the through hole H of the mobile charging device 20, and the connection between the automated guided vehicle 10 and the mobile charging device 20 is released.

[0039] Similar to the control of the electric pin 14, the control unit 16 controls the charging contactor 15 based on information regarding the power supply to the battery 12 on the mobile charging device 20 side, for example. In one example, when the control unit 16 receives information indicating that there is no obstacle between the mobile charging device 20 and the automated guided vehicle 10 and information indicating that the pair of charging electrodes E1, E2 and the pair of power supply electrodes E3, E4 are in contact, the control unit 16 conducts the charging contactor 15. Thereby, the battery 12 and the charging unit 13 are electrically connected. On the other hand, when the control unit 16 receives information indicating that there is an obstacle between the mobile charging device 20 and the automated guided vehicle 10 or information indicating that the pair of charging electrodes E1, E2 and the pair of power supply electrodes E3, E4 are not in contact, the control unit 16 cuts off the charging contactor 15 and electrically disconnects the battery 12 and the charging unit 13.

[0040] As for obtaining the remaining capacity of the battery 12, the control unit 16 obtains, for example, the SOC (State Of Charge), which is a parameter indicating the charge state of the battery 12, as the remaining capacity of the battery 12. In one example, when repeatedly transporting loads, the control unit 16 obtains the remaining capacity of the battery 12 each time it moves to the work position P1 or the work position P2. Alternatively, the control unit 16 may obtain the remaining capacity of the battery 12 at predetermined time intervals, or may obtain the remaining capacity of the battery 12 in response to a command from the user. The control unit 16 sequentially outputs the obtained remaining capacity of the battery 12 to the communication unit 17.

[0041] The communication unit 17 is a part that transmits and receives information regarding the travel of the automated guided vehicle 10 and information regarding the power supply to the battery 12 to and from the server 40. As information regarding the power supply to the battery 12, the communication unit 17 outputs the remaining capacity of the battery 12 received from the control unit 16 to the server 40. In one example, each time the communication unit 17 receives the remaining capacity of the battery 12 from the control unit 16, it sequentially outputs the remaining capacity of the battery 12 to the server 40.

[0042] The communication unit 17 receives operation data from the server 40 as information regarding the travel of the unmanned transport vehicle 10. The communication unit 17 outputs the operation data received from the server 40 to the control unit 16. Further, the communication unit 17 receives information regarding power supply to the battery 12 on the side of the mobile charging device 20 from the server 40. In one example, as information regarding power supply to the battery 12 on the side of the mobile charging device 20, the communication unit 17 receives from the server 40 information indicating whether there is an obstacle between the mobile charging device 20 and the unmanned transport vehicle 10, and information indicating whether a pair of charging electrodes E1, E2 and a pair of power supply electrodes E3, E4 are in contact. Further, as information regarding power supply to the battery 12 on the side of the mobile charging device 20, the communication unit 17 receives from the server 40 information indicating that the power supply to the battery 12 has been completed. The communication unit 17 outputs the received information regarding power supply to the battery 12 on the side of the mobile charging device 20 to the control unit 16.

[0043] Server 40 is a control device superior to the automated guided vehicle 10 and the mobile charging device 20, and is a part that oversees the operation of the automated guided vehicle 10 and the operation of the mobile charging device 20. Server 40 determines whether the remaining capacity of the battery 12 received from the communication unit 17 of the automated guided vehicle 10 is below a predetermined value. Further, Server 40 refers to the operation data of the automated guided vehicle 10 to determine whether the automated guided vehicle 10 is in net operation. That is, Server 40 refers to the operation data of the automated guided vehicle 10 to determine whether the automated guided vehicle 10 is in any of the first period T1, the second period T2, or the third period T3. When the remaining capacity of the battery 12 is below the predetermined value and the automated guided vehicle 10 is in net operation, Server 40 outputs a power supply command and the operation data of the automated guided vehicle 10 to be the power supply target to the mobile charging device 20, assuming that power supply to the battery 12 is necessary. When the remaining capacity of the battery 12 is equal to or greater than the predetermined value, or when the automated guided vehicle 10 is not in net operation, Server 40 does not output a power supply command and the above operation data to the mobile charging device 20, assuming that power supply to the battery 12 is unnecessary. Further, Server 40 acquires information regarding power supply to the battery 12 on the mobile charging device 20 side and outputs the information to the communication unit 17 of the automated guided vehicle 10.

[0044] Next, the configuration of the mobile charging device 20 will be described. As shown in FIG. 2, the mobile charging device 20 includes a travel control unit 21, a charger 22, a power supply unit 23, an obstacle sensor 24, a limit switch 25, a voltage sensor 26, a power supply control unit 27, and a communication unit 28.

[0045] FIG. 6 is a side view of the mobile charging device 20. As shown in FIG. 6, the mobile charging device 20 further includes a vehicle body 29A, a plurality of wheels 29B, and a connection member 29C. In the present embodiment, a travel control unit 21, a charger 22, a power supply unit 23, an obstacle sensor 24, a limit switch 25, a voltage sensor 26, a power supply control unit 27, and a communication unit 28 are mounted on the vehicle body 29A. The connection member 29C is attached to the front surface of the vehicle body 29A so as to protrude forward of the mobile charging device 20. A through hole H for inserting the electric pin 14 of the automated guided vehicle 10 is provided at the center of the connection member 29C.

[0046] The travel control unit 21 is a part that controls the travel of the mobile charging device 20. For example, the travel control unit 21 controls the travel of the mobile charging device 20 by controlling a travel drive unit including a travel motor, a steering motor, and the like. When the travel control unit 21 receives a power supply command from the server 40, it refers to the operation data of the automated guided vehicle 10 to be powered and starts traveling toward the automated guided vehicle 10. As described above, the power supply command is output from the server 40 to the mobile charging device 20 when the automated guided vehicle 10 is in net operation. Therefore, the travel control unit 21 starts traveling toward the automated guided vehicle 10 in any one of the first period T1, the second period T2, and the third period T3. In one example, when performing power supply to the battery 12, the travel control unit 21 refers to the operation data of the automated guided vehicle 10 and controls the travel of the mobile charging device 20 to cooperate with the operation of the automated guided vehicle 10 on the travel route L1. In the present embodiment, the travel control unit 21 controls the travel of the mobile charging device 20 to cooperate with the operation of the automated guided vehicle 10 on the travel route L1 in the first period T1, the second period T2, and the third period T3.

