Luggage storage system

Abstract

To provide a luggage storage system capable of horizontally conveying a body to be conveyed on which an article to be stored is placed between an unmanned conveyance vehicle and a shelf.SOLUTION: A luggage storage system includes: a plurality of bodies to be conveyed 20 each having an ID and on which an article C to be stored is placed; a plurality of shelves 30 each having the ID and capable of storing the body to be conveyed 20; a plurality of unmanned vehicles 40 each having the ID, and a travel path 60 on which the unmanned vehicles 40 can travel, the shelf 30 is integral with the travel path 60 and has a required height difference, so that the body to be conveyed 20 can be transferred in both directions between the shelf 30 and the unmanned conveyance vehicle 40 on the travel path 60 without any difference in height, a placement part 31 of the shelf 30 and an upper surface part 41 of the unmanned conveyance vehicle 40 are provided with a friction reducing function part 45, The unmanned conveyance vehicle 40 has bidirectional transfer means 50, and transports one of the body to be conveyed 20 by placing it on it, and at a stopping position opposite the required shelf 30, transfer means 50 pushes the body to be conveyed 20 onto the upper surface part 41 of the shelf 30, or picks up the body to be conveyed 20 from the upper surface 41 of the shelf 30.SELECTED DRAWING: Figure 4A

Description

[Technical Field]

[0001] The present invention relates to a luggage storage system, for example, and more particularly to a luggage storage system suitable for temporarily storing luggage such as carry-on cases of transit passengers at airports and the like. [Background technology]

[0002] Patent Document 1 discloses this type of luggage storage system. According to this luggage storage system, a rack with an empty shelf is appropriately selected from a plurality of racks arranged in a predetermined layout, and the rack is moved by an automated guided vehicle to the lower end position of an escalator-type conveying device, where luggage such as carry cases is placed on the shelf after being adjusted to the same height as the rack's shelf, and the rack is then returned to its original position. When a luggage such as a carry case is to be handed over to its owner, the rack and its shelf are identified by a luggage ID, and the automated guided vehicle is moved to the lower end position of the escalator-type conveying device again, where the luggage such as a carry case is lowered to the lower end position of the escalator-type conveying device before being handed over to the conveying device and returned to the luggage deposit entrance.

[0003] Furthermore, Patent Document 2 discloses a floor device for an unmanned transport vehicle that is applied to a baggage storage system, etc. The floor device for an unmanned transport vehicle is equipped with a floor that retains position information for the unmanned transport vehicle to automatically travel along a travel path within a baggage storage warehouse. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6740439 [Patent Document 2] Patent No. 7076935 Summary of the Invention [Problem to be solved by the invention]

[0005] The luggage storage system disclosed in Patent Document 1 saves space because the racks are configured with multiple shelves, but the configuration is complicated by the need to install a device for transferring luggage to the racks, and an elevator-type luggage transfer device is also required between the escalator-type conveying device and the racks. Furthermore, because luggage is loaded onto an automated guided vehicle in rack units and moved, not only the luggage requested for retrieval but also other luggage stored in the racks is moved within the storage facility, which increases the energy consumption of the automated guided vehicle for movement, which is inconvenient. Furthermore, because the racks are rectangular in plan view, a large aisle width is required to ensure smooth passing and direction changes. Furthermore, because the travel path must move around the racks, which are concentrated in groups of multiple vehicles, controlling the movement of the automated guided vehicle is complex and difficult.

[0006] The present invention has been devised in consideration of the above points, and aims to provide a luggage storage system that has a running path and a plurality of shelves arranged along the running path, and that can transfer transported objects on which stored items are placed at the same level between an unmanned guided vehicle running on the running path and the shelves. [Means for solving the problem]

[0007] In order to solve the above problem, a luggage storage system according to a first aspect of the present application is a control system for controlling the temporary storage of luggage, comprising: a transported object capable of carrying at least one piece of luggage; a luggage storage building having a plurality of floors arranged in multiple levels; a plurality of shelves provided on the floor of each level, each having a first loading section for placing the transported object; an automated guided vehicle having a second loading section for placing the transported object and running in a running area provided on the floor to place the transported object on the second loading section and transport it; an up-and-down movement mechanism having a third loading section for placing the transported object and moving the transported object on the third loading section from one level to another level; and a control unit, wherein the control unit controls the automated guided vehicle and the up-and-down movement mechanism, and the automated guided vehicle has a transfer means for transferring the transported object on the second loading section to the shelf and transferring the transported object on the shelf to the second loading section.

[0008] As a second aspect of the present application, in the first aspect, the unmanned guided vehicle may be characterized in that it is provided with a holding means for preventing the positional deviation of the transported object when the transported object is placed on the second loading section and travels.

[0009] As a third aspect of the present application, in the first aspect, the shelf may be a structure combining pillars, beams, and shelf boards, and the first mounting portion may be provided at a required height above the shelf boards.

[0010] As a fourth aspect of the present invention, in the third aspect, the pillar may be configured to penetrate the floor.

[0011] As a fifth aspect of the present application, in the third aspect, the second loading section of the automated guided vehicle may be configured to be height-unchangeable and at the same height as the first loading section of the shelf provided on the same floor as the floor on which the traveling area on which the automated guided vehicle travels is provided.

[0012] As a sixth aspect of the present application, in the third aspect, the second loading section of the automated guided vehicle may be controlled to transform into either an elevated state in which it is at the same height as the first loading section provided on the same floor as the floor on which the travel area on which the automated guided vehicle travels is provided, or a lowered state in which it is at a lower height, and the second loading section is controlled to the elevated state when the automated guided vehicle faces the shelf to transfer the transported object.

[0013] As a seventh aspect of the present application, in the fifth or sixth aspect, the transfer means may be characterized in that it has a pair of extendable arm mechanism parts for transferring the object to be transported, and further includes a push bar provided at a required position on the rear end side of the extension direction of each of the extendable arm mechanism parts, and a take-up bar provided at the front end of each of the extendable arm mechanism parts in the extension direction, which abuts against the rear end surface of the object to take up the object to the second loading part.

[0014] As an eighth aspect of the present application, in the seventh aspect, the second loading section may be configured to be slidable by a required distance in the transfer direction by a loading surface sliding drive means, and when the transported object is transferred between the second loading section and the shelf at a position where it stops facing the required shelf, the second loading section slides by the required distance toward the shelf to eliminate the gap between the second loading section and the shelf.

[0015] As a ninth aspect of the present application, in the seventh aspect, the first loading section may be configured such that when the object to be transported placed on the second loading section is pushed by the push bar, the rear side of the first loading section lowers at a required small angle in the pushing direction.

[0016] As a tenth aspect of the present application, in the fifth or sixth aspect, the first and second loading sections may be configured to have a transfer force reduction means for reducing the transfer force when transferring the transported object.

[0017] As an eleventh aspect of the present invention, in the tenth aspect, the mechanical sliding means of the transfer force reducing means may be configured to use a roller and / or a roller.

[0018] As a twelfth aspect of the present application, in the tenth aspect, the transfer force reducing means may be configured using fluororesin and / or felt.

[0019] As a thirteenth aspect of the present application, in the first aspect, as a buffer function for the transfer of the transported object, a first transfer intermediary device is provided adjacent to the position where the vertical movement mechanism unit stops and adjacent to the traveling area, which transfers the transported object in both directions between the vertical movement mechanism unit and the third loading section of the vertical movement mechanism unit, and a second transfer intermediary device is provided adjacent to the first transfer intermediary device on the opposite side of the vertical movement mechanism unit, which mediates the transfer of the transported object in both perpendicular directions between the automatic guided vehicle corresponding to the adjacent position and the first transfer intermediary device.

[0020] As a 14th aspect of the present application, in the first aspect, one or more shelf rows may be provided on one or both sides of a main travel area on the floor where the automated guided vehicles travel.

