Bed structure

Abstract

This provides a floor structure that allows for a shorter inclined section while suppressing the magnitude of acceleration and jerk applied to the vehicle. [Solution] A floor structure for a vehicle that is installed on an existing floor, the floor structure includes an inclined section 3 connecting a lower floor surface 1 and an upper floor surface 2, the inclined section 3 includes a lower inclined section 6 connected to the lower floor surface 1, an upper inclined section 7 connected to the upper floor surface 2, and an intermediate inclined section 8 located between the lower inclined section 6 and the upper inclined section 7, wherein the intermediate inclination angle θm of the intermediate inclined section 8 is greater than the lower inclination angle θs2 of the lower inclined section 6 and the upper inclination angle θe2 of the upper inclined section 7.

Description

[Technical Field]

[0001] The present disclosure relates to a floor structure on which a vehicle runs. [Background technology]

[0002] Patent document 1, etc., describes a driving system for an automated guided vehicle (hereinafter referred to as "AGV") that automatically travels inside a building such as a logistics warehouse. Since factories, logistics warehouses, etc. are often leased facilities, flooring materials are laid on the existing floor in the AGV's driving path to protect the existing floor.

[0003] Furthermore, AGVs have difficulty moving from the lower floor surface, which is made up of the existing floor, to the upper floor surface, which is made up of the flooring material. For this reason, flooring materials are sometimes laid across the entire existing floor so that no step is created between the upper and lower floor surfaces. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-236539 Summary of the Invention [Problem to be solved by the invention]

[0005] Laying flooring materials over the entire existing floor increases the number of flooring materials used, resulting in higher costs. On the other hand, as shown in FIG. 21(a), a step 5 is left between the lower floor surface 1 and the upper floor surface 2 to reduce the number of flooring materials 4. When an AGV 9 is configured to overcome the step 5 in this configuration, the AGV 9 experiences instantaneous large acceleration and jerk when climbing over the step 5. Specifically, the direction of travel of the AGV 9 is defined as the X direction, and the direction perpendicular to the direction of travel is defined as the Y direction. Then, large Y-direction acceleration (see FIG. 21(b)) and Y-direction jerk (see FIG. 21(c)) occur when the AGV 9 overcomes the step 5. Large accelerations may cause the load to collapse. Furthermore, large jerk may cause the AGV to malfunction. Hereinafter, unless otherwise specified, Y-direction acceleration and jerk will be simply referred to as acceleration and jerk.

[0006] To solve this problem, one idea is to provide an inclined section 10, in which the inclination angle of the inclined plane relative to the lower floor surface 1 is constant, at the step 5 between the lower floor surface 1 and the upper floor surface 2, as shown in Figure 22(a). In such a case, even though the acceleration and jerk at the start point Ps and end point Pe of the inclined section 10 are smaller than when going over a step, instantaneous acceleration and jerk still occur (see Figures 22(b) and (c)). In order to reduce the acceleration and jerk in such an inclined section 10, the entire inclined plane can be made a gentler slope with a smaller inclination angle. However, doing so would result in the length of the inclined section 10 becoming too long.

[0007] Such problems associated with acceleration and jerk are not limited to the AGV 9, but also apply to other vehicles such as transport forklifts and cleaning vehicles. [Means for solving the problem]

[0008] The present disclosure provides a floor structure for a floor on which a vehicle runs that is installed on an existing floor, the floor structure including an inclined portion connecting a lower floor surface and an upper floor surface, the inclined portion including a lower inclined portion continuing to the lower floor surface, an upper inclined portion continuing to the upper floor surface, and an intermediate inclined portion located between the lower inclined portion and the upper inclined portion, wherein the intermediate inclination angle of the intermediate inclined portion is greater than the lower inclination angle of the lower inclined portion and the upper inclination angle of the upper inclined portion. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a floor structure that can reduce the magnitude of acceleration and jerk applied to a vehicle while shortening the inclined portion. [Brief explanation of the drawings]

