Baggage station

Abstract

To provide a baggage station capable of accurately delivering a baggage to / from an unmanned conveyance robot even with a simple configuration.SOLUTION: A baggage station 1 comprises a storage part 2, a delivery part 3 having a delivery mechanism 4 which delivers a baggage 90 to and from an unmanned conveyance robot 5, and guide means (guide members 81 and 82) which guides the self-propelled unmanned conveyance robot to a delivery position 30 where the baggage is delivered. The delivery mechanism delivers the baggage to and from the unmanned conveyance robot by moving the baggage in the first direction. The guide means guides the unmanned conveyance robot to the delivery position at least in the first direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The technology disclosed herein relates to baggage stations. [Background technology]

[0002] Patent Document 1 describes a conventional object management system. The object management system includes a transport robot that transports objects and a shelf robot that stores the objects. When the object management system receives a request to transport an object stored on the shelf robot to a user, the transport robot moves to the shelf robot, and the shelf robot controls a conveyor mechanism so that the object related to the transport request moves from a storage position to a handover position with the transport robot. After the object related to the transport request is handed over from the shelf robot to the transport robot, the transport robot moves to the user. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6416590 Summary of the Invention [Problem to be solved by the invention]

[0004] The transport robot described in Patent Document 1 has a manipulator that transfers objects between the shelf robot and the transport robot. The manipulator has a high degree of freedom of movement. When transferring objects between the shelf robot and the transport robot, even if the relative positions of the shelf robot and the transport robot deviate from a predetermined position, the manipulator can transfer objects between the shelf robot and the transport robot by adjusting for the deviation in relative position. In other words, if a manipulator is used, the relative positions of the shelf robot and the transport robot do not require high precision.

[0005] However, transport robots with manipulators are expensive robots. The transport system described in Patent Document 1 can improve transport efficiency by including multiple transport robots. However, it is difficult to increase the number of expensive transport robots, making it difficult to improve the transport efficiency of the system.

[0006] The technology disclosed herein enables accurate delivery of cargo to and from an unmanned transport robot even with a simple structure. [Means for solving the problem]

[0007] The technology disclosed herein relates to a baggage station. a storage unit capable of storing multiple pieces of luggage; a delivery unit having a delivery mechanism for delivering the load to and from the automatic guided robot; a guide means for guiding the self-propelled unmanned transport robot to a delivery position where the package is delivered, the delivery mechanism delivers the load to and from the automatic guided robot by moving the load in a first direction; The guiding means guides the automatic guided robot to the transfer position in at least the first direction.

[0008] The baggage station stores multiple packages in a storage unit. The packages stored in the storage unit are handed over from the baggage station to an automated guided robot by a delivery mechanism in the delivery unit. The automated guided robot delivers the handed-over packages, for example, to a user. The automated guided robot may be responsible for last-mile transportation in a logistics network.

[0009] Note that the transfer of luggage between the luggage station and the automated guided robot includes not only the transfer of luggage from the luggage station to the automated guided robot, but also the transfer of luggage from the automated guided robot to the luggage station.

[0010] The delivery mechanism delivers luggage to and from the automated guided robot by moving the luggage in a first direction. The automated guided robot moves to a delivery position at the luggage station by self-propelled movement. At the delivery position, it is preferable that the position of the automated guided robot in the first direction is accurately positioned at a predetermined position. This is because if the positional accuracy of the automated guided robot in the first direction is high, luggage can be delivered accurately between the luggage station and the automated guided robot.

[0011] The guiding means of the baggage station guides the automated guided robot to the transfer position. More specifically, the guiding means guides the automated guided robot to the transfer position in at least a first direction. At the transfer position, the automated guided robot is accurately positioned at a predetermined position in the first direction. Baggage is accurately transferred between the baggage station and the automated guided robot.

[0012] An unmanned transport robot does not require a mechanism for transferring luggage, such as a manipulator. In addition, the luggage station is equipped with a guide means. An unmanned transport robot does not require a complex mechanism for transferring luggage, and is therefore less expensive. If unmanned transport robots are inexpensive, it is easier to increase the number of unmanned transport robots in a luggage transportation system that includes a luggage station and an unmanned transport robot. This is advantageous for building a transportation system with high transportation efficiency.

[0013] The delivery mechanism may be a slider that reciprocates in the first direction between the delivery position and a standby position while holding the load.

[0014] The slider that moves back and forth in the first direction has a simple structure, which is advantageous for reducing the cost of the luggage station. Even if the transfer mechanism is simple, as described above, the AGV can be accurately positioned at a predetermined position in the first direction at the transfer position, so that the transfer of luggage between the luggage station and the AGV can be performed accurately.

[0015] The automated guided robot may reach the delivery position by traveling in a second direction perpendicular to the first direction.

[0016] The guiding means may be a guide member that contacts the side of the unmanned transport robot traveling toward the transfer position and guides the unmanned transport robot to the transfer position by changing the direction of travel of the unmanned transport robot in the first direction.

[0017] The guide member forcibly changes the direction of travel of the automated guided robot by contacting the side of the automated guided robot. The guide member can accurately position the automated guided robot at a predetermined position in the first direction at the transfer position. Furthermore, because the guide member forcibly changes the direction of travel of the automated guided robot, the inclination of the automated guided robot with respect to the direction of travel can also be set to a predetermined inclination at the transfer position. In other words, the guide member can guide the automated guided robot so as to correct any deviation in the posture of the automated guided robot with respect to the transfer position.

[0018] The guide means may be a marker for the automatic guided robot to recognize deviations in position and / or posture relative to the transfer position.

[0019] The automated guided robot may recognize a deviation in position or posture from the delivery position from the relative position and / or posture between the marker and the automated guided robot, for example, by acquiring an image of the marker and performing image processing and image analysis. By recognizing a deviation in position or posture using the marker provided at the baggage station, the automated guided robot can move quickly and accurately to the delivery position.

[0020] the luggage station includes a passage gate through which the automated guided robot passes when moving to the delivery position, and an opening / closing member that opens and closes the passage gate; The marker for position recognition may be provided on the opening / closing member.

[0021] An automated guided robot passes through a passage gate when moving to the delivery position. If a marker is provided on the opening / closing member that opens and closes the passage gate, the marker will be located directly in front of the gate through which the automated guided robot passes. This ensures that a wide area of ​​the marker is included in the field of view of the automated guided robot's camera. This allows the automated guided robot to accurately determine any deviations in its position or posture relative to the delivery position.

[0022] A contactless charging device for charging the automatic guided robot may be installed at the transfer position.

[0023] In order for the non-contact charging device to efficiently charge the unmanned transport robot, it is necessary to accurately position the unmanned transport robot so that the relative positions of the non-contact filling device and the unmanned transport robot are predetermined. As described above, since the unmanned transport robot is accurately positioned at the predetermined position in the first direction at the transfer position, the non-contact charging device can efficiently charge the unmanned transport robot.

[0024] The non-contact charging device may be located ahead of the automatic guided robot in the direction of movement as the automatic guided robot moves toward the transfer position.

[0025] When the AGV moves toward the transfer position and stops at the predetermined stop position, the distance between the AGV and the non-contact charging device located ahead of the robot in the direction of movement is appropriate. The non-contact charging device can efficiently charge the AGV.