[0021] As a 15th aspect of the present application, in the 14th aspect, the configuration in which there are multiple shelf rows provided on one side of the main traveling area may be characterized in that it includes two shelf rows with the front ends of the first loading sections facing each other across a sub-traveling area in which the automated guided vehicle can travel.

[0022] As a 16th aspect of the present application, in the 14th aspect, the configuration in which there are multiple shelf rows provided on one side of the main running area may be characterized in that it includes two shelf rows in which the rear ends of the first loading sections are arranged back to back.

[0023] As a 17th aspect of the present application, in the first aspect, the up-and-down movement mechanism may have the function of raising and lowering the third loading section in the vertical direction, and may be configured to transport the transported object from one level to another level while it is placed on the third loading section.

[0024] As an 18th aspect of the present application, in the first aspect, the up-and-down movement mechanism may be attached to an endless conveyor chain that transports vertically or at a required inclination from one level to another level so that the multiple third loading sections are transported while maintaining a horizontal position, and the transported object is transferred from one level to another level while placed on the third loading section.

[0025] As a 19th aspect of the present application, in the first aspect, the vertical movement mechanism may be characterized in that it has a vertical continuous transport function in which the transported object moves while rotating in one direction from one floor to another floor.

[0026] As a twentieth aspect of the present application, in the first aspect, each of the floors of the multiple stories may be provided with a plurality of shelves for placing the transported objects arranged in a long row in the longitudinal direction of the building, two X-direction rails provided between the shelves, and two Y-direction rails intersecting all of the two X-direction rails, and the vertical movement mechanism is provided at an end position of the two Y-direction rails on each story, penetrating each of the floors of the multiple stories in the vertical direction, and the automated guided vehicle is transported to the floor of a desired story via the vertical movement mechanism and runs on the two Y-direction rails and the two X-direction rails.

[0027] As a 21st aspect of the present application, the first aspect may be characterized in that it is applied to a facility for temporarily storing luggage at an airport.

[0028] As a 22nd aspect of the present application, the first aspect may be characterized in that it is applied to a facility for temporarily storing luggage in a logistics center. [Effects of the Invention]

[0029] According to each aspect of the present invention, a luggage storage system can be provided which is equipped with a running track and a plurality of shelves arranged along the running track, and which allows the transported object on which the stored items are placed to be transferred at the same level between the unmanned guided vehicle running on the running track and the shelves, making it possible to provide a luggage storage system suitable for temporarily storing luggage such as carry-on bags of passengers sightseeing during transit times at airports, etc. [Brief explanation of the drawings]

[0030] [Figure 1A] 1 is a perspective view seen from above showing a portion of a luggage storage system according to a first embodiment of the present invention. [Figure 1B] 1 is a perspective view showing a part of a luggage storage system according to a first embodiment of the present invention, looking in the direction of the gate. [Figure 2A] 1 is a perspective view showing part of a luggage storage system according to a first embodiment of the present invention, showing part of the side surfaces of the first to third floors. [Figure 2B] 1 is a perspective view showing a part of a luggage storage system according to a first embodiment of the present invention, showing a part of the sixth floor (the top floor) from above. [Figure 2C] FIG. 2 is a perspective view of a portion of the luggage storage system according to the first embodiment of the present invention, showing a portion of the sixth floor (the top floor) in another state as viewed from above. [Figure 3] 1 is a perspective view showing part of a luggage storage system according to a first embodiment of the present invention, showing part of the side surface from the first floor to the third floor. [Figure 4A] 1 is a side view showing a part of a luggage storage system according to a first embodiment of the present invention, showing a state in which an automated guided vehicle has placed a tray thereon and is about to transfer the tray to a shelf. [Figure 4B] 1 is a side view showing a part of a luggage storage system according to a first embodiment of the present invention, showing a state in which an automated guided vehicle has transferred a tray onto a shelf. [Figure 4C] 1 is a front view showing a part of a luggage storage system according to a first embodiment of the present invention, illustrating the configuration of a transfer means of an automatic guided vehicle. [Figure 5] 1 is a schematic plan view showing a part of a luggage storage system according to a first embodiment of the present invention, illustrating the principle of extension and retraction of a double-extendable arm mechanism that constitutes a transfer means equipped on an automatic guided vehicle. FIG. [Figure 6A] FIG. 2 is a process diagram showing a part of the luggage storage system according to the first embodiment of the present invention, illustrating an automated guided vehicle picking up a transported object carrying stored items from a second delivery intermediary device or a shelf. [Figure 6B] FIG. 2 is a process diagram showing a part of the luggage storage system according to the first embodiment of the present invention, illustrating an automated guided vehicle picking up a transported object carrying stored items from a second delivery intermediary device or a shelf. [Figure 6C] FIG. 2 is a process diagram showing a part of the luggage storage system according to the first embodiment of the present invention, illustrating an automated guided vehicle picking up a transported object carrying stored items from a second delivery intermediary device or a shelf. [Figure 6D] FIG. 2 is a process diagram showing a part of the luggage storage system according to the first embodiment of the present invention, illustrating an automated guided vehicle picking up a transported object carrying stored items from a second delivery intermediary device or a shelf. [Figure 6E] FIG. 2 is a process diagram showing a part of the luggage storage system according to the first embodiment of the present invention, illustrating an automated guided vehicle picking up a transported object carrying stored items from a second delivery intermediary device or a shelf. [Figure 6F] FIG. 2 is a process diagram showing a part of the luggage storage system according to the first embodiment of the present invention, illustrating an automated guided vehicle picking up a transported object carrying stored items from a second delivery intermediary device or a shelf. [Figure 7] FIG. 1 is a plan view showing a part of a luggage storage system according to a first embodiment of the present invention, showing a first delivery intermediary device and a second delivery intermediary device adjacent to an elevator (not shown) and a shelf, and showing the state in which the first delivery intermediary device has received a transported object carrying stored items from the elevator (not shown). [Figure 8]FIG. 1 is a plan view showing a portion of a luggage storage system according to a first embodiment of the present invention, illustrating a state in which a second delivery intermediary device receives a transported object carrying stored items from a first delivery intermediary device and an automated guided vehicle has reached a position corresponding to the second delivery intermediary device. [Figure 9] 1 is a plan view showing a part of the luggage storage system according to the first embodiment of the present invention, illustrating a state in which an automated guided vehicle has picked up a transport object carrying a stored item from a second delivery intermediary device. [Figure 10] 1 is a plan view showing a part of a luggage storage system according to an embodiment of the present invention, illustrating a state in which an automated guided vehicle pushes a transported object carrying a stored item picked up from a second delivery intermediary device onto a shelf. [Figure 11] FIG. 1 is a plan view showing a part of a luggage storage system according to a first embodiment of the present invention, illustrating the state in which the double telescopic arm mechanism is contracted after the automated guided vehicle has pushed the transported object carrying the stored item onto the shelf. [Figure 12] 10 is a perspective view showing a portion of the rooftop floor and the two floors below it of a luggage storage building for a luggage storage system according to a second embodiment of the present invention. FIG. [Figure 13] FIG. 10 is a plan view showing a portion of each floor of a luggage storage system according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0031] BEST MODE FOR CARRYING OUT THE INVENTION A luggage storage system according to an embodiment of the present invention will be described below with reference to the drawings.

[0032] [First embodiment] As shown in FIGS. 1A, 1B to 3, the subject of the present invention is a luggage storage system 1 for controlling temporary storage of luggage. The luggage storage system 1 comprises a transported object 20 (hereinafter, in this embodiment, the transported object will be referred to as a "tray") on which a stored item C can be loaded, a luggage storage building 10 having floors 60 configured with multiple levels, a plurality of shelves 30 provided on each floor 60 for placing the trays 20, an automated guided vehicle 40 that has the function of placing the trays 20 and traveling through a main traveling area 60a provided on the floor 60 to transfer the trays 20 to the shelves 30, a vertical movement mechanism 16 (hereinafter, in this embodiment, the vertical movement mechanism will be referred to as an "elevator") that has the function of placing the trays 20 and moving them from one level to another, and a control unit 9 (Figure 1B; in this embodiment, the control unit 9 is provided in a system management computer) that inputs data such as the ID of the stored item C, the ID of the transported object 20, the ID of the shelf 30 at the storage location, and the ID of the automated guided vehicle 40 used for loading and retrieving, and controls controlled objects such as the automated guided vehicle 40 and the vertical movement mechanism 16.