[0010] [Figure 1] 4 is a schematic diagram showing the schematic configuration of a floor structure on which an AGV travels along line L2 in FIG. 3 in the first embodiment. FIG. [Figure 2] 4 is a schematic diagram showing the schematic configuration of a floor structure on which an AGV travels according to line L3 in FIG. 3 in the first embodiment. FIG. [Figure 3] FIG. 3 is a diagram illustrating a specific shape of an inclined portion in the first embodiment. [Figure 4] 4A is a diagram illustrating the jerk in the Y direction corresponding to line L2 in FIG. 3, and FIG. 4B is a diagram illustrating the acceleration in the Y direction corresponding to line L2 in FIG. [Figure 5] FIG. 4 is a diagram illustrating the velocity in the Y direction corresponding to the line L2 in FIG. 3. [Figure 6] 10 is a schematic diagram showing another example of an inclined portion of the line L3 in the first embodiment. FIG. [Figure 7] 7 is a diagram illustrating acceleration at an inclined portion shown in FIG. 6. FIG. [Figure 8] 7 is a diagram illustrating a jerk at the inclined portion shown in FIG. 6. FIG. [Figure 9] FIG. 10 is a schematic diagram showing a floor structure formed by stacking a plurality of plate materials in a second embodiment. [Figure 10]FIG. 10 is an enlarged schematic diagram showing the underside of the floor structure shown in FIG. 9. [Figure 11] FIG. 10 is an enlarged schematic diagram showing the upper side of the floor structure shown in FIG. 9. [Figure 12] 12 is a schematic diagram showing a third embodiment of a sloped portion, which is a modified example of the floor structure shown in FIGS. 9 to 11. FIG. [Figure 13] FIG. 12 is a schematic diagram illustrating a fourth embodiment, which is a modified example of the floor structure shown in FIGS. [Figure 14] FIG. 14 is an enlarged schematic diagram showing the underside of the floor structure shown in FIG. 13. [Figure 15] FIG. 10 is a schematic diagram showing a floor structure constructed by stacking a plurality of plate materials according to a fifth embodiment. [Figure 16] FIG. 16 is a schematic diagram illustrating a modification of the floor structure shown in FIG. 15 according to the sixth embodiment. [Figure 17] FIG. 13 is a schematic diagram showing a floor structure made up of flooring mats according to a seventh embodiment. [Figure 18] FIG. 13 is a schematic diagram illustrating an eighth embodiment in which a recess provided at the tip of an inclined portion is filled with a filler. [Figure 19] FIG. 13 is a schematic diagram showing a floor structure in which a filler is filled only in the travel path of the AGV according to the ninth embodiment. [Figure 20] FIG. 19 is a schematic diagram showing a floor structure according to a tenth embodiment, in which an inclined portion is made of a metal material and a non-magnetic material is provided between the inclined portion and a floor material having a power supply coil that forms the upper floor surface. [Figure 21] (a) is a schematic diagram illustrating an AGV climbing up a step formed at the boundary between the lower floor surface and the upper floor surface, (b) is a diagram illustrating the acceleration when the AGV climbs over the step in (a), and (c) is a diagram illustrating the jerk when the AGV climbs over the step in (a). [Figure 22] (a) is a schematic diagram illustrating an AGV climbing up an inclined plane formed at the boundary between the lower floor surface and the upper floor surface, (b) is a diagram illustrating the acceleration when the AGV climbs over a step in (a), and (c) is a diagram illustrating the jerk when the AGV climbs over a step in (a). DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of the floor structure will be described with reference to FIGS. 1 to 20. First Embodiment As shown in FIG. 1 , the floor structure in this embodiment is a floor structure for a building such as a logistics warehouse, and constitutes a floor on which an AGV 9, a vehicle that travels autonomously at a constant speed, travels. The floor structure includes a lower floor surface 1 formed of an existing floor, an upper floor surface 2 formed by an arrangement of floor materials 4, and an inclined portion 3 connecting the lower floor surface 1 and the upper floor surface 2. The portion of the multiple floor materials on which the AGV 9 travels is provided with a power supply coil 4c for supplying power to the AGV 9. The inclined portion 3 includes a lower inclined portion 6 connected to the lower floor surface 1, an upper inclined portion 7 connected to the upper floor surface 2, and an intermediate inclined portion 8 located between the lower inclined portion 6 and the upper inclined portion 7. The floor structure is composed of floor materials that are strong enough to withstand the travel of the AGV 9, yet can be easily installed on an existing floor.

[0012] <Concept of Inclined Section 3> Figure 3 is a diagram showing the specific shape of the inclined surface that constitutes the inclined portion 3. In Figure 3, Ps is the starting point Ps where the inclined portion 3 begins to rise from the lower floor surface 1, and Pe is the ending point Pe where the inclined portion 3 ends to rise. The X-axis represents the distance from the starting point Ps to the ending point Pe (the length of the inclined portion 3), and the Y-axis represents the height of the inclined portion 3 from the starting point Ps to the ending point Pe.

[0013] <Line L1> Line L1 is an example in which the inclined portion 3 is configured with an inclined plane, and the inclination angle θx formed by the inclined plane with respect to the lower floor surface 1 is constant. This is the example in FIG.

[0014] <Line L2> L2 indicates the inclined portion 3 that is ideal in this disclosure. The shape of the inclined surface that constitutes the inclined portion 3 is a sigmoid curve shape like an S-shape extended to the left and right. The inclined portion 3 is located between the starting point Ps and the end point Pe, and has an inflection point Pi at the point of maximum slope. Furthermore, between the starting point Ps and the inflection point Pi, the inclined surface is convex downward and the height increases continuously, and between the inflection point Pi and the end point Pe, the inclined surface is convex upward and the height increases continuously. Note that the inclined portion 3 in FIG. 1 indicates the inclined portion 3 that follows the line L2.