[0026] The automatic guided robot may reach the transfer position by traveling in the first direction or by traveling in the second direction.

[0027] The luggage station may further include a moving mechanism for moving the luggage between the storage section and the delivery section.

[0028] The transfer mechanism can transfer luggage between the storage unit and the delivery unit. The transfer mechanism is used to transfer luggage from the storage unit of the luggage station to the automated guided robot, and also to transfer luggage from the automated guided robot to the storage unit.

[0029] The storage unit is located above the delivery position and stores the cargo held on the pallet in a vertical and horizontal arrangement, The movement mechanism may move the pallet vertically and horizontally in the storage section, and may also move the pallet vertically between the storage section and the transfer section.

[0030] The storage unit, which stores luggage both vertically and horizontally, is compact yet can store a large number of luggage. In addition, because the storage unit is located above the delivery position, the luggage station can be installed in a space-saving manner.

[0031] In addition, using pallets to move cargo in the storage area stabilizes the movement of cargo. Also, if multiple cargoes are held on one pallet, it becomes possible to move multiple cargoes at once in the storage area. The use of pallets improves the efficiency of cargo movement in the storage area.

[0032] The transfer mechanism may transfer the load to and from the automatic guided robot after removing the load from the pallet.

[0033] If a package held on a pallet is handed over to an AGV together with the pallet, a process of retrieving the pallet from the AGV is required. However, by removing the package from the pallet before transferring it to and from the AGV, this retrieval process becomes unnecessary, simplifying the operation of the package station.

[0034] The luggage station further includes a receiving section for receiving the luggage. The receiving section may have a sending mechanism for sending the received cargo to the storage section.

[0035] When a user deposits luggage at the luggage station through the receiving unit, the receiving unit uses a sending mechanism to send the luggage to the storage unit, which can store the luggage deposited by the user.

[0036] The luggage station further includes a receiving section for receiving the luggage. The receiving section may be a part of the storage section that stores the luggage in both vertical and horizontal rows.

[0037] The storage unit, which can store multiple items of luggage side by side, is part of the receiving unit, which accepts luggage, making it possible to make the luggage station smaller and simpler. Also, once the receiving unit accepts the luggage, the storage unit can store it as is.

[0038] the moving mechanism has a holding unit that holds and moves the luggage, The luggage station further includes a receiving section for receiving the luggage. The receiving section may have a sending mechanism that sends the received cargo to the holding section stopped at a predetermined position.

[0039] The receiving unit and the storage unit may not be directly connected, but a moving mechanism having a holding unit may be interposed between the receiving unit and the storage unit. The sending mechanism of the receiving unit sends the received luggage to the holding unit stopped at a predetermined position. The moving mechanism can move the luggage held by the holding unit to the storage unit or the receiving / delivery unit.

[0040] the moving mechanism has a holding unit that holds and moves the luggage, the luggage station further includes a receiving section having an opening for receiving the luggage; The movement mechanism may stop the holding unit at a position corresponding to the receiving opening, and receive the luggage on the holding unit through the receiving opening.

[0041] When the moving mechanism stops the holding unit at a position corresponding to the receiving opening, luggage can be placed directly onto the holding unit through the receiving opening. [Effects of the Invention]

[0042] The luggage station described above can realize a mechanism that can accurately transfer luggage to and from an automatic transport robot with a simple structure. [Brief explanation of the drawings]

[0043] [Figure 1] FIG. 1 is a front view of the baggage station. [Figure 2] FIG. 2 is a side view of the main mechanisms of the baggage station. [Figure 3] FIG. 3 is a plan view of the main mechanisms of the baggage station. [Figure 4] FIG. 4 is a plan view and a side view of the vertical movement mechanism. [Figure 5] FIG. 5 is a plan view and a side view of the lateral movement mechanism. [Figure 6] FIG. 6 is a perspective view of a pallet. [Figure 7] FIG. 7 is a plan view and a front view of the delivery section. [Figure 8] FIG. 8 is a perspective view of the unmanned transport robot. [Figure 9] FIG. 9 shows a part of the procedure for transferring a package between the package station and the automated guided robot by the transfer mechanism. [Figure 10] FIG. 10 shows a part of the procedure for transferring a package between the package station and the automated guided robot by the transfer mechanism. [Figure 11] FIG. 11 shows a marker provided on the opening and closing member of the passage gate. DETAILED DESCRIPTION OF THE INVENTION

[0044] BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a baggage station according to an embodiment of the present invention;

[0045] (Overall configuration of the luggage station) FIG. 1 is a front view of a baggage station 1. The baggage station 1 is incorporated into a transportation system for baggage 90. The baggage station 1 acts as an intermediary between a consignor and a consignee, relaying the baggage 90. A transportation company delivers the baggage 90 requested by the consignor to the baggage station 1, rather than directly to the delivery destination, i.e., the consignee, and stores the baggage 90 at the baggage station 1. The baggage 90 stored at the baggage station 1 is then delivered from the baggage station 1 to the delivery destination. The transportation system includes an automated guided robot 5. The automated guided robot 5 delivers the baggage 90 between the baggage station 1 and the delivery destination. The automated guided robot 5 travels on the ground, for example, autonomously or by wireless remote control. The automated guided robot 5 may be an AMR (Autonomous Mobile Robot). The use of the automated guided robot 5 reduces the number of people required for last-mile delivery.

[0046] The luggage station 1 is associated with a predetermined delivery area within which direct delivery is possible using the automated guided robot 5. The luggage station 1 is installed in various locations. For example, the luggage station 1 may be installed within or near the premises of an apartment building. In this case, the luggage station 1 mainly stores luggage 90 addressed to the residents of the apartment building.

[0047] The baggage station 1 may have a function of temporarily storing the baggage 90 received from the shipper and handing over the baggage 90 to the transport company.

[0048] The baggage station 1 is configured to house various mechanisms inside a frame 11. For ease of understanding, the baggage station 1 shown in FIG. 1 is drawn so that the inside of the frame 11 can be seen from the outside. In an actual baggage station 1, the inside of the frame 11 cannot be seen from the outside because it is covered by walls or a roof.

[0049] Fig. 2 is a right side view of the main mechanism of the baggage station 1, and Fig. 3 is a plan view of the main mechanism. Note that Figs. 2 and 3 omit illustration of the frame 11.

[0050] For the sake of convenience, the following definitions are given for the front, rear, right, left, top, and bottom of the baggage station 1. Note that the terms front, rear, right, left, top, and bottom in the following description are used only for the purpose of explaining the baggage station 1 and are not used to limit the structure of the baggage station 1.

[0051] The front of the baggage station 1 is the side where the receiving entrance 141 of the receiving section 14, which will be described later, is located. The receiving section 14 is the area where a user (e.g., a transportation company employee) who uses the baggage station 1 operates. The rear of the baggage station 1 is the opposite side from the front of the baggage station 1. The right and left of the baggage station 1 are the right and left of an observer standing in front of the baggage station 1 and facing the front of the baggage station 1. The top and bottom of the baggage station 1 are the top and bottom of the observer.