[0033] The system control computer is configured with a CPU (Central Processing Unit), a ROM (Read-only Memory) that stores control programs and the like that run on the CPU, RAM for temporarily storing various data, and a storage device (not shown). The system control computer is equipped with a control unit 9, a storage unit, a display unit, an input unit, and a communication unit, and is connected to the controlled object by wired and / or wireless lines (not shown).

[0034] The tray 20 is large enough to accommodate one stored item C, which is the largest carry case, and can also accommodate multiple small carry cases, which are stored items C. In addition to carry cases, the tray 20 can also accommodate carry bags, etc.

[0035] The luggage storage building 10 has a luggage storage space whose exterior surface, when viewed from above, has a rectangular, angle-shaped (L-shaped), or channel-shaped (U-shaped) outline shape. In this embodiment, the outline shape is rectangular. The luggage storage building 10 includes multiple columns 11 erected at required intervals in the X direction (here, the longitudinal direction of the building) and the Y direction (here, the transverse direction of the building) of the outline shape when viewed from above, multiple X-direction beams 12 connecting the multiple columns 11 arranged in the X direction, and multiple Y-direction beams 13 connecting the multiple columns 11 arranged in the Y direction. Note that H-shaped steel is used for the columns 11, H-shaped steel is used for the X-direction beams 12, and H-shaped steel is used for the Y-direction beams 13 where the columns 11 are connected, with channel steel or angle steel used elsewhere. Furthermore, the X-direction beams 12 may be secured to the side of the columns 11 with bolts and nuts and welded, and the Y-direction beams 13 may be secured to the top of the X-direction beams 12 with bolts and nuts and welded.

[0036] In this embodiment, the pillars 11 are erected, for example, every 1.8 m on both sides along the X direction (longitudinal direction) of the luggage storage building 10, and there are no pillars located inside the building. Therefore, the Y-direction beams 13 connect two pillars 11 together in the Y direction (transverse direction) of the luggage storage building 10, and two X-direction beams 12 together.

[0037] When the Y-direction beams 13 are used as joists, the Y-direction beams 13 are arranged on the X-direction beams 12 at intervals of, for example, 30 cm, and floor base plates 14 (e.g., concrete panels) are laid on the Y-direction beams 13, and floor panels (not numbered) having a position indication function are laid on the floor base plates 14, thereby forming the floor 60. Also, for the shelf 30, a shelf base plate 15 is attached on the Y-direction beams 13 (joists) that have a required height difference from the floor base plate 14, and a shelf panel 30a is installed on the shelf base plate 15, thereby forming the shelf 30.

[0038] In this embodiment, the luggage storage building 10 has a main travel area 60a extending in the X direction in the center of the floors 60 of the second to sixth stories, where the automated guided vehicles 40 travel unmanned. Multiple shelves 30 are arranged in a row on both sides of the main travel area 60a (both sides of the floors 60). In the illustrated example, the main travel area 60a is wide enough to allow two automated guided vehicles 40 to pass each other. If there is only one automated guided vehicle 40 on each story, the width of the main travel area 60a need only be wide enough for the automated guided vehicle 40 to travel and pivot. Even if there are multiple automated guided vehicles 40 on each story, the width of the main travel area 60a can be reduced to the size of one vehicle by providing one or more waiting areas for the automated guided vehicles 40 to pass each other. In order to accommodate multiple shelves 30, a raised floor 13a is provided on the Y-direction beams 13. In the present invention, this raised floor 13 a is also included in the Y-direction beam 13 .

[0039] In the luggage storage building 10, a pair of elevators 16 are arranged in the longitudinal center and on both sides of the floor 60. In this embodiment, the elevator 16 has a third placement section 16a for placing a tray 20 thereon, and is an elevator structure in which the tray 20 is placed on the third placement section 16a and moves from one floor to another floor.

[0040] On each floor of the luggage storage building 10, a first delivery intermediary device 17 and a second delivery intermediary device 18 are provided on both sides of the vertical movement mechanism 16 on each side, and a plurality of shelves 30 are provided on the other two sides of the floor 60.

[0041] [About Shelf 30] 4A and 7, the shelf 30 has a first placement section 31 for receiving and placing the tray 20 from one side in the horizontal direction, and the three ends of the first placement section 31 other than the receiving end are surrounded by side walls 32. When the tray 20 on the automatic guided vehicle 40 is pushed over, the side of the shelf 30 opposite the automatic guided vehicle 40 (the recessed side) may be configured to lower at a required small angle, for example, about 5 degrees, by a tilting actuator 33 provided thereon. This configuration allows the tray 20 to be smoothly transferred from the first placement section 31 to the shelf 30. A stopper 34 is provided to prevent the tray 20 from sliding toward the recessed side when tilted.

[0042] Each shelf 30 is large enough to store one tray 20 at the maximum. One tray 20 is not limited to being able to carry one stored item C, but may also be used to carry, for example, three small carry cases. The tray 20 may also be used to carry multiple carry bags.

[0043] In the luggage storage system 1, a loading / unloading lane 10b consisting of a belt conveyor that can run in both directions and is the transport base end and unloading terminal end of a gate 10a provided outside the luggage storage building 10 branches into two at some point and extends to elevators 16 on either side that stop on the first floor of the luggage storage building 10. At the gate 10a, an item C to be stored is placed on a tray 20, and this tray 20 is transported along the loading / unloading lane 10b and transferred to one of the elevators 16. The loading / unloading lane 10b is preferably configured as a circular route.

[0044] The system control computer controls the operating devices that make up the baggage storage system 1. The system control computer is installed, for example, near gate 10a, and inputs and manages the barcode (item ID) attached to the stored item C, the barcode (tray ID) attached to the tray 20 carrying the stored item C, and the barcode (automated guided vehicle ID) attached to the automated guided vehicle 40 that carries and transports the tray 20, and when the stored item C is deposited, the system controls these devices to transfer the tray 20 carrying the stored item C from elevator 16 to first transfer intermediary device 17, second transfer intermediary device 18, automated guided vehicle 40, and shelf 30 in that order for storage. When the item C is to be delivered to a customer, the system controls these devices to transfer the item from shelf 30 to automated guided vehicle 40, second transfer intermediary device 18, first transfer intermediary device 17, elevator 16, and carry-in / carry-out lane 10b in that order, and transport it to gate 10a. Details will be described later.

[0045] [About the Automated Guided Vehicle 40] Although not shown, the automated guided vehicle 40 has, for example, a pair of driving wheels installed on the floor on both sides, each driven by a respective servo motor, and when they rotate in the same direction, the vehicle moves forward or backward, and when one wheel rotates faster than the other, the vehicle can change direction. Casters that can be freely changed in direction are provided at the four corners of the lower part of the vehicle body to stabilize the vehicle body.

[0046] The floor panel (not shown) having a position indication function may be equivalent to the floor panel 8 described in Patent Document 2. In this embodiment, by laying a plurality of floor panels with marks and magnetic tape in the required direction, the automated guided vehicle 40 can confirm its position and direction from the position information provided by the marks and magnetic tape and automatically travel to the required position.