[0015] Any point between the starting point Ps and the inflection point Pi is defined as the lower midpoint Pd1, and any point between the inflection point Pi and the ending point Pe is defined as the upper midpoint Pu1. The angle formed by the virtual line connecting the starting point Ps and the lower midpoint Pd1 and the lower floor surface 1 is defined as the lower inclination angle θs1. The area between the starting point Ps and the lower midpoint Pd1 is the lower inclined portion 6 (see FIG. 1).

[0016] Also, a lower intermediate inclination angle θd1 is the angle formed by an imaginary line connecting the lower intermediate point Pd1 and the inflection point Pi and an imaginary line parallel to the lower floor surface 1. Between the lower intermediate point Pd1 and the inflection point Pi is a lower intermediate inclined portion 8d (see FIG. 1).

[0017] The upper intermediate inclination angle θu1 is the angle formed by the imaginary line connecting the upper intermediate point Pu1 and the inflection point Pi and the imaginary line parallel to the lower floor surface 1. Between the upper intermediate point Pu1 and the inflection point Pi is the upper intermediate inclined portion 8u (see FIG. 1).

[0018] An upper inclination angle θe1 ​​is the angle formed by an imaginary line connecting the upper midpoint Pu1 and the end point Pe and an imaginary line parallel to the lower floor surface 1. The area between the upper midpoint Pu1 and the end point Pe is an upper inclined portion 7.

[0019] In such a line L2, the relationship between the lower inclination angle θs1, the lower intermediate inclination angle θd1, the upper intermediate inclination angle θu1, and the upper inclination angle θe1 ​​is as follows: Lower slope angle θs1<lower intermediate slope angle θd1 and Upper intermediate inclination angle θu1>Upper inclination angle θe1 Here, the lower inclination angle θs1 and the upper inclination angle θe1 ​​may be the same or different. Also, the lower intermediate inclination angle θd1 and the upper intermediate inclination angle θu1 may be the same or different.

[0020] With this configuration, the points where the inclination angle changes can be dispersed throughout the entire inclined portion 3, and the inclination angle near the start point Ps and the end point Pe can be made gentler than the intermediate portion between them. This allows the length of the inclined portion 3 to be shortened, while reducing the acceleration and jerk that occur at the start point Ps and the end point Pe.

[0021] <Line L3> Line L3 also represents the inclined portion 3 to which the present disclosure is applied. The shape of the inclined surface that constitutes the inclined portion 3 is a shape of an inclined surface that can reduce acceleration and jerk more than line L1, although not as much as line L2, and is an approximation line of line L2. Line L3 represents, as an example, the minimum inclined surface required to reduce acceleration and jerk.

[0022] As shown in FIGS. 2 and 3, a lower midpoint Pd2 and an upper midpoint Pu2 are located between the starting point Ps and the ending point Pe. The lower inclined portion 6 between the starting point Ps and the lower midpoint Pd2, the intermediate inclined portion 8 between the lower midpoint Pd2 and the upper midpoint Pu2, and the upper inclined portion 7 between the upper midpoint Pu2 and the ending point Pe are each formed of an inclined plane. The angle between the lower inclined portion 6 between the starting point Ps and the lower midpoint Pd2 and the lower floor surface 1 is defined as a lower inclination angle θs2. The angle between the intermediate inclined portion 8 between the lower midpoint Pd2 and the upper midpoint Pu2 and an imaginary line parallel to the lower floor surface 1 is defined as an intermediate inclination angle θm. The angle between the upper inclined portion 7 between the upper midpoint Pu2 and the ending point Pe and an imaginary line parallel to the lower floor surface 1 is defined as an upper inclination angle θe2.

[0023] In such L3, the relationship between the lower inclination angle θs2, the middle inclination angle θm, and the upper inclination angle θe2 is as follows: Lower slope angle θs2 < intermediate slope angle θm and Middle inclination angle θm>Upper inclination angle θe2 Here, the lower inclination angle θs2 and the upper inclination angle θe2 may be the same or different.

[0024] Even with this configuration, although not as much as line L2, the points where the inclination angle changes can be dispersed throughout the entire inclined portion 3, and the inclination angle near the start point Ps and the end point Pe can be made gentler than the intermediate portion between them. This makes it possible to reduce the acceleration and jerk that occur at the start point Ps and the end point Pe while shortening the length of the inclined portion 3.

[0025] <Line L2,L3> The shape of the inclined portion 3 of the line L2 and the line L3 can suppress the magnitude of the acceleration at the start point Ps and the end point Pe, thereby suppressing the collapse of the load. In addition, the suppression of the magnitude of the jerk can suppress the occurrence of breakdowns of the AGV 9.