[0052] The baggage station 1 is equipped with a storage unit 2. The storage unit 2 stores baggage 90. The storage unit 2 has a plurality of hangars, six in the illustrated example, 21, 22, 23, 24, 25, and 26. Each hangar 21-26 can store baggage 90. The plurality of hangars 21, 22, 23, 24, 25, and 26 are arranged, for example, in three rows in the vertical direction and two rows in the horizontal direction. Note that the structure of the storage unit 2, including the number and arrangement of the hangars, is not limited to the illustrated example.

[0053] In the storage unit 2, the luggage 90 is held on a pallet 9. Note that one pallet 9 is not limited to holding one luggage 90, and may hold multiple luggage. The storage unit 2 has a vertical movement mechanism 6 and a horizontal movement mechanism 7. The vertical movement mechanism 6 moves the pallet 9 in the vertical direction. The horizontal movement mechanism 7 moves the pallet 9 in the horizontal direction. The vertical movement mechanism 6 and the horizontal movement mechanism 7 work together to position the pallet 9 in any of the hangars 21-26. Note that the storage unit 2 in the illustration has four pallets 9 so that the pallets 9 can move in the vertical and horizontal directions. The storage unit 2 can store luggage 90 in up to four of the six hangars 21-26. Details of the vertical movement mechanism 6 and the horizontal movement mechanism 7 will be described later.

[0054] In addition, five pallets 9 can be prepared, and cargo 90 can be stored in a maximum of five hangars.

[0055] The baggage station 1 includes a delivery section 3. The delivery section 3 is located below the storage section 2. The delivery section 3 delivers baggage 90 between the baggage station 1 and the unmanned transport robot 5. The delivery section 3 includes a delivery mechanism 4. The delivery section 3 uses the delivery mechanism 4 to deliver baggage 90 between the baggage station 1 and the unmanned transport robot 5. Details of the delivery mechanism 4 will be described later.

[0056] The left end of the delivery section 3 is a delivery position 30. The delivery mechanism 4 delivers and receives luggage 90 to and from the automated guided robot 5 at the delivery position 30. The delivery position 30 includes a luggage position 301 where the luggage 90 is located, and an automated guided robot position 302 where the automated guided robot 5 is located. The automated guided robot position 302 is located to the left of the luggage position 301.

[0057] The baggage station 1 has a passing gate 31. A slope 32 extends forward from the passing gate 31. The automated guided robot 5 can enter the delivery position 30 from outside the baggage station 1 through the passing gate 31. The automated guided robot 5 can exit from the delivery position 30 to outside the baggage station 1 through the passing gate 31. As shown in FIG. 11 , the baggage station 1 has an opening / closing member 33 that opens and closes the passing gate 31. The structure of the opening / closing member 33 will be described later.

[0058] The luggage station 1 has a receiving section 14. The receiving section 14 is located to the right of the storage section 2 and above the delivery section 3. The receiving section 14 has a receiving entrance 141. The receiving entrance 141 opens at the front of the luggage station 1. A user places luggage 90 into the luggage station 1 through the receiving entrance 141. The receiving section 14 has a shutter 142 that opens and closes the receiving entrance 141. The shutter 142 normally closes the receiving entrance 141. When a user operates an operating device 143, the shutter 142 opens the receiving entrance 141. The operating device 143 is, for example, a touch panel display.

[0059] As shown in FIG. 2 or 3, the receiving section 14 has a sending mechanism 144. The sending mechanism 144 is a belt conveyor mechanism that extends in the left-right direction. The sending mechanism 144 is located at a height corresponding to the storage section 23. A user places luggage 90 on the belt of the sending mechanism 144 from the receiving entrance 141. When the sending mechanism 144 is activated, the luggage 90 is sent from the receiving section 14 to the storage section 2's storage section 2's storage section 2, as shown by the white arrow in FIG. 3. An empty pallet 9 is already positioned in the storage section 2's storage section 2, and the luggage 90 from the receiving section 14 is placed on the pallet 9 in the storage section 23.

[0060] In this embodiment, the receiving unit 14 is provided adjacent to the storage unit 2 and is configured to send out luggage 90 to the storage unit 23 of the storage unit 2 by a sending mechanism 144, but is not limited to this. One or more storage units in the storage unit 2 may function as a receiving unit by having a receiving entrance that opens to the outside of the baggage station 1. A user places luggage 90 directly onto an empty pallet in a storage unit of the storage unit 2 through the receiving entrance.

[0061] Furthermore, in a configuration in which a moving mechanism holds a pallet and moves through a space adjacent to the storage unit 2, the moving mechanism may be configured to stop an empty pallet (that is, equivalent to the holding unit) at a position adjacent to the receiving unit 14, and send out the cargo 90 from the receiving unit 14 to the empty pallet. In other words, the configuration is not limited to sending the cargo 90 directly from the receiving unit 14 to the storage unit 2.

[0062] Furthermore, in a configuration in which a moving mechanism holds a pallet and moves through a space adjacent to the storage unit 2, the moving mechanism may stop an empty pallet at a position corresponding to the receiving opening 141, so that a user can place luggage 90 on the empty pallet of the moving mechanism through the receiving opening 141. In other words, a part of the moving mechanism may function as the receiving unit 14.

[0063] As shown in FIG. 1, the control device 12 of the baggage station 1 is located on the left side of the baggage station 1. The control device 12 realizes the functions of the baggage station 1 described above by controlling each mechanism in the baggage station 1. The control device 12 also has a station-side communication unit 12a for communicating with the automated guided robot 5. Communication between the baggage station 1 and the automated guided robot 5 enables the handover of baggage 90 between the baggage station 1 and the automated guided robot 5.

[0064] (Structure of vertical and horizontal movement mechanisms) FIG. 4 shows the structure of the vertical movement mechanism 6. The upper view of FIG. 4 is a plan view of the vertical movement mechanism 6, and the lower view of FIG. 4 is a side view of the vertical movement mechanism 6. For ease of understanding, only the storage facility 21 is depicted in the lower view of FIG. 4. As shown in FIGS. 1 to 3, the storage unit 2 has a first vertical movement mechanism 61 and a second vertical movement mechanism 62. The first vertical movement mechanism 61 and the second vertical movement mechanism 62 are aligned in the left-right direction. The first vertical movement mechanism 61 is located above the baggage position 301 in the transfer position 30. The second vertical movement mechanism 62 is located above the automatic guided robot position 302 in the transfer position 30.

[0065] The first vertical movement mechanism 61 moves the pallets 9 vertically between the storage units 21, 22, and 23, and also moves the pallets 9 vertically between the storage unit 2 and the delivery unit 3. The second vertical movement mechanism 62 moves the pallets 9 vertically between the storage units 24, 25, and 26. The structures of the first vertical movement mechanism 61 and the second vertical movement mechanism 62 are the same except for some parts. Hereinafter, the first vertical movement mechanism 61 and the second vertical movement mechanism 62 will be referred to as the vertical movement mechanism 6 without distinction, and the structure of the vertical movement mechanism 6 will be described with reference to Figure 4. Note that Figure 4 shows the first vertical movement mechanism 61. Differences in structure between the first vertical movement mechanism 61 and the second vertical movement mechanism 62 will be described as appropriate.