[0047] In the first period T1, the travel control unit 21 controls the travel of the mobile charging device 20 so as to follow the travel and stop of the automated guided vehicle 10 on the travel route L1. In the second period T2, the travel control unit 21 stops the travel of the mobile charging device 20 so as to correspond to the automated guided vehicle 10 that performs work at the work positions P1 and P2. In the third period T3, the travel control unit 21 stops the travel of the mobile charging device 20 so as to correspond to the automated guided vehicle 10 that waits until another automated guided vehicle 10A passes through at the intersections P3 and P4. That is, the travel control unit 21 causes the mobile charging device 20 to travel during the period in which the automated guided vehicle 10 in the first period T1 travels on the travel route L1. Further, the travel control unit 21 stops the mobile charging device 20 during the period in which the automated guided vehicle 10 in the first period T1 stops on the travel route L1, the second period T2, and the third period T3.

[0048] After the power supply to the battery 12 is completed, the travel control unit 21 stops the control of the travel of the mobile charging device 20 in cooperation with the operation of the automated guided vehicle 10 on the travel route L1. After stopping the control of the travel of the mobile charging device 20 described above, the travel control unit 21 controls the travel of the mobile charging device 20 so as to return, for example, to the position where the travel to the automated guided vehicle 10 was started. Alternatively, after stopping the control of the travel of the mobile charging device 20 described above, the travel control unit 21 may control the travel of the mobile charging device 20 so as to move to the fixed charging device 30.

[0049] The charger 22 is a part that supplies power to the battery 12 by supplying power to the battery 12. In one example, the charger 22 stores power for supplying to the battery 12 by receiving power supply from the fixed charging device 30.

[0050] The power supply unit 23 is a part that supplies power to the charging unit 13. In this embodiment, the power supply unit 23 performs contact power supply to the charging unit 13 of the battery 12. The power supply unit 23 is electrically connected to the charger 22 and supplies the power from the charger 22 to the battery 12 via the charging unit 13. The power supply unit 23 is arranged, for example, in front of the vehicle body 29A of the mobile charging device 20. In this embodiment, as shown in FIG. 6, the position of the power supply unit 23 is fixed by the pin P in front of the vehicle body 29A.

[0051] FIG. 7 is a schematic diagram showing an example of the power supply unit 23. As shown in FIG. 7, the power supply unit 23 includes a housing 231, a holder 232, a spring 233, and a pair of power supply electrodes E3 and E4. The housing 231 is a part that engages with the main body 131 of the charging unit 13. The housing 231 houses the holder 232. That is, the holder 232 is arranged inside the housing 231. The spring 233 is arranged between the housing 231 and the holder 232. The housing 231 and the holder 232 are formed of an insulating material such as resin or rubber, for example. In this embodiment, the power supply electrode E3 is the positive power supply electrode, and the power supply electrode E4 is the negative power supply electrode. Therefore, in this embodiment, the charging electrode E1 corresponds to the power supply electrode E3, and the charging electrode E2 corresponds to the power supply electrode E4.

[0052] In one example, the holder 232 is composed of a pair of fixing plates 232a and 232b arranged above and below the power supply unit 23, and a connecting plate 232c connecting the fixing plate 232a and the fixing plate 232b. The power supply electrode E3 is provided at the center of the fixing plate 232a so as to protrude forward of the power supply unit 23. The power supply electrode E4 is provided at the center of the fixing plate 232b so as to protrude forward of the power supply unit 23. As described above, in the holder 232, the pair of fixing plates 232a and 232b are arranged one above the other. Therefore, the pair of power supply electrodes E3 and E4 are arranged one above the other. In the present embodiment, the power supply electrode E3 is arranged above the power supply unit 23, and the power supply electrode E4 is arranged below the power supply unit 23. Further, in the present embodiment, the pair of charging electrodes E1 and E2 and the pair of power supply electrodes E3 and E4 are arranged one above the other so as to correspond to each other. That is, the pair of charging electrodes E1 and E2 are arranged one above the other corresponding to the pair of power supply electrodes E3 and E4.

[0053] FIG. 8 is a perspective view showing an example of the power supply unit 23. As shown in FIG. 8, the housing 231 has an upper surface 231a, a lower surface 231b, a pair of side surfaces 231c, and a front surface 231d. In the present embodiment, the housing 231 has a tapered shape such that the length in the vertical direction decreases toward the front surface 231d. The upper surface 231a and the lower surface 231b have a rectangular shape. The upper surface 231a and the lower surface 231b are tapered surfaces such that the distance between the upper surface 231a and the lower surface 231b gradually decreases from the proximal end of the housing 231 toward the front surface 231d side. In the present embodiment, the upper surface 231a engages with the tapered surface 132a which is the lower surface of the upper wall portion 132, and the lower surface 231b engages with the tapered surface 133a which is the upper surface of the lower wall portion 133.

[0054] The side surface 231c has a substantially trapezoidal shape. The side surfaces 231c are arranged parallel to each other. That is, unlike the upper surface 231a and the lower surface 231b, the side surface 231c is not a tapered surface such that the distance between the side surfaces 231c gradually decreases from the proximal end of the housing 231 toward the front surface 231d side.

[0055] The front surface 231d has a rectangular shape. The front surface 231d engages with the front surface 131d of the main body 131. Two through-holes for passing through the power supply electrodes E3 and E4 are provided one above the other on the front surface 231d. The power supply electrodes E3 and E4 are inserted through these two through-holes and protrude from the front surface 231d of the housing 231. A groove portion 234 having a V-shaped cross-section extending in the left-right direction is provided at the central portion in the vertical direction on the front surface 231d. The groove portion 234 is disposed between the power supply electrode E3 and the power supply electrode E4. The groove portion 234 fits into the wall portion 134 of the main body 131.