[0047] The unmanned guided vehicle 40 (vehicle body) is an "automated guided vehicle," and may be any of the following: an automated guided vehicle (AGV) that can travel automatically without human operation, using weak induced currents from wires embedded in the floor or lines drawn on the floor; a laser-guided type (reflector-guided type) that is equipped with a laser device and emits a laser at reflectors attached to walls or pillars inside a building, and uses the reflected laser to estimate its own position and travel autonomously; a SLAM-guided type that uses a combination of external sensors such as cameras and laser sensors and internal sensors such as encoders and gyroscopes, and can estimate its own position without the need for infrastructure such as embedded wires or markings in the floor, has the function of automatically generating a travel route, and can automatically avoid obstacles without being bound to a fixed route; or an autonomous mobile robot (AMR) that can travel autonomously without the need for a guide.

[0048] As shown in Figures 4A, 4B, and 4C, the automated guided vehicle 40 has a second mounting section 41 for placing a tray 20 thereon, and is provided with a movable stopper 43 that rises in front of the tray 20 to prevent the tray 20 from falling when the tray 20 placed on the second mounting section 41 is pushed onto the first mounting section 31 of the shelf 30. This movable stopper 43 is raised and lowered by an elevation actuator 44. It is preferable that when the tray 20 is placed on the second mounting section 41, the movable stopper 43 is raised, and when the second mounting section 41 and the first mounting section 31 approach each other to transfer the tray 20 between them, the movable stopper 43 is lowered before the second mounting section 41 is slid toward the extended state by the slide drive means 45. The movable stopper 43 is a holding means for preventing the tray 20 from shifting position when the tray 20 is placed on the second loading section 41 and traveling, and has the function of preventing the tray 20 from falling off the second loading section 41 when the automated guided vehicle 40 stops moving forward or when it turns.

[0049] Furthermore, if the unmanned transport vehicle 40 is configured so that the second loading section 41 does not extend in the sliding direction and the tray 20 is loaded on the second loading section 41, and the take-up bar 53 of the transfer means 50 is kept horizontal, the take-up bar 53 has the function of preventing the tray 20 from falling, so there is no need to provide the movable stopper 43 and the lifting actuator 44.

[0050] When the unmanned guided vehicle 40 stops at a predetermined waiting position that does not obstruct the passage of other unmanned guided vehicles 40, for example, at either end of the longitudinal direction of the luggage storage building 10, it is preferably automatically electrically connected to a power supply device installed there and power is supplied.

[0051] As shown in FIGS. 4A and 4B , the luggage storage building 10 has a required step between the X-direction beams 12 and the raised floor 13a of the Y-direction beams 13. Therefore, the shelves 30 are provided at a required height higher than the floor 60. This eliminates any step between the shelves 30 and the automated guided vehicles 40 on the floor 60, allowing trays 20 to be transferred horizontally and bidirectionally. Transfer of trays 20 between the shelves 30 and the automated guided vehicles 40 on the floor 60 can be achieved simply by pushing and pulling the trays 20 using the transfer device 50 equipped on the automated guided vehicles 40. Therefore, this embodiment is not configured to allow the automated guided vehicles 40 to travel through the under-shelf space. Alternatively, a loading / unloading lane 10b may be provided to pass through the under-shelf space on the first level, and the automated guided vehicles 40 traveling on the loading / unloading lane 10b may pass through the under-shelf space on the first level.

[0052] 4C is a diagram showing the configuration of the automated guided vehicle 40 other than the vehicle body. The automated guided vehicle 40 includes a second placement section 41 on which the tray 20 is placed, side wall sections 42 rising on both sides of the second placement section 41, and a transfer means 50.

[0053] [Regarding the second placement section 41 of the automated guided vehicle 40] The second mounting portion 41 preferably has a function of operating a slide table. The second mounting portion 41 may be fixed to the vehicle body.

[0054] The second mounting portion 41 is preferably guided in the traveling direction (front-rear direction) by straight guides (e.g., linear guides) 46 on both sides as shown in Figures 4C and 6C, and is slidable by slide drive means 45 provided on the vehicle body side as shown in Figure 6B.

[0055] The slide drive means 45 consists of a rotary actuator 45a fixed to the vehicle body that rotates 180 degrees at a time, a disk 45b that is rotated by the rotary actuator 45a, an engagement pin 45c provided on the disk 45b, and a long hole guide 45d formed on the underside of a plate that constitutes the second mounting portion 41, that engages with the engagement pin 45c, and that moves in simple harmonic motion due to the circular motion of the engagement pin 45c.

[0056] Because the second placement section 41 of the automated guided vehicle 40 has a slide table operating function, when the automated guided vehicle 40 is positioned to stop facing a required shelf 30, the slide drive section 45 is activated and the second placement section 41 slides a required distance toward the shelf 30 to eliminate the gap between it and the shelf 30 before the transfer section 50 transfers the tray 20 between the second placement section 41 and the first placement section 31 of the shelf 30. This configuration allows for smooth transfer of the tray 20 when a gap exists between the automated guided vehicle 40 and the shelf 30.

[0057] [Friction reduction function part] The second placement section 41 provided on the automated guided vehicle 40 has a friction reduction function section on the placement surface. The friction reduction function section is provided as a means for reducing transfer resistance on both the second placement section 41 of the automated guided vehicle 40 and the first placement section 31 of the shelf 30, so that the transfer means 50 equipped on the automated guided vehicle 40 can smoothly transfer the trays 20 in either direction between the automated guided vehicle 40 and the shelf 30 using only the pushing or pulling force.

[0058] The friction reducing function section may be configured to reduce the transfer resistance of the tray 20 when the tray 20 is transferred between the shelf 30 and the transfer means 50 in both directions.

[0059] The friction reduction function unit may be configured, for example, such that a plurality of roller rails 34, each having rotatable rollers 34a with fixed axial positions arranged in the transfer direction, are provided on the first placement section 31 of the shelf 30, and the trays 20 are placed on these roller rails for transport. Also, a plurality of roller rails 47, each having rotatable rollers 47a with fixed axial positions arranged in the transfer direction, are provided on the second placement section 41 of the automated guided vehicle 40, and the trays 20 are placed on these roller rails for transport.

[0060] The friction reduction function section may also be configured as a roller table instead of roller rails 47. Furthermore, the friction reduction function section may be configured such that the constituent material of the mounting surfaces of first mounting section 31 and second mounting section 41 is made of a friction-reducing material such as plastic, or the surfaces of first mounting section 31 and second mounting section 41 are provided with a fluororesin coating, Teflon (registered trademark) sheet, or felt (none of which are shown) that has slipperiness.

[0061] [Regarding the transfer means 50] The transfer means 50 provided on the automatic guided vehicle 40 includes a double telescopic arm mechanism (telescope) 51.

[0062] The double telescopic arm mechanism 51 includes a pair of fixed arms 51a provided on both sides of the tray 20 placed on the automatic guided vehicle 40, a pair of first telescopic arms 51b that simultaneously slide in the arm longitudinal direction from each fixed arm 51a, and a pair of second telescopic arms 51c that further simultaneously slide in the arm longitudinal direction from each first telescopic arm 51b.

[0063] The double sliding function of the first telescopic arm 51b and the second telescopic arm 51c may be achieved by employing an appropriate mechanism, for example, a configuration using two air cylinder devices, or a configuration using a pinion that is rotated by a motor and a rack that meshes with the pinion and slides, but in this embodiment, it is configured as follows.

[0064] As shown in FIGS. 4C and 5, the fixed arm 51a, first telescopic arm 51b, and second telescopic arm 51c on each side are connected to the ends of belts 54 and 55 at required locations, and the belts 54 and 55 are hooked midway around guide wheels (unnumbered) at the front and rear ends of the first telescopic arm 51b. Therefore, when the first telescopic arm 51b slides relative to the fixed arm 51a, the second telescopic arm 51c simultaneously slides in the same direction and by the same stroke as the first telescopic arm 51b. Thus, a dual-slider mechanism is formed by the two belts 54 and 55. The first telescopic arms 51b on both sides have arm-hanging portions 51b1, which are connected to arm-connecting rods 51b2. Therefore, the first telescopic arms 51b on both sides can move together. Alternatively, a dual-slider mechanism may be formed using two air cylinder devices.