[0026] Here, we will explain how to design line L2. Figure 4(a) is a diagram explaining the jerk in the Y direction for designing the ideal line L2 while keeping the speed of the AGV 9 in the X direction almost constant. Figure 4(b) is a diagram explaining the acceleration in the Y direction for designing the ideal line L2, which is calculated by integrating the jerk. As shown in Figure 4(a), in order to prevent AGV 9 failure and load collapse, the jerk impulse can be reduced by dispersing it in the direction of the time axis (X direction), and as a result, the acceleration can also be reduced. Figure 5 is a diagram explaining the speed calculated by integrating the acceleration shown in Figure 4. The speed change is small in the X direction, which is the direction of travel of the AGV 9, and large in the Y direction, which is the height of the inclined portion. The ideal line L2 can then be calculated by integrating the speed in the Y axis direction.

[0027] FIG. 6 shows an example in which the inclined portion 3 is made up of multiple inclined planes between the starting point Ps and the end point Pe, as in line L3. There must be at least two points where the angle between the starting point Ps and the end point Pe changes. If there are more than two points, a smoother inclined portion 3 can be formed, thereby reducing the acceleration and jerk. In FIG. 6, there are more points where the angle changes between the starting point Ps and the end point Pe than in L3 (here, intermediate points Pm1 to Pm4 are provided).

[0028] The relationship between the inclination angles is The lower inclination angle θ1 of the starting point Ps < the lower intermediate inclination angle θ2 of the lower intermediate point Pm1 < the intermediate inclination angle θ3 of the intermediate point Pm2 > the upper intermediate inclination angle θ4 of the upper intermediate point Pm3 > the upper inclination angle θ5 of Pm4 It is as follows.

[0029] Here, the lower inclination angle θ1 and the upper inclination angle θ5 may be the same or different. Furthermore, the lower intermediate inclination angle θ2 and the upper intermediate inclination angle θ4 may be the same or different. The intermediate inclination angle θ3 may be the same as or larger than the lower intermediate inclination angle θ2. Furthermore, the intermediate inclination angle θ3 may be the same as or larger than the upper intermediate inclination angle θ4.

[0030] FIG. 7 is a diagram showing the magnitude of acceleration when intermediate points Pm1 to Pm4 are provided, and FIG. 8 is a diagram showing the magnitude of jerk. Both acceleration and jerk change instantaneously at any of the positions of the start point Ps, intermediate points Pm1 to Pm4, and end point Pe, where the angle changes. However, the magnitude can be made smaller than the changes in acceleration and jerk when going over a step (see FIGS. 21(b) and (c)) because the angle change is distributed among the intermediate points Pm1 to Pm4. Also, the magnitude can be made smaller than the changes in acceleration and jerk when going over an inclined section with a constant inclination angle (see FIGS. 22(b) and 22(c)) because the angle change is distributed among the intermediate points Pm1 to Pm4.

[0031] <Actions and Effects of the First Embodiment> The effects of the first embodiment will be described. (1) As shown in Figures 1 and 3, line L2 has a sigmoid curve shape in which the inclination angle changes continuously. As a result, the relationship between the inclination angles is such that the lower inclination angle θs1<the lower intermediate inclination angle θd1, and the upper intermediate inclination angle θu1>the upper inclination angle θe1. Furthermore, as shown in Figures 2 and 3, the relationship between the inclination angles of L3 is such that the lower inclination angle θs2<the intermediate inclination angle θm, and the intermediate inclination angle θm>the upper inclination angle θe2.

[0032] In this way, the shape of the inclined portion 3 of the lines L2 and L3 forms a gentle slope at the start point Ps and the end point Pe, and by providing a steep slope with a larger inclination angle between them, the overall length of the inclined portion 3 can be shortened. In addition, by dispersing the points where the inclination angle changes, the magnitude of acceleration can be reduced, and as a result, the occurrence of load collapse can be prevented. Furthermore, since the magnitude of jerk can be reduced, the occurrence of breakdowns of the AGV 9 can be prevented.

[0033] Second Embodiment FIG. 9 shows an example in which the structure constituting the inclined portion 3 is formed by stacking a plurality of plate materials 21. The lower inclination angle θs of the lowest lower inclined portion 6 needs to be smaller than the intermediate inclination angle θm of the intermediate inclined portion 8 continuing upward from the lower inclined portion 6 (see FIG. 10). In addition, the upper inclination angle θe of the uppermost upper inclined portion 7 also needs to be smaller than the intermediate inclination angle θm of the intermediate inclined portion 8 continuing downward from the upper inclined portion 7 (see FIG. 11). In the second embodiment, the plurality of plate materials 21 constituting the inclined portion 3 are stacked with the thicknesses of the plate materials 21 changed so that the tip of the lower plate material 21d located at the bottom protrudes beyond the tip of the upper plate material 21u located next uppermost.

[0034] The thickness of the plurality of plate materials 21 to be stacked is selected from a range of, for example, 0.5 mm to 1.0 mm, so as to be suitable for the layer in which they are arranged. For example, the thinnest plate materials are selected for the bottom plate material 21b and the top plate material 21t. Then, thicker plate materials are selected for the upper plate material 21u above the bottom plate material 21 and the lower plate material 21d below the top plate material 21. Here, for example, the bottom plate material 21b and the top plate material 21t may have the same thickness or different thicknesses. Furthermore, the plate material 21 in the second layer from the bottom and the plate material 21 in the second layer from the top may have the same thickness or different thicknesses. In this way, the n-th plate material 21 from the bottom and the n-th plate material 21 from the top (where n is the same integer value) may have the same thickness or different thicknesses.