[0056] As shown in FIG. 7, a fixing plate 235 is provided at the base end portion of the housing 231. The fixing plate 235 is a part of the housing 231. That is, the housing 231 further has the fixing plate 235 in addition to the upper surface 231a, the lower surface 231b, a pair of side surfaces 231c, and the front surface 231d shown in FIG. 8. The spring 233 is disposed between the connecting plate 232c and the fixing plate 235. The spring 233 biases the holding body 232 toward the distal end side of the housing 231, thereby biasing the power supply electrodes E3 and E4 toward the distal end side of the housing 231.

[0057] The obstacle sensor 24 is a sensor that detects an object existing in front of the mobile charging device 20. As shown in FIG. 6, in the present embodiment, the obstacle sensor 24 is attached to the front surface of the vehicle body 29A. The obstacle sensor 24 is, for example, a three-dimensional LiDAR (Light Detection And Ranging). In one example, the obstacle sensor 24 acquires three-dimensional information of the front space of the mobile charging device 20 and detects an object existing in front of the mobile charging device 20 based on the three-dimensional information. The obstacle sensor 24 outputs a detection result of an object based on the three-dimensional information to the power supply control unit 27.

[0058] The limit switch 25 is a contact sensor that detects whether the pair of power supply electrodes E3 and E4 of the power supply unit 23 are in contact with the charging electrodes E1 and E2 of the charging unit 13. In one example, the limit switch 25 detects contact with the holder 232 of the power supply unit 23 to detect whether the pair of power supply electrodes E3 and E4 have retreated to the proximal end side of the housing 231 against the biasing force of the spring 233. Here, the fact that the pair of power supply electrodes E3 and E4 have retreated to the proximal end side of the housing 231 against the biasing force of the spring 233 indicates that the pair of power supply electrodes E3 and E4 are in contact with the pair of charging electrodes E1 and E2. The limit switch 25 outputs a detection result indicating whether the pair of power supply electrodes E3 and E4 are in contact with the pair of charging electrodes E1 and E2 to the power supply control unit 27 and the communication unit 28.

[0059] The voltage sensor 26 is a sensor that detects the voltage value of the battery 12. In one example, the voltage sensor 26 detects the voltage value of the battery 12 when the pair of power supply electrodes E3 and E4 are in contact with the pair of charging electrodes E1 and E2. When the pair of power supply electrodes E3 and E4 are in contact with the pair of charging electrodes E1 and E2, the power supply unit 23 and the charging unit 13 are electrically connected. Furthermore, the charging unit 13 is electrically connected to the battery 12. Therefore, when the pair of power supply electrodes E3 and E4 are in contact with the pair of charging electrodes E1 and E2, the voltage sensor 26 provided in the mobile charging device 20 can detect the voltage value of the battery 12. When the power supply unit 23 and the charging unit 13 are electrically connected, the voltage sensor 26 detects the voltage value of the battery 12, for example, at a predetermined time interval. The voltage sensor 26 sequentially outputs a detection result indicating the voltage value of the battery 12 to the power supply control unit 27.

[0060] The power supply control unit 27 is a part that controls the power supply to the battery 12 by the charger 22 and the power supply unit 23. In the present embodiment, when the mobile charging device 20 is moving to cooperate with the operation of the automated guided vehicle 10 on the travel route L1, when all of the first condition, the second condition, and the third condition are satisfied, the power supply control unit 27 starts the power supply to the battery 12. The mobile charging device 20 performs the power supply to the battery 12 in any one of the first period T1, the second period T2, or the third period T3. That is, the power supply to the battery 12 by the mobile charging device 20 is performed during the net operation of the automated guided vehicle 10. When starting the power supply to the battery 12, the power supply control unit 27 transmits a power supply start command to the charger 22. Thereby, the power stored in the charger 22 is supplied to the battery 12 via the power supply unit 23 and the charging unit 13, and the power supply to the battery 12 is started.

[0061] The first condition is that there is no obstacle between the mobile charging device 20 and the automated guided vehicle 10. In the present embodiment, the power supply control unit 27 determines whether the first condition is satisfied based on the detection result received from the obstacle sensor 24. When the detection result received from the obstacle sensor 24 indicates that there is an object between the mobile charging device 20 and the automated guided vehicle 10, the power supply control unit 27 determines that the first condition is not satisfied. In this case, the power supply control unit 27 outputs, for example, information indicating that there is an obstacle between the mobile charging device 20 and the automated guided vehicle 10 to the communication unit 28. When the detection result received from the obstacle sensor 24 indicates that there is no object between the mobile charging device 20 and the automated guided vehicle 10, the power supply control unit 27 determines that the first condition is satisfied. In this case, the power supply control unit 27 outputs information indicating that there is no obstacle between the mobile charging device 20 and the automated guided vehicle 10 to the communication unit 28.

[0062] The second condition is that the pair of power supply electrodes E3 and E4 are in contact with the pair of charging electrodes E1 and E2. In the present embodiment, the power supply control unit 27 determines whether the second condition is satisfied based on the detection signal received from the limit switch 25. When the detection signal received from the limit switch 25 indicates that the pair of power supply electrodes E3 and E4 are not in contact with the pair of charging electrodes E1 and E2, the power supply control unit 27 determines that the second condition is not satisfied. In this case, the power supply control unit 27 outputs information indicating that the power supply electrodes E3 and E4 are not in contact with the corresponding charging electrode among the pair of charging electrodes E1 and E2 to the communication unit 28. When the detection signal received from the limit switch 25 indicates that the pair of power supply electrodes E3 and E4 are in contact with the pair of charging electrodes E1 and E2, the power supply control unit 27 determines that the second condition is satisfied. In this case, the power supply control unit 27 outputs information indicating that the pair of charging electrodes E1 and E2 are in contact with the pair of power supply electrodes E3 and E4 to the communication unit 28.