[0065] Also provided is a sliding means including a control motor 56 for sliding the first telescopic arm 51b and a winding mechanism 57. This sliding means has a winding mechanism 57 in which a running body (chain) 57c is wound around sprockets 57a and 57b along the first telescopic arm 51b, a pin shaft 51b3 provided on the first telescopic arm 51b is connected to the running body 57c, a control motor (for example, a servo motor) 56 rotates a transmission shaft 58c via gear trains 58a and 58b, and sprockets 57a are fixed to both ends of the transmission shaft 58c. Therefore, the control motor 56 controls the travel distance and reciprocating movement of the running body 57c, and the first telescopic arm 51b and the second telescopic arm 51c can perform an extension operation when pushing and receiving the tray 20.

[0066] The transfer means 50 further includes a push-out bar 52 provided at a required position on the rear end side in the extension direction of each double telescopic arm mechanism section (telescope) 51, and a take-up bar 53 that is provided at the front end in the extension direction of each double telescopic arm mechanism section 51 and that abuts against the rear end surface of the tray 20 by operating a rotary actuator 53a that rotates reciprocally 90 degrees in a vertical plane, thereby taking up the tray 20. The push-out bar 52 and the take-up bar 53 are provided on the second telescopic arm 51c on each side, and the parallel distance between the push-out bar 52 and the take-up bar 53 is set to be approximately the same as that of the tray 20.

[0067] The push bar 52 and the take-up bar 53 are configured to press the tray 20, but may also be configured to press a carry case loaded on the tray 20. However, if the stored item C is not a carry case but includes a carry bag, it is essential to load the carry bag on the tray 20, and in this case, the push bar 52 and the take-up bar 53 must be arranged to press the tray 20.

[0068] The transfer means 50 extends the double telescopic arm mechanism 51 when pushing the tray 20 from the automatic guided vehicle 40 to the shelf 30, or contracts the double telescopic arm mechanism 51 when taking the tray 20 from the shelf 30 onto the automatic guided vehicle 40.

[0069] The take-up bar 53 is fixed to the output shaft of a rotary actuator 53a, which is supported by brackets 53b attached to the tip of the second telescopic arms 51c on each side. The take-up bar 53 can rotate 90 degrees from an upright position to a horizontal position, and when it reaches the horizontal position, it fits into a groove in the bracket 53b and is held stably.

[0070] When the second telescopic arm 51c is extended and enters the shelf 30 or the second handover intermediary device 18, the take-up bar 53 is in an upright position at the tip of the second telescopic arm 51c in the direction of entry, and before the double telescopic arm mechanism 51 begins to extend and retrieve the tray 20, the rotary actuator 53a rotates, causing the take-up bar 53 to rotate 90 degrees from the upright position to a horizontal position and come into contact with the rear end of the tray 20.

[0071] Therefore, when the double telescopic arm mechanism 51 subsequently starts to telescope, the tray 20 carrying the stored item C can be taken over onto the loading surface of the automatic guided vehicle 40. Note that instead of the rotary actuator 53a, an air cylinder device or an actuator combining a spring and an electromagnet may be used.

[0072] If the stored items C loaded on the tray 20 are limited to carry cases and not carry bags, the take-up bar 53 may be provided at a higher position so that the take-up bar 53 abuts against the rear surface of the carry case loaded on the tray 20 instead of the rear end of the tray 20. The same applies to the push-out bar 52.

[0073] Furthermore, the take-up bar 53 may be configured to extend horizontally in the insertion direction at the tip of the second extendable arm 51c in the insertion direction and to be provided so as to be able to rotate 90 degrees within a horizontal plane.

[0074] [Regarding cooperation between the second placement unit 41 of the automated guided vehicle 40 and the transfer means 50] 6A to 6F show process diagrams in which the automated guided vehicle 40 uses the transfer means 50 to pick up the tray 20 carrying the stored item C from the second transfer intermediary device 18 or the shelf 30 onto the second placement section 41. The second transfer intermediary device 18 or the shelf 30 is not shown.

[0075] 6A, the double telescopic arm mechanism 51 of the transfer means 50 is in a contracted state. The take-up bar 53 is raised and does not protrude horizontally. The movable stopper 43 is raised and the second placement portion 41 does not protrude.

[0076] 6B, the second placement section 41 protrudes from the movable stopper 43. The upper surface of the second placement section 41 is at the same level as the upper surface of the second transfer intermediary device 18 or the shelf 30. The protrusion of the second placement section 41 fills the gap (separation distance) between the automatic guided vehicle 40 and the second transfer intermediary device 18 or the shelf 30.

[0077] 6C, the dual telescopic arm mechanism 51 is in an extended state. The tray 20 carrying the storage item C on the second transfer intermediary device 18 or the shelf 30 is positioned between the pair of second telescopic arms 51c.

[0078] In FIG. 6D, the take-off bar 53 extends horizontally.

[0079] 6E, the dual telescopic arm mechanism 51 is about to complete its contracted state. The take-up bar 53 abuts against the rear end of the tray 20 and is about to finish taking up the tray onto the second placement section 41. At this stage, the second placement section 41 remains extended.

[0080] 6F, the dual telescopic arm mechanism 51 has completed the contracted state, and the take-up bar 53 has come into contact with the rear end of the tray 20, completing the take-up onto the second placement unit 41. At this stage, the second placement unit 41 has returned to its original position, and then the movable stopper 43 has risen.

[0081] [About Elevator 16] The elevator 16 serving as the vertical movement mechanism in this embodiment has two independently driven short belt conveyors arranged in series as a third placement section 16a large enough to place one tray 20. The elevator 16 can, for example, transport the two placed trays 20 to the first transfer intermediary devices 17 on either side, one on the right and one on the left, or can also transport the two placed trays 20 to the first transfer intermediary device 17 on the right or left side. The elevator 16 has the function of placing the trays 20 on one of the third placement sections 16a (short belt conveyors) and moving them from one floor to another.

[0082] [Regarding the first delivery intermediary device 17] The first transfer intermediary device 17 is a belt conveyor that has two belt conveyors 17a and 17b arranged side by side and is large enough to hold a tray 20 and can independently move in either direction, and can move and stop the tray 20. Tray guides 17c and 17d are provided as needed.

[0083] [Regarding the second delivery intermediary device 18] 7, a friction reducing function unit is also provided on the upper surface of the second transfer intermediary device 18. The first transfer intermediary device 17 and the second transfer intermediary device 18 are provided at the same height as the shelf 30.

[0084] The friction reduction function part of the second transfer intermediary device 18 is, for example, large enough to hold one tray 20 of a specified size, and is composed of rollers that are fixed in position across the entire loading surface and move freely in the X direction, and rollers that move freely in the Y direction and are arranged in a dispersed manner with one roller at a time.

[0085] The row of rollers (X-direction roller rails) 18a that move in the X direction are driven synchronously in one direction or the other, actively participating in the transfer of tray 20. The row of rollers (Y-direction roller rails) 18b that move in the Y direction are all free-rotating rollers and serve as friction reduction functional parts.

[0086] The second transfer intermediary device 18 functions as follows overall. First, the row of rollers 18a that move in the X direction is actively involved, for example, when transferring trays 20 between the first transfer intermediary device 17 and the second transfer intermediary device 18. At this time, the row of rollers 18a that move in the X direction of the building is higher, for example, by 5 mm, than the row of rollers 18b that move in the Y direction of the building and is driven to rotate, thereby transferring trays 20 in the X direction. Then, after the row of rollers 18a has been involved in transferring trays 20 between the first transfer intermediary device 17 and the second transfer intermediary device 18, it becomes lower, for example, by 5 mm, than the rollers 18b that move in the Y direction of the building and stops rotating.

[0087] When transferring a tray 20 between the second transfer intermediary device 18 and the unmanned transport vehicle 40, the row 18b of rollers moving in the Y direction is changed from a state in which it is 5 mm higher than the row 18a of rollers moving in the X direction to a state in which it is 5 mm higher, and the rollers constituting the row 18b of rollers are free to rotate.