[0035] The lower plate material 21d is configured to protrude from the upper plate material 21u at a constant protrusion pitch 22. In the examples of Figures 9 to 11, the thickness of each plate material 21 is adjusted so that the upper end point 21a at the tip of each plate material 21 corresponds to the line L of the designed inclined portion 3.

[0036] As shown in FIG. 10, the angle formed by an imaginary line connecting the starting point Ps of the line L of the designed inclined portion 3 and the upper end point 21a of the lowest plate 21b, and the lower floor surface 1, is defined as the lower inclination angle θs. The line L is a line connecting the upper end points 21a of each plate 21, and the line from the upper end point 21a of the lowest plate 21b to the starting point Ps where it intersects with the lower floor surface 1 is an extension of the line connecting the upper end points 21a above it. In addition, the angle formed by the upper surface of the lowest plate 21b (a surface parallel to the lower floor surface 1) and the upper end point 21a of the upper plate 21u (the second plate 21 from the bottom) above it is defined as the lower middle inclination angle θd. Then, the relationship between the lower inclination angle θs and the lower middle inclination angle θd is as follows: Lower inclination angle θs<lower intermediate inclination angle θd This becomes:

[0037] The thickness of the plate material 21 is gradually increased from the bottom layer to the center in the height direction of the inclined portion 3 or the center in the length direction of the inclined portion 3, so that the inclination angle located above is larger than the inclination angle located below. Note that, when there are multiple intermediate inclination angles θm above the lower intermediate inclination angle θd from the bottom layer to the center in the height direction of the inclined portion 3 or the center in the length direction of the inclined portion 3, the intermediate inclination angles θm may increase from bottom to top, or may be the same.

[0038] As shown in FIG. 11, the angle formed by an imaginary line connecting the upper end point 21a of the top plate 21t to the upper end point 21a of the lower plate 21d1 (the second plate 21 from the top) below it and the upper surface (plane parallel to the lower floor surface 1) of the lower plate 21d1 (the second plate 21 from the top) is defined as the upper inclination angle θe. Also, the angle formed by an imaginary line connecting the upper end point 21a of the lower plate 21d1 (the second plate 21 from the top) to the upper end point 21a of the lower plate 21d2 (the third plate 21 from the top) below it and the upper surface (plane parallel to the lower floor surface 1) of the lower plate 21d2 is defined as the upper middle inclination angle θu. Then, the relationship between the upper inclination angle θe and the upper middle inclination angle θu is as follows: Upper inclination angle θe<upper intermediate inclination angle θu This becomes:

[0039] The top plate 21t may be located one step lower than the upper floor surface 2. In this case, the upper inclination angle θe is the angle formed by an imaginary line connecting the end point Pe and the upper end point 21a of the top plate 21t and the top surface of the top plate 21t. The upper middle inclination angle θu is the angle formed by an imaginary line connecting the upper end point 21a of the top plate 21t and the upper end point 21a of the lower plate 21d1 below it and the top surface of the lower plate 21d1 (a surface parallel to the lower floor surface 1).

[0040] The thickness of the plate material 21 is gradually increased from the top to the center in the height direction of the inclined portion 3 or the center in the length direction of the inclined portion 3, so that the inclination angle θ located below is greater than the inclination angle located above. Note that, when there are multiple intermediate inclination angles θm below the upper intermediate inclination angle θu from the top layer to the center in the height direction of the inclined portion 3 or the center in the length direction of the inclined portion 3, the intermediate inclination angles θm may increase from the top to the bottom, or may be the same.

[0041] 9 to 11, the upper intermediate tilt angle θm increases in order from the lower tilt angle θd, so the points at which the tilt angles change are dispersed, thereby reducing the magnitude of acceleration and jerk at the start point Ps. Also, the lower intermediate tilt angle θm increases in order from the upper tilt angle θu, so the magnitude of acceleration and jerk at the start point Ps can be reduced.

[0042] The material of each plate 21 is not particularly limited and may be a metal plate, a wood plate, a rubber plate, a resin plate, or the like. However, when an elastic plate such as a rubber plate is selected, vibrations caused by the running of the AGV 9 can be reduced. In particular, by using an elastic plate such as a rubber plate for the thinnest bottom plate 21b, the thickness can be reduced by being crushed by the weight of the plates 21 stacked on top of it and the weight of the running AGV 9. This allows the lower tilt angle θs to be further reduced.

[0043] Furthermore, since the tips of the plate materials 21 are offset by providing a protrusion pitch 22, minute steps 24 are formed in those portions. These minute steps 24 can be filled with a filler to fill the minute steps 24. A resin material such as UV resin can be used as the filler. This makes it possible to approximate an inclined curved surface with a continuously changing inclination angle. Furthermore, the tip of the lowest plate material 21b at the position of the starting point Ps can also be filled with a resin material such as UV resin.