[0063] The third condition is that the voltage value of the battery 12 is within the power supply start range. The power supply start range is set, for example, as the range of voltage values at which power supply to the battery 12 can be started. In the present embodiment, the power supply control unit 27 determines whether the third condition is satisfied based on the detection result received from the voltage sensor 26. When the detection result received from the voltage sensor 26 indicates that the voltage value of the battery 12 is not within the power supply start range, the power supply control unit 27 determines that the third condition is not satisfied. When the detection result received from the voltage sensor 26 indicates that the voltage value of the battery 12 is within the power supply start range, the power supply control unit 27 determines that the third condition is satisfied.

[0064] Furthermore, in this embodiment, when the power supply control unit 27 satisfies the fourth condition, it terminates the power supply to the battery 12. When terminating the power supply to the battery 12, the power supply control unit 27 transmits a power supply termination command to the charger 22. As a result, the charger 22 stops supplying power to the battery 12 via the power supply unit 23 and the charging unit 13, and the power supply to the battery 12 ends. In this case, the power supply control unit 27 outputs information indicating that the power supply to the battery 12 has been completed to the communication unit 28.

[0065] The fourth condition is that the voltage value of the battery 12 is within the power supply termination range. In this embodiment, the power supply control unit 27 determines whether the fourth condition is satisfied based on the detection result received from the voltage sensor 26. When the detection result received from the voltage sensor 26 indicates that it is not within the power supply termination range, the power supply control unit 27 determines that the fourth condition is not satisfied. In this case, the power supply control unit 27 continues to supply power to the battery 12, for example, and determines again whether the fourth condition is satisfied based on the next detection result received from the voltage sensor 26. When the detection result received by the voltage sensor 26 indicates that it is within the power supply termination range, the power supply control unit 27 determines that the fourth condition is satisfied. In this case, the power supply control unit 27 terminates the power supply to the battery 12.

[0066] The communication unit 28 is a part that transmits and receives information regarding the travel of the mobile charging device 20 and information regarding the power supply to the battery 12 to and from the server 40. The communication unit 28 outputs information regarding the power supply to the battery 12 on the mobile charging device 20 side to the server 40. In one example, the communication unit 28 outputs to the server 40 information indicating whether the first condition is satisfied and information indicating whether the second condition is satisfied as information regarding the power supply to the battery 12 on the mobile charging device 20 side. That is, the communication unit 28 outputs to the server 40 information indicating whether there is an obstacle between the mobile charging device 20 and the automated guided vehicle 10 and information indicating whether a pair of charging electrodes E1, E2 and a pair of power supply electrodes E3, E4 are in contact. Further, the communication unit 28 outputs information indicating that the power supply to the battery 12 has been completed to the server 40.

[0067] The communication unit 28 receives a power supply command and operation data of the automated guided vehicle 10 as information regarding the travel of the mobile charging device 20. The communication unit 28 outputs the received power supply command and operation data of the automated guided vehicle 10 to the travel control unit 21.

[0068] Next, with reference to FIG. 9, a state in which the automated guided vehicle 10 and the mobile charging device 20 are connected will be described. FIG. 9 is a side view showing the configuration of the automated guided vehicle 10 and the mobile charging device 20 when performing contact type power supply. As shown in FIG. 9, in a state where the automated guided vehicle 10 and the mobile charging device 20 are connected, a pair of charging electrodes E1, E2 and a pair of power supply electrodes E3, E4 are in contact. Specifically, the charging electrode E1 and the power supply electrode E3 are in contact because the power supply electrode E3 is inserted into the charging port CP1, and the charging electrode E2 and the power supply electrode E4 are in contact because the power supply electrode E4 is inserted into the charging port CP2. Further, the electric pin 14 of the automated guided vehicle 10 is inserted into the through hole H of the connection member 29C. Thereby, the automated guided vehicle 10 and the mobile charging device 20 are connected. In the present embodiment, while maintaining the state shown in FIG. 9, power is supplied to the battery 12 by the mobile charging device 20.

[0069] Next, with reference to FIG. 10, an example of the operation of the transport system 1 will be described. FIG. 10 is a flowchart showing an example of the operation of the transport system 1.

[0070] In step S1, the server 40 acquires the remaining capacity of the battery 12. Here, the server 40 acquires the remaining capacity of the battery 12 from the communication unit 17 of the driverless transport vehicle 10. In step S2, the server 40 determines whether the remaining capacity of the battery 12 is less than a predetermined value.

[0071] If the remaining capacity of the battery 12 is less than the predetermined value (YES in step S2), it is assumed that power supply to the battery 12 is necessary, and the process proceeds to step S3. If the remaining capacity of the battery 12 is equal to or greater than the predetermined value (NO in step S2), it is assumed that power supply to the battery 12 is unnecessary, and the process returns to step S1.

[0072] In step S3, the server 40 outputs a power supply command and the operation data of the driverless transport vehicle 10 to be the power supply target. Here, the server 40 outputs the power supply command and the operation data of the driverless transport vehicle 10 to be the power supply target to the communication unit 28 of the mobile charging device 20.

[0073] In step S4, the travel control unit 21 starts the travel of the driverless transport vehicle 10 during actual work. Here, the travel control unit 21 refers to the operation data of the driverless transport vehicle 10 to be the power supply target and starts the travel of the driverless transport vehicle 10. In step S5, the travel control unit 21 controls the travel of the mobile charging device 20. Here, the travel control unit 21 refers to the operation data of the driverless transport vehicle 10 to be the power supply target and controls the travel of the mobile charging device 20 so as to cooperate with the operation of the driverless transport vehicle 10 on the travel route L1 in the first period T1, the second period T2, and the third period T3.

[0074] In step S6, the power supply control unit 27 acquires the detection results of the obstacle sensor 24 and the limit switch 25. In step S7, the power supply control unit 27 determines whether there is an obstacle between the mobile charging device 20 and the automated guided vehicle 10. That is, in step S7, the power supply control unit 27 determines whether the first condition is satisfied. Here, the power supply control unit 27 determines whether there is an obstacle between the mobile charging device 20 and the automated guided vehicle 10 based on the detection result of the obstacle sensor 24.