[0066] The vertical movement mechanism 6 has a lifting chain 63. The lifting chain 63 extends vertically along the frame 11. As shown in the upper diagram of FIG. 4, the lifting chain 63 is disposed at each of the four corners (front, rear, left, and right) of a storage facility when viewed from above. The lifting chain 63 is wound around a first sprocket 641 and a second sprocket 642. The first sprocket 641 is located at the upper end of the storage unit 2. The second sprocket 642 is located within the transfer position 30 as shown in FIG. 4 or 2. The second sprocket 642 of the second vertical movement mechanism 62 is located above the transfer position 30 as shown in FIG. 1.

[0067] A plurality of hooks 65 are attached to the lifting chain 63. The plurality of hooks 65 are arranged at equal intervals along the lifting chain 63. As shown enlarged in FIG. 4, the hooks 65 have an upwardly opening V-shape. The hooks 65 engage with engaging portions 91 (see FIG. 6) provided at the four corners of the pallet 9 to support the pallet 9 from below. Note that reference numeral 651 denotes rollers 651 for maintaining the hooks 65 in a predetermined position. The rollers 651 are attached to the hooks 65. The rollers 651 come into contact with the side surfaces of the frame 11 and roll up and down the side surfaces of the frame 11.

[0068] The drive unit 60 of the vertical movement mechanism 6 is located at the upper end of the storage unit 2. The drive unit 60 has an electric motor 66. A first gear 671 is attached to the shaft of the electric motor 66, and the first gear 671 meshes with a second gear 672. The rotation axis of the first gear 671 and the rotation axis of the second gear 672 are parallel to each other, and the number of teeth of the first gear 671 and the number of teeth of the second gear 672 are the same. When the electric motor 66 is driven, the first gear 671 and the second gear 672 rotate at the same speed but in opposite directions.

[0069] The shaft of the electric motor 66 is connected to a rear first shaft 691 via a first chain 681. The first shaft 691 extends in the left-right direction, and a first sprocket 641 is attached to each of its right and left ends. The second gear 672 is connected to a front second shaft 692 via a second chain 682. The second shaft 692 extends in the left-right direction, and a first sprocket 641 is attached to each of its right and left ends. Therefore, when the electric motor 66 is driven, the four lifting chains 63 run vertically in sync. The four lifting chains 63, which support the four corners of the pallet 9, can transport the pallet 9 in the up-down direction while maintaining it horizontal.

[0070] FIG. 5 shows the structure of the lateral movement mechanism 7. The left diagram of FIG. 5 is a plan view of the lateral movement mechanism 7, and the right diagram of FIG. 5 is a side view of the lateral movement mechanism 7. As shown in FIG. 1, the storage unit 2 has a first lateral movement mechanism 71, a second lateral movement mechanism 72, a third lateral movement mechanism 73, and a fourth lateral movement mechanism 74. The first lateral movement mechanism 71 is located in hangar 21, and the second lateral movement mechanism 72 is located in hangar 24. The third lateral movement mechanism 73 is located in hangar 23, and the fourth lateral movement mechanism 74 is located in hangar 26. Although hangars 22 and 25 do not have lateral movement mechanisms 7, hangars 22 and 25 may have lateral movement mechanisms 7.

[0071] The first lateral movement mechanism 71 and the second lateral movement mechanism 72 move the pallet 9 left and right between the hangars 21 and 24. The third lateral movement mechanism 73 and the fourth lateral movement mechanism 74 move the pallet 9 left and right between the hangars 23 and 26.

[0072] The first lateral movement mechanism 71, the second lateral movement mechanism 72, the third lateral movement mechanism 73, and the fourth lateral movement mechanism 74 have the same structure, with some exceptions. Hereinafter, the first lateral movement mechanism 71, the second lateral movement mechanism 72, the third lateral movement mechanism 73, and the fourth lateral movement mechanism 74 will be referred to indistinguishably as the lateral movement mechanism 7, and the structure of the lateral movement mechanism 7 will be described with reference to FIG. 5. Note that FIG. 5 shows the first lateral movement mechanism 71, the second lateral movement mechanism 72, and the third lateral movement mechanism 73. Differences in structure among the first lateral movement mechanism 71, the second lateral movement mechanism 72, the third lateral movement mechanism 73, and the fourth lateral movement mechanism 74 will be described as appropriate.

[0073] The lateral movement mechanism 7 has a first conveyor 751 and a second conveyor 752. The first conveyor 751 is located at the front of one of the storage compartments, and the second conveyor 752 is located at the rear of the storage compartment. Both the first conveyor 751 and the second conveyor 752 extend in the left-right direction. The first conveyor 751 and the second conveyor 752 run in the left-right direction. As the first conveyor 751 and the second conveyor 752 run in the left-right direction, the pallets 9 supported by the first conveyor 751 and the second conveyor 752 can move in the left-right direction.

[0074] 5, the first conveyor 751 is movable in the front-rear direction between a retracted position on the front side and an interference position on the rear side, and the second conveyor 752 is movable in the front-rear direction between a retracted position on the rear side and an interference position on the front side.

[0075] The first conveyor 751 and the second conveyor 752 in the retracted position do not interfere with the pallet 9 in the vertical direction, as shown by the solid lines in the right diagram of FIG. 5. The pallet 9 can pass through the horizontal movement mechanism 7 in the vertical direction. The first conveyor 751 and the second conveyor 752 in the interference position interfere with the pallet 9 in the vertical direction, as shown by the two-dot chain lines in the right diagram of FIG. 5. When the pallet 9 supported by the vertical movement mechanism 6 moves from top to bottom, the pallet 9 is placed on the first conveyor 751 and the second conveyor 752 in the interference position. When the lifting chain 63 of the vertical movement mechanism 6 continues to travel downward, the hook 65 of the vertical movement mechanism 6 disengages from the engagement portion 91 of the pallet 9. The pallet 9 is transferred from the vertical movement mechanism 6 to the horizontal movement mechanism 7 and supported by the first conveyor 751 and the second conveyor 752.

[0076] Conversely to the above, when the vertical movement mechanism 6 moves from bottom to top while the pallet 9 is supported on the horizontal movement mechanism 7, the hook 65 of the vertical movement mechanism 6 engages with the engaging portion 91 of the pallet 9. When the lifting chain 63 of the vertical movement mechanism 6 continues to travel upward, the pallet 9 is transferred from the horizontal movement mechanism 7 to the vertical movement mechanism 6 and is supported by the lifting chain 63.

[0077] The lateral movement mechanism 7 has a front-rear movement mechanism that moves each of the first and second conveyors 751, 752 in the front-rear direction. The front-rear movement mechanism has a base 761 that supports the conveyors 751, 752 and an actuator 762 that moves the base 761 in the front-rear direction relative to the frame 11. As shown by the arrow in the left diagram of FIG. 5 , when the base 761 moves in the front-rear direction as a result of driving the actuator 762, the first or second conveyor 751, 752 supported by the base 761 moves in the front-rear direction. A front-rear movement mechanism is individually provided for each of the first lateral movement mechanism 71, the second lateral movement mechanism 72, and the third lateral movement mechanism 73. Note that the fourth lateral movement mechanism 74 does not have a front-rear movement mechanism. This is because the pallets 9 do not pass through the fourth lateral movement mechanism 74 in the vertical direction in the storage shed 26.