[0088] Since the second transfer intermediary device 18 is provided at the same height as the shelf 30, the transfer of the tray 20 between the automatic guided vehicle 40 and the second transfer intermediary device 18 can be carried out by simply pushing and pulling the tray 20 using the transfer means 50 equipped on the automatic guided vehicle 40, just like the transfer of the tray 20 between the automatic guided vehicle 40 and the shelf 30.

[0089] Therefore, the second transfer intermediary device 18 has the function of intervening in the transfer of the tray 20 by changing the transfer path in the perpendicular direction between the first transfer intermediary device 17 and the automatic guided vehicle 40, which are disposed in different positions in the perpendicular direction. Note that the second transfer intermediary device 18 is provided with stoppers 18c and 18d as necessary.

[0090] [Regarding the movement of tray 20 carrying item C within luggage storage system 1] A system control computer installed in gate 10a assigns an ID to stored item C, which is stored for temporary luggage custody, and when this stored item C is placed on tray 20, the ID of stored item C and the ID of tray 20 are linked and registered, a suitable available shelf 30 is selected and linked and registered with its ID, a suitable available automatic guided vehicle 40 is selected and linked and registered with its ID, an available elevator 16 is selected and linked and registered with its ID, and other necessary information on facilities and customer information is registered. Thus, by sending the necessary control commands from the system control computer, the tray 20 carrying stored item C transported in the carry-in / carry-out lane 10b is transferred to the elevator 16, then to the first transfer intermediary device 17 on the floor where the shelf 30 with the registered ID is located, then to the second transfer intermediary device 18 to the automatic guided vehicle 40, and then to the registered shelf 30 for storage.

[0091] To return stored item C stored on shelf 30 to a customer, the system management computer searches for the ID of stored item C, selects the position and floor of shelf 30 associated with the linked ID, an appropriate available automated guided vehicle 40 and its ID, and an available elevator 16 and its ID, and sends the necessary control command, whereby the tray 20 carrying the selected stored item C is transferred from the shelf 30 to the automated guided vehicle 40, from the automated guided vehicle 40 to the elevator 16 via the second delivery intermediary device 18 and the first delivery intermediary device 17, and from the elevator 16 to the loading / unloading lane 10b and then transported to gate 10a.

[0092] As shown in Figures 2A, 2B, 2C, and 7, elevator 16 carries tray 20 carrying stored item C to each floor of luggage storage building 10, and first delivery intermediary device 17 receives tray 20 carrying stored item C from elevator 16.

[0093] FIG. 8 shows a state in which the second transfer intermediary device 18 receives the tray 20 carrying the stored article C from the first transfer intermediary device 17, and then the automatic guided vehicle 40 comes to pick up the tray 20.

[0094] FIG. 9 shows a state in which the automated guided vehicle 40 receives the tray 20 carrying the storage object C from the second transfer intermediary device 18.

[0095] FIG. 10 shows a state in which the automated guided vehicle 40 moves to the shelf 30 at the storage position and pushes the tray 20 carrying the stored object C onto the shelf 30.

[0096] FIG. 11 shows a state in which the double telescopic arm mechanism unit 51 is contracted after the automated guided vehicle 40 has pushed the tray 20 carrying the storage object C onto the shelf 30 at the storage position.

[0097] When the automated guided vehicle 40 retrieves the tray 20 carrying the stored item C from the shelf 30, the process is the same as in Figures 8 and 9. Furthermore, when the automated guided vehicle 40 delivers the tray 20 carrying the stored item C to the second delivery intermediary device 18, the process is the same as in Figures 10 and 11.

[0098] When the second transfer intermediary device 18 receives a tray 20 carrying an item C from the automated guided vehicle 40, the row of rollers 18a that transfers the tray in the X direction is raised by 10 mm and further rotated to transfer the tray 20 to the first transfer intermediary device 17.

[0099] As explained above, the elevator 16 carries the trays 20 to each floor of the luggage storage building 10, the first transfer intermediary device 17 receives the trays 20 from the elevator 16, and the second transfer intermediary device 18 receives the trays 20 transported from the first transfer intermediary device 17.

[0100] The luggage storage system 1 is configured so that trays 20 are not received or exchanged between the elevator 16 and the automated guided vehicles 40 on each floor. This is because the first transfer intermediary device 17 and the second transfer intermediary device 18 are provided as buffer devices to increase the operating efficiency of the elevator 16. However, trays 20 may be received or exchanged between the elevator 16 and the automated guided vehicles 40 on each floor.

[0101] As configured above, the luggage storage system 1 includes a plurality of trays 20 each having an ID attached thereto and on which stored items C are placed, a plurality of shelves 30 each having an ID attached thereto and arranged in a required arrangement, each capable of storing one of the trays 20, a plurality of automated guided vehicles 40 each having an ID attached thereto, and a floor 60 arranged along the shelves 30 and on which the plurality of automated guided vehicles 40 can travel, and the first placement portion 31 of the shelf 30 and the second placement portion 41 of the automated guided vehicle 40 each have a friction reduction function portion 45 for reducing friction. The automated guided vehicle 40 has a transfer means 50 with a bidirectional transport function for picking up and sending out, and is configured to place any one of the trays 20 on it and transport it, and when it stops facing the required shelf 30, the transfer means 50 pushes the tray 20 onto the first loading section 31 of the shelf 30, or to pick up the tray 20 from the first loading section 31 of the shelf 30, and a system management computer manages each ID and issues operating commands to the shelves 30 and automated guided vehicles 40, etc., associated with each tray 20.

[0102] As described above, when storing the stored item C, the system control computer acquires the ID of the stored item C, identifies the tray ID to be used for storage, the shelf ID of the storage location, and also identifies the IDs of each operating entity used until storage, and performs the necessary coordination control. Also, when retrieving the stored stored item C, the system control computer identifies the tray ID and the shelf ID of the storage location based on the ID of the stored item C, and controls the IDs of each operating entity involved until the tray 20 is retrieved to the gate 10a.

[0103] [Second embodiment] 12 is a perspective view showing a portion of the rooftop floor and the two floors below it of a luggage storage building 10A in a luggage storage system according to a second embodiment of the present invention. Each floor 60A has a main travel area 60b extending in the longitudinal direction of the building, and on both sides of the main travel area 60b are four shelf rows (indicated by the reference characters AD in order from the side closest to the main travel area 60b). Alternatively, the four shelf rows AD may be located on only one side of the main travel area 60b.

[0104] Of the multiple adjacent shelf rows AD provided on one side of the main running area 60b, the two rows of shelves 30A labeled A and B, and the two rows of shelves 30A labeled C and D, are spaced apart to provide a sub-running area 60c wide enough for one automated guided vehicle 40 to travel through, and are arranged so that the front ends of the first loading sections face each other, while the two rows of shelves 30A labeled B and C are arranged so that the rear ends of the first loading sections face each other back to back.

[0105] The shelf 30A is constructed by combining pillars, beams, and shelves, and is provided with a first placement section at a required height above the shelves. The pillars 11A are structured to penetrate each floor 60A from the first level to the rooftop level, providing an advantageous configuration when the entire surface of the floor 60A is used as a running path.

[0106] The automated guided vehicle 40A is configured such that the second placement section 41A is controlled to transform into either an elevated state in which it is at the same height as the first placement section 31A of the shelf 30A, or a lowered state in which it is at a lower height, and the second placement section is controlled to the elevated state when the automated guided vehicle 40A faces the shelf 30A to deliver the transported object 20. The circled area in Fig. 12 shows the state in which the second placement section 41A of the automated guided vehicle 40A faces the shelf 30A at the end position of row C, and delivers the transported object 20 on which the stored article C is placed in the elevated state.