[0075] If it is determined that there is no obstacle between the mobile charging device 20 and the automated guided vehicle 10 (YES in step S7), it is considered that the first condition is satisfied, and the process proceeds to step S8. If it is determined that there is an obstacle between the mobile charging device 20 and the automated guided vehicle 10 (NO in step S7), it is considered that the first condition is not satisfied, and the process returns to step S6.

[0076] In step S8, the power supply control unit 27 determines whether the pair of power supply electrodes E3, E4 are in contact with the pair of charging electrodes E1, E2. That is, in step S8, the power supply control unit 27 determines whether the second condition is satisfied. Here, the power supply control unit 27 determines whether the pair of power supply electrodes E3, E4 are in contact with the pair of charging electrodes E1, E2 based on the detection result of the limit switch 25.

[0077] If it is determined that the pair of power supply electrodes E3, E4 are in contact with the pair of charging electrodes E1, E2 (YES in step S8), it is considered that the second condition is satisfied, and the process proceeds to step S9. If it is determined that the pair of power supply electrodes E3, E4 are not in contact with the pair of charging electrodes E1, E2 (NO in step S8), it is considered that the second condition is not satisfied, and the process returns to step S6.

[0078] In step S9, the driverless transport vehicle 10 and the mobile charging device 20 are connected. Here, the control unit 16 moves the electric pin 14 downward. As a result, the electric pin 14 is inserted into the through hole H of the mobile charging device 20, and the driverless transport vehicle 10 and the mobile charging device 20 are connected. In step S10, the control unit 16 conducts the charging contactor 15. As a result, the battery 12 and the charging unit 13 are electrically connected.

[0079] In step S11, the power supply control unit 27 acquires the detection result of the voltage sensor 26. In step S12, the power supply control unit 27 determines whether the voltage value of the battery 12 is within the power supply start range. That is, in step S12, the power supply control unit 27 determines whether the third condition is satisfied. Here, the power supply control unit 27 determines whether the voltage value of the battery 12 is within the power supply start range based on the detection result of the voltage sensor 26.

[0080] When the voltage value of the battery 12 is within the power supply start range (YES in step S12), it is assumed that the third condition is satisfied, and the process proceeds to step S13. When the voltage value of the battery 12 is not within the power supply start range (NO in step S12), it is assumed that the third condition is not satisfied, and the process proceeds to step S15.

[0081] In step S13, the power supply control unit 27 starts power supply to the battery 12. Here, the power supply control unit 27 sends a power supply start command to the charger 22. As a result, the power stored in the charger 22 is supplied to the battery 12 via the power supply unit 23 and the charging unit 13, and power supply to the battery 12 is started. Power supply to the battery 12 is performed during the net operation of the driverless transport vehicle 10.

[0082] In step S14, the power supply control unit 27 ends the power supply to the battery 12. Here, when the voltage value of the battery 12 is within the power supply end range, the power supply control unit 27 ends the power supply to the battery 12. That is, when the fourth condition is satisfied, the power supply control unit 27 ends the power supply to the battery 12. When the voltage value of the battery 12 is not within the power supply end range, the power supply control unit 27 continues the power supply on the assumption that the power supply to the battery 12 has not been completed.

[0083] In step S15, the control unit 16 disconnects the charging contact 15. As a result, the battery 12 and the charging unit 13 are electrically disconnected.

[0084] In step S16, the connection between the automated guided vehicle 10 and the mobile charging device 20 is released. Here, the control unit 16 moves the electric pin 14 upward. As a result, the electric pin 14 is withdrawn from the through hole H of the mobile charging device 20, and the connection between the automated guided vehicle 10 and the mobile charging device 20 is released.

[0085] In step S17, the mobile charging device 20 detaches. Here, the travel control unit 21 stops controlling the travel of the mobile charging device 20 so as to cooperate with the operation of the automated guided vehicle 10 on the travel route L1. Then, the travel control unit 21 controls the travel of the mobile charging device 20 so as to return to the position where the travel of the automated guided vehicle 10 was started.

[0086] As described above, in the transport system 1, when the remaining capacity of the battery 12 of the driverless transport vehicle 10 becomes low with reference to the operation data, the mobile charging device 20 supplies power to the battery 12 during the first period T1 in which the driverless transport vehicle 10 is located on the travel route L1, or during the second period T2 in which the driverless transport vehicle 10 performs work at the work positions P1 and P2. In the transport system 1, it is not necessary for the driverless transport vehicle 10 to move to the fixed charging device 30 for power supply to the battery 12, nor is it necessary to interrupt the travel on the travel route L1 or the work at the predetermined work positions P1 and P2. That is, in the transport system 1, power supply to the battery 12 is not performed as non-value-added work unrelated to the transportation of goods or the like, but is performed during value-added work based on the operation data of the driverless transport vehicle 10, so that the operating efficiency of the driverless transport vehicle 10 can be improved.

[0087] The mobile charging device 20 supplies power to the battery 12 including the third period T3 in which the driverless transport vehicle 10 waits for the passage of another driverless transport vehicle 10A at the intersections P3 and P4 of the travel route L1. In this case, power supply by the mobile charging device 20 can also be performed during the period in which the driverless transport vehicle 10 waits for the passage of another driverless transport vehicle 10A at the intersections P3 and P4, and further improvement in the operating efficiency of the driverless transport vehicle 10 can be achieved.

[0088] The charging unit 13 has a pair of charging electrodes E1 and E2 that are arranged vertically corresponding to the pair of power supply electrodes E3 and E4 and extend horizontally. When the power supply unit 23 performs contact power supply to the charging unit 13 of the battery 12, the contact state between the pair of charging electrodes E1 and E2 and the pair of power supply electrodes E3 and E4 affects the power supply. For example, when the contact between the corresponding power supply electrode and the charging electrode is released, it becomes impossible to appropriately perform contact power supply to the charging unit 13.