[0078] The lateral movement mechanism 7 has a conveyor drive mechanism for the first and second conveyors 751, 752. The conveyor drive mechanism has an electric motor 771 (see the right diagram in FIG. 5), a connecting shaft 773, and a transmission mechanism 772. As shown in the left diagram in FIG. 5, the connecting shaft 773 extends in the front-to-rear direction, and the front end of the connecting shaft 773 is connected to the shaft of the electric motor 771.

[0079] The transmission mechanism 772 includes a chain and a sprocket. The transmission mechanism 772 of the first conveyor 751 is connected to the front end of the connecting shaft 773 and transmits the rotation of the connecting shaft 773 to the pulley of the first conveyor 751. The transmission mechanism 772 of the second conveyor 752 is connected to the rear end of the connecting shaft 773 and transmits the rotation of the connecting shaft 773 to the pulley of the second conveyor 752. The driving force of the electric motor 771 is transmitted to both the first conveyor 751 and the second conveyor 752. The transmission mechanism 772 is attached to the base 761, and a spline is interposed between the connecting shaft 773 and the transmission mechanism 772. The spline transmits the driving force of the electric motor 771 to each of the two transmission mechanisms 772 via the connecting shaft 773, allowing each of the transmission mechanisms 772 of the first conveyor 751 and the second conveyor 752 to move forward and backward together with the base 761 and the conveyors 751, 752.

[0080] Each pallet 9 is positioned in any of the storage compartments 21, 22, 23, 24, 25, 26 in the storage section 2 by the vertical movement mechanism 6 and the horizontal movement mechanism 7. Each pallet 9 is also positioned in the luggage position 301 in the delivery position 30 by the vertical movement mechanism 6.

[0081] (Delivery mechanism structure) FIG. 7 shows the transfer section 3. The upper view of FIG. 7 is a plan view of the transfer section 3, and the lower view of FIG. 7 is a front view of the transfer section 3. The transfer mechanism 4, which transfers the cargo 90, is a slider that moves back and forth in the left-right direction. Guide rails 41 installed in the transfer section 3 guide the transfer mechanism 4. The drive mechanism that moves the transfer mechanism 4 back and forth may be, for example, a ball screw. However, the drive mechanism is not limited to a ball screw. The transfer mechanism 4 can move between a first position shifted to the right of the transfer position 30 and a second position within the transfer position 30 (see also FIGS. 9 and 10). The first position is a standby position for the transfer mechanism 4. The second position corresponds to the automated guided robot position 302 in the transfer position 30, and is a position where the transfer mechanism 4 and the automated guided robot 5 overlap when viewed in the front-to-back direction, and the cargo 90 is actually transferred. The cargo position 301 of the delivery position 30 is located between the first position and the second position. The first position and the second position of the delivery mechanism 4 are predetermined positions. For example, a servo controller may move the delivery mechanism 4 back and forth between the first position and the second position.

[0082] The delivery mechanism 4 has a fork 42. The delivery mechanism 4 uses the fork 42 to hold the cargo 90. The fork 42 extends leftward from the delivery mechanism 4. The fork 42 can be moved up and down by a lifting mechanism 43.

[0083] As shown in FIG. 6 , the pallet 9 has grooves 92 into which the forks 42 can be inserted. The grooves 92 are recessed downward from a placement surface 94 of the pallet 9 on which the cargo 90 is placed and open to the right. When the delivery mechanism 4 moves leftward while the pallet 9 positioned at cargo position 301 is holding the cargo 90, the forks 42 are inserted into the grooves 92. After the forks 42 are inserted into the grooves 92, the forks 42 move upward, allowing them to remove the cargo 90 from the pallet 9 and hold it. Furthermore, when the forks 42 holding the cargo 90 move downward and are positioned within the grooves 92, the cargo 90 is transferred from the forks 42 to the pallet 9. When the delivery mechanism 4 moves rightward in this state, the delivery mechanism 4 can move away from the pallet 9, leaving the cargo 90 on the pallet 9.

[0084] 6 denotes a guard 93 that prevents the cargo 90 from falling off the loading surface 94 of the pallet 9. The guards 93 are located at the front edge, rear edge, and left edge of the rectangular pallet 9 in a plan view. No guard 93 is attached to the right edge of the pallet 9 because the forks 42 of the delivery mechanism 4 enter there.

[0085] (Structure of an unmanned transport robot) FIG. 8 shows an automated guided robot 5. As described above, the automated guided robot 5 delivers luggage 90 between the luggage station 1 and a delivery destination. The automated guided robot 5 in the illustration is a four-wheeled vehicle having a main body 50 and four wheels 51 attached to the main body 50. However, the automated guided robot 5 is not limited to a four-wheeled vehicle. The automated guided robot 5 can move forward and backward, and can change its direction of travel using a steering mechanism.

[0086] As described above, the automated guided robot 5 passes through the passage gate 31 and enters the delivery position 30 from outside the baggage station 1. At this time, the automated guided robot 5 enters by moving forward toward the delivery position 30 of the baggage station 1. The automated guided robot 5 may also enter by moving backward toward the delivery position 30 of the baggage station 1. In this way, the automated guided robot 5 can exit from the delivery position 30 to outside the baggage station 1 by moving forward.

[0087] The automated guided robot 5 has a control unit, a camera, a LIDAR, a GNSS receiver, an IMU (inertial measurement unit), a rotary encoder, a robot communication unit, and the like inside its main body 50. The control unit of the automated guided robot 5 is capable of estimating its own position and attitude based on information output from each device. The automated guided robot 5 is also capable of communicating with the baggage station 1 (station communication unit 12a) via the robot communication unit. The automated guided robot 5 also has a loading platform 52 inside its main body 50. Baggage 90 is loaded onto the loading platform 52. Baggage 90 held on one pallet 9 in the storage unit 2 is placed on the loading platform 52. The loading platform 52 has an opening on the side of the main body 50. An opening 520 of the loading platform 52 is opened and closed by a door 53. When the automated guided robot 5 is stopped at the delivery position 30 and receives a door open signal from the baggage station 1, the automated guided robot 5 opens the door 53.

[0088] The loading platform 52 has grooves 521 similar to those of the pallet 9. The forks 42 of the delivery mechanism 4 can be inserted into the grooves 521. The forks 42 holding the cargo 90 can use the grooves 521 to stably deliver only the cargo 90 to the loading platform 52. The forks 42 can also use the grooves 521 to stably receive the cargo 90 from the loading platform 52.

[0089] A sensor 54 is attached to the front of the automated guided robot 5 (see also the upper diagram in Figure 7). The sensor 54 is an example of a stop control means that determines the stopping position of the automated guided robot 5 in the second direction (here, the forward-backward direction). The sensor 54 is, for example, a limit switch. The limit switch in the illustration has a lever that protrudes forward from the front end of the automated guided robot 5. The limit switch outputs an ON signal to the control unit when the lever hits the frame 11 at the transfer position 30. The automated guided robot 5 stops based on the ON signal from the sensor 54. The use of the sensor 54 improves the accuracy of the stopping position of the automated guided robot 5 in the forward-backward direction at the automated guided robot position 302. The automated guided robot 5 can be stopped so that the position of the opening 520 of the loading platform 52 corresponds to the position of the transfer mechanism 4 in the forward-backward direction.