[0107] In this way, in combination with the configuration employing an unmanned guided vehicle 40A in which the second loading section 41A can transform between an elevated state and a lowered state, when the unmanned guided vehicle 40A is raised to the required height with the stored item C loaded on it and the spacing between the shelf support columns at the four corners of the shelf 30A is set greater than the width of the unmanned guided vehicle 40 so that it can pass through the space below the shelf 30A, the main running area 60b and sub-running area 60c can be laid out across the entire floor 60A, thereby increasing the accumulation efficiency of the shelf 30A and shortening the travel path of the unmanned guided vehicle 40A.

[0108] [Third embodiment] 13 is a plan view showing a portion of each floor of a luggage storage system according to a third embodiment of the present invention. According to this embodiment, each floor 60B of a luggage storage building has multiple levels and is equipped with multiple shelves 30B for placing trays 20 arranged in a long row in the longitudinal direction of the building, dual X-direction rails 61 provided between the shelves, and dual Y-direction rails 62 that intersect at the ends of all of the dual X-direction rails 61, an elevator 16B provided at the end of each level of the dual Y-direction rails 62 and vertically penetrating the multiple floors 60B, and an automated guided vehicle 40B that is transported to the desired floor 60B via the elevator 16B and travels on the dual Y-direction rails 62 and the dual X-direction rails 61.

[0109] The shelf 30B at the position where the two X-direction rails 61 are present on both sides is provided with a width twice as large as that of the shelf 30B at the position where the two X-direction rails 61 are present on one side, and trays 20 containing stored items C are placed on both sides.

[0110] The two X-direction rails 61 and the two Y-direction rails 62 may be provided at a height that is the same as or lower than the floor 60B.

[0111] The elevator 16B can accommodate one automated guided vehicle 40B, and has functions for picking up, placing, and sending out the automated guided vehicle 40B (not shown). The elevator 16B is configured to transport the automated guided vehicle 40B carrying the tray 20 containing the stored item C on the carry-in / carry-out lane (see FIG. 1) on the lowest floor of the building upward to the floor of the desired storage position, and then send it out so that it rides on the Y-direction dual rails 62. Conversely, the elevator 16B is configured to receive the automated guided vehicle 40B carrying the tray 20 containing the stored item C at the end position of the Y-direction dual rails 62 and send it out onto the carry-in / carry-out lane on the lowest floor of the building.

[0112] On each floor 60B of the hierarchy, the automated guided vehicle 40B can travel on two X-direction rails 61 laid in the longitudinal direction of the building and two Y-direction rails 62 laid in the lateral direction of the building along the shelves at the end positions of all rows and intersecting at the ends of the two X-direction rails 61.

[0113] The automated guided vehicle 40B has a body frame with rectangular side surfaces, with two wheels 48a, 48b on each underside of one side surface, for a total of eight wheels, and the four wheels 48a on one opposing side surface and the four wheels 48b on the other opposing side surface switch between ascending and descending at rail intersections to selectively travel on either the two X-direction rails 61 or the two Y-direction rails 62. That is, the automated guided vehicle 40B can travel on the two Y-direction rails 62 using the four wheels 48a on one opposing side surface, and the four wheels 48a traveling on the two X-direction rails 61 and the two Y-direction rails 62 can be elevated and the four wheels 48b on the other opposing side surface can be lowered to transfer to the two X-direction rails 61 and travel on them.

[0114] In this direction change, the automated guided vehicle 40B does not turn 90 degrees at the rail intersection. In this configuration, the dual telescopic arm mechanism (single-type telescope) 51 cannot be switched between extending to the right or left in the running direction of the two X-direction rails 61, so the direction in which the tray 20 containing the article C on the automated guided vehicle 40B can be transferred to the shelf is limited.

[0115] Therefore, it is preferable that the automated guided vehicle 40B is configured so that it can turn 90 degrees at the intersection of the two X-direction rails 61 and the two Y-direction rails 62. In this case, for example, a rotation support means attached to the center of the chassis of the automated guided vehicle 40B in the planar direction can be lowered toward the floor at the rail intersection and engaged with a receiving means attached to the floor side, allowing the wheels to run while turning 90 degrees. In addition to this structure, the rails may have a groove structure, and the wheels that fit into the grooves may be Mecanum wheels, allowing them to run freely forward, backward, left, and right at the intersection. In this way, the vehicle body does not need to rotate, and the overhand of the vehicle body that accompanies the rotation can be reduced. This eliminates the need to consider the problem of aisle width widening due to lining, preventing a decrease in space efficiency. Furthermore, this allows the automated guided vehicle 40B to switch the mounted double telescopic arm mechanism unit (single type telescope) 51 between extending to the right or left in the traveling direction.

[0116] The automated guided vehicle 40B transfers from the two Y-direction rails 62 onto the two X-direction rails 61, and when it has traveled to the desired storage position, it can extend the dual telescopic arm mechanism (telescope) 51 it is equipped with to transfer the tray 20 containing the stored item C onto the shelf 30B.

[0117] The automated guided vehicle 40B, which has sent the tray 20 to the shelf 30B, is transported by the elevator 16B to a floor where a stockyard of the required level is provided, pushed onto two rails on this floor, and travels to the required position where it is stored.

[0118] As an auxiliary means for enabling the automated guided vehicle 40B to travel on the two X-direction rails 61 and the two Y-direction rails 62 without running off the rails, the automated guided vehicle 40B may be configured to include a guide attached to the floor or a communication means such as Wi-Fi.

[0119] The automated guided vehicle 40B may be configured as a double-type telescope in which the double extendable arm mechanism 51 has the function of extending to the right and left in the traveling direction of the dual X-direction rails 61. In this case, it is not necessary to configure the automated guided vehicle 40B so that it can turn 90 degrees at the intersection of the dual X-direction rails 61 and the dual Y-direction rails 62; it is sufficient if the automated guided vehicle 40B can transfer from the dual X-direction rails 61 to the dual Y-direction rails 62 by switching between raising and lowering the eight wheels 48a, 48b without turning 90 degrees at the intersection.

[0120] [Fourth embodiment: First modified example of the vertical movement mechanism] In the first embodiment, the vertical movement mechanism has one third loading section 20, and an elevator structure is adopted in which the transported object 20 (tray) containing the stored item is placed on the third loading section 20, and the transported object rises vertically and stops at the required floor.However, as a first variant of the first embodiment, a conveyor-type transport structure can be used.

[0121] According to the vertical movement mechanism of the conveyor-type transfer structure, a plurality of third placement sections are hung horizontally on a pair of left and right endless conveyor chains that run synchronously and run endlessly from one level to another level, vertically or at a required incline, and each third placement section moves horizontally as the endless conveyor chain runs, so that one or more transported objects (trays) can be placed on the required third placement sections and transferred from one level to another level. With this configuration, the provision of a plurality of third placement sections leads to faster vertical movement of the transported objects (trays).

[0122] [Fifth embodiment: second modified example of the vertical movement mechanism] In the first embodiment, an elevator structure is adopted, but as a second modified example of the first embodiment, an escalator-type transport structure similar to that shown in FIG. 3 of JP 2017-7838 A can be used.

[0123] According to the vertical movement mechanism of the escalator-type transfer structure, a plurality of third placement sections are hung horizontally on a pair of synchronously running endless conveyor chains that run vertically or at a required incline from one level to another, and each third placement section moves horizontally in response to the upward running (or downward running) of one side of the endless conveyor chain that transports goods, and each third placement section is folded and rotates in response to the downward running (or upward running) of the other side of the endless conveyor chain that returns without transporting goods, so that one or more objects to be transported (trays) can be placed on the required third placement sections and transferred from one level to another level. According to this configuration, the provision of multiple third placement sections leads to faster vertical movement of the objects to be transported (trays).