[0044] <Actions and Effects of the Second Embodiment> The effects of the first embodiment will be described. (2-1) The inclined portion 3 is configured by stacking a plurality of plate materials 21 of different thicknesses, with the same protrusion pitch 22. Therefore, the inclined portion 3 can be easily provided by stacking the plate materials 21. Even if the inclined portion 3 is damaged, it can be easily repaired by flipping up the plate materials 21.

[0045] (2-2) The thinnest bottom plate material 21b can be made thinner by using an elastic plate material such as rubber, which is crushed by the weight of the plate materials 21 stacked on top of it and the weight of the traveling AGV 9. This allows the lower inclination angle θs to be further reduced.

[0046] Third Embodiment 12 shows a modified example of the second embodiment. The upper plate material 21u is gradually thicker than the lower plate material 21d in the first and second layers. The upper layers use inclined blocks 23. The inclined blocks 23 have an inclined surface 23x that is a sloped portion connected to a line L connecting the upper end points 21a of the stacked plate materials 21. This configuration reduces the number of plate materials 21 to be stacked, the number of parts that make up the inclined portion 3, and the construction period. The inclined blocks 23 may be molded from resin, metal, wood, or the like.

[0047] <Fourth embodiment> Fig. 13 is a modified example of the third embodiment. The example in Fig. 13 is similar in that a plurality of plate materials are stacked, but differs in that the plate materials have the same thickness but different protrusion pitches.

[0048] 14, the protrusion pitch 27 at which the tip of the lower plate material 26d protrudes from the tip of the upper plate material 26u decreases from the bottom to the center in the height direction of the inclined portion 3 or the center in the length direction of the inclined portion 3. In addition, the protrusion pitch 27 between the start point Ps of the line L of the designed inclined portion 3 and the tip of the lowest lower plate material 26d is set to be the largest.

[0049] Here, the angle formed by the imaginary line connecting the starting point Ps of the line L of the designed inclined portion 3 and the upper end point 26a of the lowest lower plate member 26d, and the lower floor surface 1, is defined as the lower inclination angle θs. Also, the angle formed by the upper surface of the lowest lower plate member 26d (a surface parallel to the lower floor surface 1) and the imaginary line connecting the upper end point 26a of the lowest lower plate member 26d and the upper end point 26a of the upper plate member 26u1 above it, is defined as the lower intermediate inclination angle θd. Then, the relationship between the lower inclination angle θs and the lower intermediate inclination angle θd is as follows: Lower inclination angle θs<lower intermediate inclination angle θd This becomes:

[0050] The angle formed by the upper surface of the upper plate 26u1 (a surface parallel to the lower floor surface 1) and a virtual line connecting the upper end point 26a of the upper plate 26u1 and the upper end point 26a of the upper plate 26u2 above it is defined as the lower intermediate inclination angle θm. Then, the relationship between the lower inclination angle θd and the lower intermediate inclination angle θm is as follows: Lower inclination angle θd<lower intermediate inclination angle θm This becomes:

[0051] Furthermore, by successively decreasing the protrusion pitch 27 from the bottom layer to the center in the height direction of the inclined portion 3 or the center in the length direction of the inclined portion 3, a relationship is established in which the inclination angle at the bottom is smaller than the inclination angle at the top. Note that, from the bottom layer to the center in the height direction of the inclined portion 3 or the center in the length direction of the inclined portion 3, when there are multiple intermediate inclination angles θm above the lower intermediate inclination angle θd, they may increase in succession or may be the same.

[0052] In addition, the protrusion pitch 27 at which the tip of the lower plate material 26d protrudes beyond the tip of the upper plate material 26u is configured to become gradually smaller from the top to the center in the height direction of the inclined portion 3 or the center in the length direction of the inclined portion 3.

[0053] From the top layer to the center in the height direction of the inclined portion 3 or the center in the length direction of the inclined portion 3, the protrusion pitch 27 is gradually decreased, so that the inclination angle at the top is smaller than the inclination angle θ at the bottom. Note that, from the top layer to the center in the height direction of the inclined portion 3 or the center in the length direction of the inclined portion 3, when there are multiple intermediate inclination angles θm below the upper intermediate inclination angle θu, they may be sequentially larger or may be the same.

[0054] Even with this configuration, the upper intermediate tilt angle θm is larger than the lower tilt angle θd, and the points at which the tilt angles change can be dispersed, making it possible to reduce the magnitude of acceleration and jerk at the start point Ps while shortening the length of the inclined portion 3. Furthermore, because the lower intermediate tilt angle θm increases in order from the upper tilt angle θu, it is possible to reduce the magnitude of acceleration and jerk at the end point Pe.

[0055] As described above, the inclined portion 3 is formed by stacking a plurality of plate materials 26 of the same thickness with different protrusion pitches 27. Therefore, the inclined portion 3 can be easily provided by stacking the plate materials 26. Even if the inclined portion 3 is damaged, it can be easily repaired by peeling back the plate materials 26.