[0090] The limit switch is not limited to a lever type, but may be, for example, a bumper type. The sensor is not limited to a limit switch. The sensor may be a non-contact proximity sensor. The sensor may also be an obstacle sensor used for the autonomous travel of the automated guided robot 5.

[0091] Instead of attaching a sensor to the automated guided robot 5, or in addition to attaching a sensor to the automated guided robot 5, a sensor may be attached to the baggage station 1. The automated guided robot 5 can stop accurately in the forward and backward directions by receiving sensor information from the baggage station 1 via communication.

[0092] The automated guided robot 5 is electrically powered. The automated guided robot 5 is equipped with an electric motor that drives the wheels 51, a battery that supplies driving power to the electric motor, and a power receiving unit that supplies charging power to the battery. As shown in the upper diagram of FIG. 7 or in FIG. 2, the baggage station 1 has a charging device 15 that transmits power to the power receiving unit of the automated guided robot 5 in a non-contact manner. The charging device 15 is installed behind the automated guided robot position 302. The charging device 15 is located ahead of the automated guided robot 5, which travels back and forth toward the delivery position 30.

[0093] The charging device 15 is a contactless charging device. The coil of the power receiving unit located at the front of the automated guided robot 5 is positioned within a predetermined distance in the front-to-rear direction from the charging device 15, so that the charging device 15 can stably charge the automated guided robot 5. As described above, the sensor 54 of the automated guided robot 5 improves the accuracy of the stopping position of the automated guided robot 5 in the front-to-rear direction, and is therefore also effective in realizing stable charging of the automated guided robot 5.

[0094] The charging device 15 installed at the delivery position 30 can charge the automated guided robot 5 while the automated guided robot 5 is waiting at the delivery position 30. Once the package 90 is loaded onto the automated guided robot 5, the automated guided robot 5 can immediately start delivering the package 90.

[0095] (Guidance structure for automated guided robots) As described above, the delivery mechanism 4 of the baggage station 1 moves back and forth between the first position and the second position in the left-right direction. The structure of the delivery mechanism 4 is simple, which is advantageous for reducing the cost of the baggage station 1.

[0096] On the other hand, accurately positioning the automated guided robot 5 relative to the transfer mechanism 4 stabilizes the transfer of the luggage 90 between the luggage station 1 and the automated guided robot 5. Because the first and second positions at which the transfer mechanism 4 is positioned are fixed positions, the left-right position of the automated guided robot 5 at the automated guided robot position 302 is important for the transfer of the luggage 90.

[0097] The baggage station 1 has guide members 81 and 82 as guiding means. The guide members 81 and 82 guide the automated guide robot 5 in the left-right direction as it travels in the forward-backward direction toward the delivery position 30. As shown in FIG. 1 or 7, the guide members 81 and 82 are attached to the slope 32. The right guide member 81 is located on the right side of the passing gate 31 and inclines to the right as it moves forward from the passing gate 31. The left guide member 82 is located on the left side of the passing gate 31 and inclines to the left as it moves forward from the passing gate 31. The left-right distance between the guide members 81 and 82 gradually narrows in the traveling direction of the automated guide robot 5 as it moves toward the delivery position 30.

[0098] 7, second guide members 83 and 84 are disposed at the unmanned transport robot position 302 in the delivery position 30. The second guide members 83 and 84 extend straight in the front-to-rear direction on the right and left sides of the unmanned transport robot 5, respectively.

[0099] The guide members 81, 82 and the second guide members 83, 84 come into contact with the sides of the wheels 51 of the automated guided robot 5, changing the direction of travel of the automated guided robot 5 in the left-right direction. When the automated guided robot 5 passes through the passage gate 31 and reaches the automated guided robot position 302, the automated guided robot 5 is positioned accurately at a predetermined position in the left-right direction. Furthermore, the automated guided robot 5 stopped at the automated guided robot position 302 does not tilt in the front-to-rear direction.

[0100] 11, the baggage station 1 also has a marker 331 as a guide means. The marker 331 is used to estimate the self-position (relative position) and self-orientation (relative orientation) of the unmanned transport robot 5 with respect to the baggage station 1. The marker 331 enables the unmanned transport robot 5 to recognize deviations in its position and orientation with respect to the delivery position 30.

[0101] As described above, the opening / closing member 33 opens and closes the passing gate 31. The opening / closing member 33 in the illustrated example is a so-called shutter. The shutter has multiple shutter slats connected together. The shutter opens the passing gate 31 when the multiple shutter slats are wound up by the drive of an electric motor (not shown). The shutter closes the passing gate 31 when the multiple shutter slats are deployed. Note that the opening / closing member 33 is not limited to a shutter. For example, it may be a double door.

[0102] The marker 331 is provided on the opening / closing member 33. The marker 331 has a plurality of circles 311a arranged in a grid pattern. The marker 331 may be provided by, for example, attaching a sheet having a grid to the surface of the opening / closing member 33.

[0103] The opening / closing member 33 is closed when the automated guided robot 5 approaches the baggage station 1. When the opening / closing member 33 is closed, the marker 331 is located at the passage gate 31, as shown in the upper diagram of Figure 11. The camera of the automated guided robot 5 can detect the marker 331.

[0104] The marker 331 in the illustration is a so-called circle grid. The size of the circles 311a and the spacing between the circles 311a shown in FIG. 11 are examples. The size of the circles 311a and the spacing between the circles 311a can be set as appropriate. In order to improve the detection accuracy of the camera, it is preferable that there is a large difference in shading between the grid and the opening / closing member 33, which is the background. The grid may be light and the background may be dark, or the grid may be dark and the background may be light.

[0105] The marker 331 may have any shape as long as it can be detected by the camera of the automatic guided robot 5. The marker 331 may be, for example, a checkerboard.

[0106] The automated guided robot 5 processes and analyzes the image of the marker 331 captured by the camera, thereby estimating its own position and orientation relative to the marker 331. Using the estimated own position and orientation, the automated guided robot 5 can accurately reach a predetermined temporary stop position near the passage gate 31. The automated guided robot 5 stops at the temporary stop position in a state in which it can head toward the automated guided robot position 302 at the delivery position 30 by moving almost straight ahead.

[0107] When the automated guided robot 5 reaches a temporary stop position near the passing gate 31, the automated guided robot 5 wirelessly transmits an arrival signal indicating its arrival to the baggage station 1. When the control device 12 of the baggage station 1 receives the arrival signal, it drives the electric motor of the opening / closing member 33 to open the opening / closing member 33. After the opening / closing member 33 opens, the baggage station 1 transmits an entry OK signal to the automated guided robot 5. Based on the entry OK signal received from the baggage station 1, the automated guided robot 5 moves toward the automated guided robot position 302 at the delivery position 30. The automated guided robot 5 passes through the passing gate 31 while being guided by the above-mentioned guide members 81, 82 and second guide members 83, 84 (see FIG. 7), and arrives at the automated guided robot position 302 (see the lower diagram in FIG. 11).

[0108] The markers do not necessarily have to be provided on the opening / closing member 33. They may be provided at other locations in the baggage station 1. For example, they may be provided on the passage gate 31 or on the wall surface of the baggage station 1 around the passage gate 31.