[0124] According to the luggage storage system configured as described above, each of the multiple floors is provided with a running path and multiple shelves arranged along the running path, and trays on which stored items are placed can be transferred at the same level between the automated guided vehicles traveling on the running path and the shelves. [Explanation of symbols]

[0125] 1... Luggage storage system, 9...control unit, 10, 10A... Luggage storage building, 10a...Gate, 10b...Loading and unloading lane, 11, 11A...Column, 12...X direction beam, 13...Y direction beam, 13a...Raised bed 14...Floor base plate, 15...Shelf base plate, 16, 16B...Elevator (up and down movement mechanism), 16a...Third placement section 17...First delivery intermediary device, 17a, 17b...conveyor belt, 17c, 17d...Tray guide, 18...Second delivery intermediary device, 18a...row of driven rollers, 18b...row of free-rotating rollers, 18c, 18d...Stopper, 20...tray (carried object), 30, 30A, 30B...shelf, 30a…Shelf panel, 31...first placement portion, 31a... Colorail, 32...side wall portion, 33...tilt actuator, 34...Stopper, 35... Cororail (friction reduction function part), 35a... Coro, 40, 40A, 40B...Automated guided vehicles, 41...second placement portion, 42...side wall portion, 43... Movable stopper, 44...Lift actuator, 45...Upper surface slide driving means, 45a...rotary actuator, 45b...disc, 45c...engagement pin, 45d...long hole guide, 46...Straight guide, 47... Cororail (friction reduction function part), 47a... Colo, 47A... Roller table (friction reduction function part), 48a, 48b...wheels, 50...transfer means, 51...Double telescopic arm mechanism, 51a...fixed arm, 51b...first telescopic arm, 51b1...arm hanging part, 51b2...Arm connecting rod, 51b3...pin shaft, 51c...Second telescopic arm, 52...Extrusion bar, 53...Pick-up bar, 53a...rotary actuator, 53b...bracket, 54, 55...Belt, 56...Control motor, 57...winding mechanism, 57a, 57b...sprockets, 57c...running body, 58a, 58b...gear train, 58c...transmission shaft, 60, 60A, 60B...Floor, 60a, 60b...Main running area, 60c...Sub-riding area, 30B...shelf, 61...Two rails in the X direction, 62...Y direction two rails, 63...Rail crossing, C...Things to be stored.

Claims

1. In a control system for controlling temporary storage of luggage, a transportable body on which at least one load can be placed; a luggage storage building having a plurality of floors configured in a plurality of levels; a plurality of shelves provided on the floor of each story and each having a first placement portion on which the object to be transported is placed; an automated guided vehicle having a second placement section for placing the transported object thereon, the automated guided vehicle traveling in a travel area provided on the floor so as to place the transported object on the second placement section and transport it; a vertical movement mechanism having a third placement section for placing the object to be transported, the vertical movement mechanism placing the object to be transported on the third placement section and moving the object from one of the stories to another of the stories; a control unit, the control unit controls the automatic guided vehicle and the vertical movement mechanism unit; the automated guided vehicle has a transfer means for transferring the object to be transported on the second platform to the shelf and transferring the object to be transported on the shelf to the second platform. A luggage storage system.

2. 2. The luggage storage system according to claim 1, wherein the automated guided vehicle is provided with a holding means for preventing the object from shifting position when the object is placed on the second platform and traveling.

3. 2. The luggage storage system according to claim 1, wherein the shelf has a structure combining pillars, beams, and shelf boards, and the first loading portion is provided at a required height above the shelf boards.

4. The luggage storage system according to claim 3, wherein the pillars are structured to penetrate the floor.

5. 4. The luggage storage system of claim 3, wherein the second loading section of the automated guided vehicle is configured to be at the same height as the first loading section of the shelf located on the same floor as the floor on which the traveling area in which the automated guided vehicle travels is located.

6. 4. The luggage storage system of claim 3, wherein the second loading section of the automated guided vehicle is controlled to transform into either an elevated state in which it is at the same height as the first loading section of the shelf provided on the same floor as the floor on which the travel area in which the automated guided vehicle travels is provided, or a lowered state in which it is at a lower height, and wherein the second loading section is controlled to the elevated state when the automated guided vehicle faces the shelf to hand over the transported object.

7. The luggage storage system described in claim 5 or 6, wherein the transfer means has a pair of extendable arm mechanism units that transfer the transported object, and further includes a push bar provided at a required position on the rear end side of the extension direction of each of the extendable arm mechanism units, and a pick-up bar provided at the front end of the extension direction of each of the extendable arm mechanism units that abuts against the rear end surface of the transported object and picks up the transported object to the second loading section.

8. The luggage storage system described in claim 7, wherein the second loading section is configured to be slidable by the required distance in the transfer direction by a loading surface sliding drive means, and when the transported object is transferred between the second loading section and the shelf at a position where it stops opposite the required shelf, the second loading section slides by the required distance toward the shelf to eliminate the gap between the second loading section and the shelf.

9. 8. The luggage storage system according to claim 7, wherein the first loading section is configured so that the rear side in the pushing direction is lowered at a required small angle when the transported object placed on the second loading section is pushed by the push bar.

10. 7. The luggage storage system according to claim 5, wherein the first and second placement sections are configured to have transfer force reducing means for reducing a transfer force when transferring the transported object.

11. 11. The luggage storage system according to claim 10, wherein the mechanical sliding means of the transfer force reducing means is a roller.

12. 11. The luggage storage system according to claim 10, wherein the transfer force reducing means is made of fluororesin and / or felt.

13. The luggage storage system of claim 1, further comprising: a first transfer intermediary device that functions as a buffer for transferring the transported object, the first transfer intermediary device being adjacent to the position where the vertical movement mechanism unit stops and adjacent to the traveling area, and transferring the transported object in both directions between the third loading section of the vertical movement mechanism unit and the third loading section of the vertical movement mechanism unit; and a second transfer intermediary device being adjacent to the first transfer intermediary device on the opposite side of the vertical movement mechanism unit, and mediating the transfer of the transported object in both directions at right angles between the unmanned guided vehicle corresponding to the adjacent position and the first transfer intermediary device.

14. 2. The luggage storage system according to claim 1, wherein one or more rows of shelves are provided on one or both sides of a main travel area on the floor where the automated guided vehicles travel.

15. The luggage storage system of claim 14, wherein the configuration of multiple shelf rows provided on one side of the main traveling area includes two shelf rows with the front ends of the first loading section facing each other across a sub-traveling area in which the automated guided vehicle can travel.

16. The luggage storage system described in claim 14, wherein the configuration of multiple shelf rows provided on one side of the main running area includes two shelf rows arranged with the rear ends of the first loading sections back to back.

17. The luggage storage system described in claim 1, wherein the vertical movement mechanism has the function of raising and lowering the third loading section in a vertical direction, and is configured to transport the transported object from one floor to another floor while it is placed on the third loading section.

18. The luggage storage system described in claim 1, wherein the vertical movement mechanism is attached to an endless conveyor chain that transports from one floor to another floor vertically or at a required inclination so that the multiple third loading sections are transported while maintaining a horizontal position, and the transported object is transferred from one floor to another floor while placed on the third loading section.

19. 2. The luggage storage system according to claim 1, wherein the vertical movement mechanism has a function of vertically continuous transport, in which the transported object moves while rotating in one direction from one floor to another floor.

20. 2. The luggage storage system according to claim 1, wherein each of the floors of the multiple levels is provided with a plurality of shelves for placing the objects to be transported, the shelves being arranged in a long row in the longitudinal direction of the building, two X-direction rails provided between the shelves, and two Y-direction rails intersecting all of the two X-direction rails, the vertical movement mechanism being provided at an end position of the two Y-direction rails on each level so as to vertically penetrate each of the floors of the multiple levels, and the automated guided vehicle being transported to the floor of a desired level via the vertical movement mechanism and running on the two Y-direction rails and the two X-direction rails.

21. The baggage storage system according to claim 1, which is applied to a facility for temporarily storing baggage at an airport.

22. The luggage storage system according to claim 1, which is applied to a facility for temporarily storing luggage in a logistics center.

Images