[0089] Here, as shown in FIG. 1, the travel route along which the driverless transport vehicle 10 travels may include both a straight section and a curve section. For example, when both the pair of charging electrodes E1, E2 and the pair of power supply electrodes E3, E4 are arranged horizontally, it is difficult to sufficiently secure the contact range between the corresponding power supply electrode and the charging electrode in the horizontal direction. If the contact range between the corresponding power supply electrode and the charging electrode cannot be sufficiently secured in the horizontal direction, when the driverless transport vehicle 10 turns in a curve section, the lateral positional relationship between the power supply electrode and the charging electrode located on the outer side may be disrupted, and the contact between the two may be released.

[0090] In contrast, in the transport system 1, the pair of charging electrodes E1, E2 are arranged vertically corresponding to the pair of power supply electrodes E3, E4 and extend horizontally. In this case, compared with the above-described configuration, the contact direction between the corresponding power supply electrode and the charging electrode is more easily secured sufficiently in the horizontal direction. Therefore, even when the travel route L1 includes a curve section, it is possible to suppress the contact between the power supply electrode and the charging electrode from being released in the curve section.

[0091] In the charging unit 13, upper wall portions 132 that form part of the side surface 131c of the main body 131 are not provided at both lateral ends of the charging region R1 in the horizontal direction, and lower wall portions 133 that form part of the side surface 131c of the main body 131 are not provided at both lateral ends of the charging region R2 in the horizontal direction. In this case, when the power supply electrode E3 is not properly inserted into the charging port CP1, the power supply electrode E3 is prevented from colliding with the upper wall portion 132 and bending. Similarly, when the power supply electrode E4 is not properly inserted into the charging port CP2, the power supply electrode E4 is prevented from colliding with the lower wall portion 133 and bending.

[0092] Next, with reference to FIG. 11, a modification of the power supply method for the battery 12 will be described. FIG. 11 is a side view showing the configuration of the driverless transport vehicle 10 and the mobile charging device 20 when performing non-contact power supply. In this modification, it is different from the above-described embodiment in that the power supply to the battery 12 is performed by non-contact power supply. Hereinafter, the differences between the above-described embodiment and this modification will be mainly described.

[0093] Also in this modified example, the travel control unit 21 refers to the operation data of the driverless transport vehicle 10 to be charged, and controls the travel of the mobile charging device 20 so as to cooperate with the operation of the driverless transport vehicle 10 on the travel route L1. In addition to this, in this modified example, the travel control unit 21 performs coordinated control of the speed and steering of the mobile charging device 20 based on the operation data of the driverless transport vehicle 10 to be charged so that the distance between the own vehicle and the driverless transport vehicle 10 becomes constant. In one example, when performing the above coordinated control, the travel control unit 21 controls the speed of the mobile charging device 20 to be the same as the speed of the driverless transport vehicle 10 based on the operation data of the driverless transport vehicle 10. Further, when performing the above coordinated control, the travel control unit 21 controls the steering of the mobile charging device 20 at the same timing as the steering timing of the driverless transport vehicle 10 based on the operation data of the driverless transport vehicle 10.

[0094] In this modified example, the mobile charging device 20 has a power feeding unit 23A instead of the power feeding unit 23 in order to perform non-contact power feeding. The power feeding unit 23A is a part that performs non-contact power feeding to the battery 12. That is, in this modified example, when power feeding to the battery 12 is performed, the driverless transport vehicle 10 and the mobile charging device 20 are not connected. In this modified example, the power feeding unit 23A is an electromagnetic induction type power feeding unit having a power feeding coil C1. The power feeding unit 23A is electrically connected to the charger 22 and feeds power from the charger 22 in a non-contact manner. In this modified example, as shown in FIG. 11, the position of the power feeding unit 23A is fixed by a pin P in front of the vehicle body 29A.

[0095] As described above, in this modified example, the power feeding unit 23A performs non-contact power feeding to the charging unit 13A of the battery 12. Therefore, when performing contact type power feeding, the power feeding unit 23A does not have the housing 231, the holding body 232, the spring 233, and the pair of power feeding electrodes E3, E4 that the power feeding unit 23 had.

[0096] In this modified example, when all of the first condition, the third condition, and the fifth condition are satisfied, the power supply control unit 27 starts supplying power to the battery 12. The fifth condition is that the distance between the automated guided vehicle 10 and the mobile charging device 20 is a predetermined distance. The predetermined distance is, for example, 10 mm or more and 50 mm or less. In the present embodiment, the power supply control unit 27 determines whether the fifth condition is satisfied based on the detection result received from the obstacle sensor 24.

[0097] In one example, based on the detection result received from the obstacle sensor 24, the power supply control unit 27 determines whether the fifth condition is satisfied by whether the distance between the automated guided vehicle 10 and the mobile charging device 20 matches the predetermined distance. When the distance between the automated guided vehicle 10 and the mobile charging device 20 does not match the predetermined distance, the power supply control unit 27 determines that the fifth condition is not satisfied. In this case, the power supply control unit 27 outputs information indicating that the distance between the automated guided vehicle 10 and the mobile charging device 20 does not match the predetermined distance to the communication unit 28. When the distance between the automated guided vehicle 10 and the mobile charging device 20 matches the predetermined distance, the power supply control unit 27 determines that the fifth condition is satisfied. In this case, the power supply control unit 27 outputs information indicating that the distance between the automated guided vehicle 10 and the mobile charging device 20 is the predetermined distance to the communication unit 28.

[0098] In this modified example, as information regarding the power supply of the battery 12 on the mobile charging device 20 side, the communication unit 28 outputs to the server 40 information indicating whether the first condition is satisfied and information indicating whether the fifth condition is satisfied. That is, the communication unit 28 outputs to the server 40 information indicating whether there is an obstacle between the mobile charging device 20 and the automated guided vehicle 10 and information indicating whether the distance between the automated guided vehicle 10 and the mobile charging device 20 is the predetermined distance.

[0099] In this modification example, corresponding to the mobile charging device 20 having the power supply unit 23A, the automated guided vehicle 10 has a charging unit 13A instead of the charging unit 13. In this modification example, the charging unit 13A is an electromagnetic induction type charging unit having a power receiving coil C2. The charging unit 13A does not have the main body 131 and the pair of charging electrodes E1 and E2 that the charging unit 13 had. In this modification example, the charging unit 13A is attached to the rear surface of the vehicle body 18A so that the power receiving coil C2 faces the power supply coil C1 of the power supply unit 23A when performing non-contact power supply.