[0109] (Procedure for delivery of luggage by delivery mechanism) 9 and 10, the operation of the delivery mechanism 4 to deliver the luggage 90 from the luggage station 1 to the automated guided robot 5 will be described. It is assumed that the automated guided robot 5 is already located at the delivery position 30 and the opening 520 of the loading platform 52 is open.

[0110] First, as shown by the white arrow in step S91, the vertical movement mechanism 6 moves the pallet 9 holding the cargo 90 to be delivered to the delivery position 30. As described above, the lifting chain 63 of the vertical movement mechanism 6 travels, causing the pallet 9 holding the cargo 90 to descend from the storage unit 2 to the delivery position 30. The pallet 9 is positioned at the cargo position 301 of the delivery position 30. Note that the delivery mechanism 4 of the delivery unit 3 is located at a first position shifted from the cargo position 301.

[0111] After the pallet 9 is positioned at the cargo position 301, as shown in step S92 of FIG. 9 , the delivery mechanism 4 in the first position moves leftward toward the cargo position 301. When the forks 42 of the delivery mechanism 4 reach the cargo position 301, the forks 42 are inserted into the grooves 92 of the pallet 9. The delivery mechanism 4 receives the cargo 90 from the pallet 9 as described above. With the forks 42 holding the cargo 90, the delivery mechanism 4 moves rightward and returns to the first position (see step S93 of FIG. 10 ). The vertical movement mechanism 6 returns the emptied pallet 9 to the storage unit 2 (see the hollow arrow).

[0112] After the empty pallet 9 is returned to the storage section 2, the transfer mechanism 4 moves leftward again from the first position to the second position. As shown in step S94 of FIG. 10 , when the transfer mechanism 4 reaches the second position, the forks 42 holding the package 90 enter the loading platform 52 through the opening 520 of the automated guided robot 5. The transfer mechanism 4 then uses the groove 521 in the loading platform 52 to stably transfer the package 90 to the loading platform 52. In this way, the transfer mechanism 4 transfers the package 90 to and from the automated guided robot 5 by removing the package 90 from the pallet 9. After transferring the package 90 to the automated guided robot 5, the transfer mechanism 4 moves rightward again to the first position. When the door 53 closes the opening 520, the automated guided robot 5 can start transporting the package 90.

[0113] Although the procedure for transferring the luggage 90 from the luggage station 1 to the automatic guided robot 5 has been described above, the procedure for transferring the luggage 90 from the automatic guided robot 5 to the luggage station 1 can be carried out in the reverse order.

[0114] (Action and effect) The guide members 81, 82 and the second guide members 83, 84, which serve as guiding means of the baggage station 1, guide the AGV 5 to the transfer position 30 in the left-right direction. At the transfer position 30, the AGV 5 is positioned at a predetermined position in the left-right direction with high precision. When the transfer mechanism 4, which is a slider that reciprocates left-right, reaches the second position, the fork 42 of the transfer mechanism 4 can enter the platform 52 of the AGV 5. For example, if the AGV 5 is far away from the baggage position 301 in the left-right direction, the fork 42 of the transfer mechanism 4 may not be able to enter the platform 52 of the AGV 5 sufficiently even when the transfer mechanism 4 reaches the second position. Conversely, if the AGV 5 is too close to the baggage position 301 in the left-right direction, the fork 42 of the transfer mechanism 4 may interfere with the platform 52 of the AGV 5 when the transfer mechanism 4 reaches the second position.

[0115] The unmanned transport robot 5 can be precisely positioned in a predetermined position in the left-right direction at the transfer position 30, allowing the transfer mechanism 4 to accurately transfer the luggage 90 between the luggage station 1 and the unmanned transport robot 5.

[0116] Because the position of the unmanned transport robot 5 can be determined with high precision, the unmanned transport robot 5 does not require a mechanism such as a manipulator to transfer the load 90. The unmanned transport robot 5 does not require a complex mechanism for transferring the load 90, and the unmanned transport robot 5 can be constructed inexpensively. Because it is easy to increase the number of unmanned transport robots 5, the transportation efficiency of the transportation system is improved.

[0117] Furthermore, the mechanism for transferring the luggage 90 at the luggage station 1 is not complicated, so the luggage station 1 can also be constructed inexpensively. Even if the transfer mechanism 4 is simple, the automatic guided robot 5 can be positioned accurately at a predetermined position in the left-right direction at the transfer position 30, so the luggage 90 can be transferred accurately between the luggage station 1 and the automatic guided robot 5.

[0118] Furthermore, the guide members 81, 82 and the second guide members 83, 84 come into contact with the sides of the wheels 51 of the automated guided robot 5, forcibly changing the direction of travel of the automated guided robot 5. The guide members 81, 82 and the second guide members 83, 84 not only position the automated guided robot 5 at a predetermined position in the left-right direction with high precision, but also prevent the automated guided robot 5 from tilting in the front-to-back direction at the transfer position 30. Preventing the automated guided robot 5 from tilting is also effective for accurate transfer of luggage 90 between the luggage station 1 and the automated guided robot 5.

[0119] Furthermore, since the open / close member 33 is provided with a marker 331 for estimating its own position and attitude, the automated guided robot 5 can accurately reach the temporary stop position near the passage gate 31 by detecting the marker 331 through image recognition of the camera image. The marker 331 is an example of a guide means.

[0120] Since the marker 331 is positioned at the position of the passage gate 31, the automated guided robot 5 can efficiently approach the passage gate 31. In addition, since the marker 331 is provided on the opening / closing member 33, the marker can be reliably included over a wide area in the field of view of the camera of the automated guided robot 5.

[0121] When the AGV 5 reaches the temporary stop position near the passage gate 31, the opening / closing member 33 is opened based on an arrival signal transmitted to the baggage station 1. The marker 331 moves out of the camera's field of view. This does not pose a problem because the AGV 5 can cumulatively estimate its own position and orientation relative to the marker 331, which are estimated before the AGV 5 moves to the temporary stop position, and using odometry using a rotary encoder, IMU, or the like of the AGV 5. After the opening / closing member 33 opens, the AGV 5 can reach the AGV position 302 while being guided by the guide members 81 and 82 and the second guide members 83 and 84. The marker 331, the guide members 81 and 82, and the second guide members 83 and 84 can continuously guide the AGV 5 from its approach to the baggage station 1 until it passes through the passage gate 31 and arrives at the AGV position 302.

[0122] As described above, the automated guided robot 5 stops at the delivery position 30 based on the signal from the sensor 54. The position of the automated guided robot 5 at the delivery position 30 is also accurately determined in the front-to-rear direction. This also enables the forks 42 of the delivery mechanism 4 to enter the loading platform 52 of the automated guided robot 5 when the delivery mechanism 4 reaches the second position.

[0123] Since the transfer mechanism 4 enters the loading platform 52 of the unmanned transport robot 5, it is important for the unmanned transport robot 5 to be positioned accurately in both the left-right and front-back directions, and for the unmanned transport robot 5 not to tilt in the front-back direction in order to accurately transfer the cargo 90.

[0124] Accurate positioning of the unmanned transport robot 5 in the front-to-rear direction prevents the distance between the charging device 15 and the unmanned transport robot 5 from becoming too long. Because the distance between the charging device 15 and the unmanned transport robot 5 is kept appropriate, the charging efficiency of the charging device 15 is improved. In addition, the guide members 81, 82 and the second guide members 83, 84 prevent the unmanned transport robot 5 from tilting, which also contributes to stable charging of the unmanned transport robot 5 by the charging device 15.