[0056] Fifth Embodiment As shown in FIG. 15, the inclined section 3 may be formed by arranging rigid blocks 31. Each rigid block 31 has a rectangular parallelepiped shape. That is, the flat upper surface of each rigid block 31 forms the running surface for the AGV 9. The rigid blocks 31 have different heights along the line L of the designed inclined section 3, and are arranged in order of increasing height from the start point Ps to the end point Pe. Specifically, each rigid block 31 is arranged so that the upper end point 31a on the start point Ps side corresponds to the line L.

[0057] Each rigid block 31 may be a wooden block, a metal block, a synthetic resin block, or a concrete block. If it is made of synthetic resin, an example is reinforced plastic. If it is made of concrete, an example is high-strength lightweight concrete.

[0058] The upper end point 31a of each rigid block 31 is the point where the wheels of the AGV 9 hit, but since rigidity is ensured, it is less likely to be damaged. In particular, the rigid block 31s closest to the starting point Ps is less likely to be damaged because rigidity is ensured, even if a particularly large force is repeatedly applied to it when the AGV 9 climbs up.

[0059] Moreover, such rigid blocks 31 are arranged with gaps 32 between adjacent rigid blocks 31. The floor surface 1 on which the inclined portion 3 is provided may be uneven. By arranging the rigid blocks 31 side by side with gaps 32, they can be arranged to follow the unevenness.

[0060] Furthermore, a protective sheet 35 for protecting the lower floor surface 1 is disposed between the rigid block 31 and the lower floor surface 1. The protective sheet 35 is preferably a thin, elastic thin film sheet. The protective sheet 35 may also be a metal sheet, a resin sheet, an amorphous magnetic sheet, or the like.

[0061] Sixth Embodiment 16 shows a modified example of the rigid block 31. Each rigid block 31 is not a rectangular parallelepiped, but has an upper surface that is an inclined plane or curved surface corresponding to the line L of the designed inclined portion 3.

[0062] The rigid block 31 can configure the running surface of the AGV 9 on the slope 3 with a smoother inclined plane or curved surface. In particular, the rigid block 31s closest to the starting point Ps has its upper end point 31a in contact with the lower floor surface 1. Therefore, the magnitude of the acceleration and jerk of the AGV 9 at the starting point Ps can be reduced.

[0063] Seventh Embodiment In FIG. 17, the structure constituting the sloped section 3 is configured with a flooring mat 41. The flooring mat 41 is configured by connecting a plurality of blocks 42. Each block 42 is configured by filling a formwork portion 43 with a filler 44. The formwork portion 43 may be made of wood, metal, or synthetic resin. In the case of synthetic resin, reinforced plastic is an example. The filler 44 is preferably high-strength lightweight concrete. The blocks 42 may also be solid blocks made of solid synthetic resin. Each block 42 has an inverted trapezoidal shape in a vertical cross section, with the upper base longer than the lower base, and the side wall portion 43a connecting the upper and lower bases configured at an angle.

[0064] Adjacent blocks 42 are connected by flexible displacement portions 45. For example, the formwork portion 43 constituting each block 42 is a resin molded product, and the flexible displacement portion 45 is thinner than the formwork portion 43 at the upper base portion, making it more easily displaceable. A gap 46 is formed below the flexible displacement portion 45, i.e., between the opposing side wall portions 43a. The lower floor surface 1 on which the inclined portion 3 is provided may be uneven. The floor material mat 41 can conform to the unevenness by moving adjacent blocks 42 closer to or farther away from each other via the flexible displacement portions 45. In addition, the floor material mat 41 can be easily processed to a predetermined size and shape by cutting along the flexible displacement portions 45 connecting the blocks 42 with a cutting tool such as a cutter.

[0065] The upper surface of each block 42 is configured as an inclined plane or curved surface corresponding to the line L of the designed inclined section 3. With this configuration, the inclined surface of the inclined section 3 can be configured as a smooth inclined plane or curved surface. The upper surface of each block 42 is the running surface that comes into contact with the wheels of the AGV 9. Therefore, the upper surface of each block 42 may be provided with a protective layer 47 to protect the upper surface. The protective layer 47 is made of a resin material such as UV resin. The protective layer 47 is applied to the surface of the block 42 by an application means such as an application roller or a brush. In the flooring mat 41, the protective layer 47 can prevent damage to the formwork portion 43 and the filler 44.

[0066] Furthermore, a small step 48 is formed between the block 42s closest to the start point Ps and the lower floor surface 1. The step 48 may be filled with a filler 49 such as putty. A small step 48 is formed between the block 42s closest to the start point Ps and the lower floor surface 1. The step 48 is filled with a filler 49 such as putty. This makes it possible to protect the upper end point of the block 42s. Furthermore, by forming an inclined surface 41a between the lower floor surface 1 and the upper end point, which is continuous with the inclined surface above, the magnitude of the acceleration and jerk when the AGV 9 passes through can be suppressed.