[0100] In this modification example, when the control unit 16 receives information indicating that there is no obstacle between the mobile charging device 20 and the automated guided vehicle 10 and information indicating that the distance between the automated guided vehicle 10 and the mobile charging device 20 is a predetermined distance, the control unit 16 conducts the charging contactor 15. Thereby, the battery 12 and the charging unit 13 are electrically connected. On the other hand, when the control unit 16 receives information indicating that there is an obstacle between the mobile charging device 20 and the automated guided vehicle 10 or information indicating that the distance between the automated guided vehicle 10 and the mobile charging device 20 is not a predetermined distance, the control unit 16 cuts off the charging contactor 15 and electrically disconnects the battery 12 and the charging unit 13.

[0101] In this modification example, since power supply to the battery 12 is performed by non-contact power supply, it is not necessary to connect the automated guided vehicle 10 and the mobile charging device 20. Therefore, the automated guided vehicle 10 and the mobile charging device 20 do not necessarily have members necessary for connecting the two. In this modification example, the automated guided vehicle 10 does not have the electric pin 14, and the mobile charging device 20 does not have the limit switch 25 and the connection member 29C.

[0102] Next, with reference to FIG. 12, the operation of the transport system 1 in this modification example will be described. FIG. 12 is a flowchart showing another example of the operation of the transport system 1.

[0103] In step S21, similar to step S1, the server 40 acquires the remaining capacity of the battery 12. In step S22, similar to step S2, the server 40 determines whether the remaining capacity of the battery 12 is less than a predetermined value. If the remaining capacity of the battery 12 is less than the predetermined value (YES in step S22), it is considered that power supply to the battery 12 is necessary, and the process proceeds to step S23. If the remaining capacity of the battery 12 is greater than or equal to the predetermined value (NO in step S22), it is considered that power supply to the battery 12 is not necessary, and the process returns to step S21.

[0104] In step S23, similar to step S3, the server 40 outputs a power supply command and the operation data of the driverless transport vehicle 10 to be the power supply target. In step S24, similar to step S4, the travel control unit 21 starts the travel of the mobile charging device 20 to the driverless transport vehicle 10.

[0105] In step S25, the travel control unit 21 controls the travel of the mobile charging device 20. Here, based on the operation data of the driverless transport vehicle 10 to be the power supply target, coordinated control of the speed and steering of the mobile charging device 20 is performed so that the distance between the own vehicle and the driverless transport vehicle 10 becomes constant.

[0106] In step S26, the power supply control unit 27 acquires the detection result of the obstacle sensor 24. In step S27, similar to step S7, the power supply control unit 27 determines whether there is an obstacle between the mobile charging device 20 and the driverless transport vehicle 10. If it is determined that there is no obstacle between the mobile charging device 20 and the driverless transport vehicle 10 (YES in step S27), it is considered that the first condition is satisfied, and the process proceeds to step S28. If it is determined that there is an obstacle between the mobile charging device 20 and the driverless transport vehicle 10 (NO in step S27), it is considered that the first condition is not satisfied, and the process returns to step S26.

[0107] In step S28, the power supply control unit 27 determines whether the distance between the unmanned transport vehicle 10 and the mobile charging device 20 is a predetermined distance. That is, in step S28, the power supply control unit 27 determines whether the fifth condition is satisfied. Here, the power supply control unit 27 determines whether the distance between the unmanned transport vehicle 10 and the mobile charging device 20 is a predetermined distance based on the detection result of the obstacle sensor 24.

[0108] When the distance between the unmanned transport vehicle 10 and the mobile charging device 20 is a predetermined distance (YES in step S28), it is considered that the fifth condition is satisfied, and the process proceeds to step S29. When the distance between the unmanned transport vehicle 10 and the mobile charging device 20 is not a predetermined distance (NO in step S28), it is considered that the fifth condition is not satisfied, and the process returns to step S26.

[0109] In step S29, similar to step S10, the control unit 16 conducts the charging contactor 15. In step S30, similar to step S11, the power supply control unit 27 acquires the detection result of the voltage sensor 26.

[0110] In step S31, similar to step S12, the power supply control unit 27 determines whether the voltage value of the battery 12 is within the power supply start range. When the voltage value of the battery 12 is within the power supply start range (YES in step S31), it is considered that the third condition is satisfied, and the process proceeds to step S32. When the voltage value of the battery 12 is not within the power supply start range (NO in step S31), it is considered that the third condition is not satisfied, and the process proceeds to step S34.

[0111] In step S32, similar to step S13, the power supply control unit 27 starts power supply to the battery 12. In step S33, similar to step S14, the power supply control unit 27 ends the power supply to the battery 12. In step S34, similar to step S15, the control unit 16 shuts off the charging contactor 15. In step S35, similar to step S17, the mobile charging device 20 detaches.

[0112] In this modification example, the mobile charging device 20 has a power supply unit that performs non-contact power supply to the charging unit 13 of the battery 12. The mobile charging device 20 performs coordinated control of speed and steering so that the distance between the host vehicle and the unmanned transport vehicle 10 to be powered is constant based on the operation data. When the power supply unit 23 performs non-contact power supply to the charging unit 13 of the battery 12, the distance between the unmanned transport vehicle 10 and the mobile charging device 20 affects the power supply. For example, if the distance between the unmanned transport vehicle 10 and the mobile charging device 20 is too far, there is a possibility that non-contact power supply to the charging unit 13 cannot be properly performed. On the other hand, by performing coordinated control of the speed and steering of the mobile charging device 20 so that the distance between the mobile charging device 20 and the unmanned transport vehicle 10 is constant, it is possible to prevent the distance between the two from becoming too far. Therefore, when performing non-contact power supply, by performing coordinated control of speed and steering so that the distance between the unmanned transport vehicle 10 and the mobile charging device 20 is constant, power supply by the mobile charging device 20 during actual work can be suitably carried out.