[0125] The luggage station 1 can store multiple luggage 90 arranged vertically and horizontally in the storage section 2. The storage section 2 is compact yet can store a large number of luggage 90. In addition, because the storage section 2 is located above the delivery position 30, the luggage station 1 can be installed in a space-saving manner.

[0126] The first vertical movement mechanism 61 that moves the pallets 9 in the storage section 2 also moves the pallets 9 between the storage section 2 and the delivery position 30, so that the structure of the luggage station 1 is simplified by using the same mechanism for both purposes.

[0127] The pallets 9 used for moving the luggage 90 in the storage section 2 stabilize the movement of the luggage 90. Furthermore, for example, if one pallet 9 holds multiple luggage, it becomes possible to move multiple luggage at once in the storage section 2. The use of pallets 9 can improve the efficiency of the movement of the luggage 90 in the storage section 2.

[0128] Furthermore, the delivery mechanism 4 delivers the luggage 90 to and from the automatic guided robot 5 by removing the luggage 90 from the pallet 9, which eliminates the need for a process of retrieving the pallet 9 from the automatic guided robot 5. This simplifies the operation of the luggage station 1.

[0129] (Variation) The guiding means are not limited to the above-described guide members 81, 82 and second guide members 83, 84. The guide members may forcibly change the traveling direction of the automated guided robot 5 by hitting the side of the main body 50 of the automated guided robot 5 instead of hitting the side of the wheels 51 of the automated guided robot 5.

[0130] Furthermore, the guide means is not limited to a guide member that comes into contact with the automated guided robot 5 and forcibly changes the direction of travel of the automated guided robot 5. The guide means may be a guide member attached to the baggage station 1, which serves as a target for the automated guided robot 5 to measure the relative distance to the automated guided robot 5. The automated guided robot 5 can stop accurately at a predetermined position in the transfer position 30 in both the left-right and front-rear directions based on the relative distance to the guide member.

[0131] In addition, the guide means may be configured to position the unmanned transport robot 5 at a predetermined position by moving the floor surface of the transfer position 30 after the unmanned transport robot 5 reaches the transfer position 30.

[0132] The transfer mechanism is not limited to a slider that moves back and forth in the first direction (i.e., left and right direction) while holding the load 90. The transfer mechanism may be a conveyor that extends in the left and right direction and transports the load 90 in the left and right direction. The transfer mechanism may also be a push-pull actuator. The push-pull actuator pushes the load toward the platform 52 of the automatic guided robot 5 and pulls the load out from the platform 52.

[0133] The above-described structure of the storage unit 2 is an example. The storage unit 2 may have various structures as appropriate, as long as it is capable of storing a plurality of packages 90 and is capable of moving any one of the plurality of packages 90 to the delivery position 30.

[0134] Furthermore, the unmanned transport robot position 302 at the delivery position 30 does not have to be provided inside the frame 11 of the baggage station 1, and may be provided outside the frame 11. Furthermore, the unmanned transport robot 5 may move toward and away from the delivery position 30 by traveling in the first direction, rather than moving toward and away from the delivery position 30 by traveling in a second direction (front-rear direction in the above configuration) perpendicular to the first direction (left-right direction in the above configuration).

[0135] The above-mentioned marker 331 is used by the automated guided robot 5 to estimate its own position and attitude, but it may be a marker that allows the automated guided robot 5 to estimate only one of its own position and attitude. Also, the above-mentioned marker 331 is a plurality of circles 311a arranged in a grid pattern and provided on the open / close member 33, but the number of markers needs to be at least one set, and the shape is not limited to a circle grid. Also, the marker may be formed three-dimensionally. [Explanation of symbols]

[0136] 1 Luggage Station 14 Reception Department 144 Delivery mechanism 2 Storage section 3 Delivery department 30 Delivery location 31 Passing Gate 33 Opening and closing member 331 Marker 4 Delivery Mechanism 5. Unmanned transport robot 81 Guide member 82 Guide member 83 Second guide member 84 Second guide member 9 palettes 90 Luggage

Claims

1. a storage unit capable of storing multiple items of luggage; a delivery unit having a delivery mechanism for delivering the load to and from the automatic guided robot; a guide means for guiding the self-propelled unmanned transport robot to a delivery position where the package is delivered, the delivery mechanism delivers the load to and from the automatic guided robot by moving the load in a first direction; The guiding means guides the automated guided robot to the transfer position in at least the first direction.

2. 2. The baggage station of claim 1, The luggage station, wherein the delivery mechanism is a slider that reciprocates in the first direction between the delivery position and a standby position while holding the luggage.

3. 2. The baggage station of claim 1, The unmanned transport robot reaches the transfer position by traveling in a second direction perpendicular to the first direction.

4. 4. The baggage station of claim 3, The luggage station, wherein the guide means is a guide member that contacts the side of the unmanned transport robot as it travels toward the transfer position and guides the unmanned transport robot to the transfer position by changing the direction of travel of the unmanned transport robot in the first direction.

5. 4. The baggage station of claim 3, The luggage station, wherein the guide means is a marker that allows the automated guided robot to recognize deviations in position and / or posture relative to the transfer position.

6. 6. The baggage station of claim 5, a passage gate through which the automated guided robot passes when moving to the delivery position, and an opening / closing member that opens and closes the passage gate, A luggage station, wherein the marker for location recognition is provided on the opening and closing member.

7. 7. A baggage station according to any one of claims 1 to 6, A baggage station is provided at the delivery position, and a non-contact charging device is installed to charge the automatic guided robot.

8. 8. The baggage station of claim 7, The non-contact charging device is located in front of the unmanned transport robot in the direction of movement as the unmanned transport robot moves toward the transfer position.

9. 2. The baggage station of claim 1, The luggage station further includes a moving mechanism that moves the luggage between the storage section and the delivery section.

10. 10. The baggage station of claim 9, The storage unit is located above the delivery position and stores the cargo held on the pallet in a vertical and horizontal arrangement, The moving mechanism moves the pallet vertically and horizontally in the storage section, and also moves the pallet vertically between the storage section and the delivery section.

11. 11. The baggage station of claim 10, The transfer mechanism transfers the luggage to and from the automatic guided robot by removing the luggage from the pallet.

12. 12. A baggage station according to claim 10 or 11, Further, a receiving section for receiving the luggage is provided, The receiving section has a sending mechanism for sending the received luggage to the storage section.

13. 12. A baggage station according to claim 10 or 11, Further, a receiving section for receiving the luggage is provided, The receiving section is a part of the storage section that stores the luggage in both vertical and horizontal rows.

14. 10. The baggage station of claim 9, the moving mechanism has a holding unit that holds and moves the luggage, Further, a receiving section for receiving the luggage is provided, The receiving section has a delivery mechanism that delivers the received luggage to the holding section stopped at a predetermined position.

15. 10. The baggage station of claim 9, the moving mechanism has a holding unit that holds and moves the luggage, A receiving section having an opening for receiving the luggage is further provided, The moving mechanism stops the holding unit at a position corresponding to the receiving opening and receives luggage into the holding unit through the receiving opening.

Images