[0113] In this modification example, since power supply to the battery 12 is performed by non-contact power supply, it is not necessary to connect the unmanned transport vehicle 10 and the mobile charging device 20. Therefore, it is not necessary to provide members for connecting the two to the unmanned transport vehicle 10 and the mobile charging device 20, and the configurations of the unmanned transport vehicle 10 and the mobile charging device 20 can be simplified.

[0114] As described above, the embodiments and each modification example of the present disclosure have been described. However, the present disclosure is not necessarily limited to the above-described embodiments and each modification example, and various changes are possible without departing from the gist thereof.

[0115] In the conveying system 1, power supply to the battery 12 may be performed not only during the net operation of the driverless transport vehicle 10 but also during a standby period when the driverless transport vehicle 10 is not operating. During the standby period, the driverless transport vehicle 10 is not traveling on the travel route L1 and is waiting, for example, at a predetermined standby station. In this case, power supply to the battery 12 by the mobile charging device 20 may be performed at the standby station. Alternatively, during the standby period, the driverless transport vehicle 10 may be waiting at the fixed charging device 30. In this case, power supply to the battery 12 by the fixed charging device 30 may be performed.

[0116] In the conveying system 1, the driverless transport vehicle 10 does not have to be constituted by only one vehicle as shown in FIG. 3. That is, the driverless transport vehicle 10 may be constituted by a plurality of vehicles. When the driverless transport vehicle 10 is constituted by a plurality of vehicles, the driverless transport vehicle 10 may be constituted by, for example, a tractor and one or more carriages connected to the tractor. In this case, the charging unit 13 may be provided on the tractor or on the one or more carriages.

[0117] The transport system 1 does not necessarily have to include the server 40. In a configuration where the transport system 1 does not include the server 40, the control unit 16 may store the operation data of the host vehicle in advance. In a configuration where the transport system 1 does not include the server 40, the control unit 16 may acquire the remaining capacity of the battery 12 and determine whether the remaining capacity of the battery 12 is below a predetermined value. In a configuration where the transport system 1 does not include the server 40, the control unit 16 may refer to the operation data of the host vehicle and determine whether the host vehicle is in net operation. When the remaining capacity of the battery 12 is below the predetermined value and the host vehicle is in net operation, the control unit 16 may output a power supply command and the operation data of the host vehicle to the communication unit 17, assuming that power supply to the battery 12 is necessary. That is, in a configuration where the transport system 1 does not include the server 40, the determination of whether power supply to the battery 12 is necessary and the determination of whether the driverless transport vehicle 10 is in net operation may be performed in the driverless transport vehicle 10. The communication unit 17 may output the power supply command and the operation data of the host vehicle received from the control unit 16 to the communication unit 28 of the mobile charging device 20.

[0118] Alternatively, without determining whether the remaining capacity of the battery 12 is below a predetermined value, the control unit 16 may output the remaining capacity of the battery 12 and the running data of the own vehicle to the communication unit 17. The communication unit 17 may output the remaining capacity of the battery 12 and the running data of the own vehicle received from the control unit 16 to the communication unit 28 of the mobile charging device 20. The communication unit 28 may output the remaining capacity of the battery 12 received from the communication unit 17 to the travel control unit 21 together with the running data of the automated guided vehicle 10. In this case, the travel control unit 21 may determine whether the remaining capacity of the battery 12 received from the communication unit 28 is below a predetermined value. Further, the travel control unit 21 may refer to the running data received from the communication unit 28 to determine whether the automated guided vehicle 10 is in net working. When the remaining capacity of the battery 12 is below a predetermined value and the automated guided vehicle 10 is in net working, the travel control unit 21 may start the travel of the automated guided vehicle 10 on the assumption that power supply to the battery 12 is necessary. That is, in a configuration where the transport system 1 does not include the server 40, the determination as to whether power supply to the battery 12 is necessary and the determination as to whether the automated guided vehicle 10 is in net working may be made in the mobile charging device 20.

[0119] In the transport system 1, the pair of charging electrodes E1, E2 and the pair of power supply electrodes E3, E4 were arranged vertically, but the arrangement of the pair of charging electrodes E1, E2 and the pair of power supply electrodes E3, E4 is not limited to the above arrangement. The pair of charging electrodes E1, E2 and the pair of power supply electrodes E3, E4 may be arranged corresponding to each other. For example, the pair of charging electrodes E1, E2 and the pair of power supply electrodes E3, E4 may be arranged side by side so as to correspond to each other.

Explanation of reference numerals

[0120] 1... transport system, 10, 10A... automated guided vehicle, 12... battery, 13, 13A... charging unit, 20... mobile charging device, 23, 23A... power supply unit, E1, E2... charging electrode, E3, E4... power supply electrode, L1, L2... travel route, P1, P2... work position, P3, P4... intersection, T1... first period, T2... second period, T3... third period.

Claims

1. An unmanned transport vehicle with a built-in battery that travels on a travel route including a predetermined work position according to operation data, and a mobile charging device capable of autonomous driving that supplies power when the remaining capacity of the battery falls below a predetermined value. The transport system is provided with: The mobile charging device refers to the operation data and supplies power to the battery during a first period in which the unmanned transport vehicle is located on the travel route or during a second period in which the unmanned transport vehicle performs work at the work position.

2. The transport system according to claim 1, wherein the mobile charging device supplies power to the battery including a third period in which the unmanned transport vehicle waits for the passage of another unmanned transport vehicle at an intersection of the travel route.

3. The mobile charging device has a power supply unit that performs contact-type power supply to the charging unit of the battery, The power supply unit has a pair of power supply electrodes arranged vertically, The charging unit has a pair of charging electrodes arranged vertically corresponding to the pair of power supply electrodes and extending horizontally. The transport system according to claim 1 or 2.

4. The mobile charging device has a power supply unit that performs non-contact power supply to the charging unit of the battery, The transport system according to claim 1 or 2, wherein the mobile charging device performs coordinated control of speed and steering based on the operation data so that the distance between the own vehicle and the unmanned transport vehicle to be charged becomes constant.

Images