[0067] The flooring that makes up the upper floor surface 2 can also be made up of a flooring mat 41. In this case, the upper surface of each block 42 that makes up the flooring mat 41 is formed as a plane parallel to the lower floor surface 1. In this case, a protective layer 47 is provided in a continuous manner between the flooring mat 41 of the inclined portion 3 and the flooring mat 41 of the upper floor surface 2. The end point Pe is the position where the flooring mat 41 of the inclined portion 3 and the flooring mat 41 of the upper floor surface 2 are connected, but because the protective layer 47 is provided, it is possible to prevent damage to the formwork portion 43 and the filling material 44.

[0068] Eighth Embodiment 18 shows a modified example of the eighth embodiment. In this modified example, a groove 49a filled with filler 49 is provided at the position of the starting point Ps. The groove 49a is formed by cutting into the lower floor surface 1. When the AGV 9 repeatedly travels around the area of ​​the starting point Ps, the filler 49 may become curled up or damaged. In this regard, by filling the groove 49a so as to fill it, the filler 49 becomes strong and less likely to become curled up or damaged.

[0069] Ninth Embodiment 19 shows a modification of the seventh and eighth embodiments. The filler 49 provided at the start point Ps is configured to be provided in the portion where the wheels of the AGV 9 pass. With this configuration, the area to be filled with the filler 49 can be reduced, thereby reducing construction costs and shortening the construction period.

[0070] Tenth Embodiment As shown in FIG. 20 , in a floor structure, the inclined portion 3 may be made of a metal material to increase its rigidity. The floor material 4 that constitutes the upper floor surface 2 is provided with a power supply coil 4c for supplying power to the AGV 9. If the power supply coil 4c and the metal material that constitutes the inclined portion 3 are close to each other and the metal material is in the path of the magnetic flux, loss occurs in the metal material, reducing the power supply efficiency. Therefore, when the inclined portion 3 is made of a metal material, a nonmagnetic spacer 51 is placed between the inclined portion 3 and the floor material 4 on which the power supply coil 4c is provided. The spacer 51 is made of a resin material, such as ceramic or epoxy resin. This magnetically separates the inclined portion 3 from the floor material 4 on which the power supply coil 4c that constitutes the upper floor surface 2 is provided. This prevents a decrease in power supply efficiency due to the power supply coil 4c.

[0071] <Modification> The first to tenth embodiments can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0072] The traveling vehicle is not limited to the AGV 9 that travels at a constant speed. For example, it may be other vehicles such as a forklift for transporting goods, a cleaning vehicle, etc. Also, the traveling vehicle is not limited to a vehicle that is controlled to travel at a constant speed. Furthermore, the vehicle may be a manned vehicle or an unmanned autonomous vehicle. The floor structure according to the present disclosure can be applied to the floor structure on which the vehicle travels.

[0073] <Additional Notes> The technical ideas that can be understood from the above-described embodiment and modified examples will be described. (Appendix 1) The structure constituting the inclined portion is formed by stacking a plurality of plate materials, The plurality of plate materials are stacked such that a tip end of a lower plate material located on the lower side protrudes beyond a tip end of an upper plate material located on the next upper side, The plate material constituting the lower inclined portion and the plate material constituting the upper inclined portion are thinner than the plate material constituting the intermediate inclined portion. floor structure.

[0074] (Appendix 2) The structure constituting the inclined portion is formed by stacking a plurality of plate materials, The plurality of plate materials are stacked such that a tip end of a lower plate material located on the lower side protrudes beyond a tip end of an upper plate material located on the next upper side, The protruding pitch of the portion constituting the lower inclined portion and the portion constituting the upper inclined portion is larger than the protruding pitch of the portion constituting the intermediate inclined portion. floor structure.

[0075] (Appendix 3) The step formed by the lower inclined portion and the lower floor surface is filled with a filler to form a filled portion that makes the lower floor surface and the inclined portion a continuous surface. floor structure.

[0076] (Appendix 4) The filling section is provided on a path along which the automated guided vehicle travels. floor structure.

[0077] (Appendix 5) The structure constituting the inclined portion has a protective layer on the surface. floor structure.

[0078] (Appendix 6) a vehicle power supply coil is disposed on the upper floor surface, A spacer made of a non-magnetic material is disposed between the inclined portion and the floor material having the power supply coil. floor structure. [Explanation of symbols]

[0079] 1...lower floor surface, 2...upper floor surface, 3...inclined portion, 4...floor material, 4c...power supply coil, 5...step, 6...lower inclined portion, 7...upper inclined portion, 8...intermediate inclined portion, 8d...lower intermediate inclined portion, 8u...upper intermediate inclined portion, 9...AGV, 21...plate material, 21a...upper end point, 22...protrusion pitch, 23...inclined block, 24...small step, 26...plate material, 27...protrusion pitch, 31...rigid block, 31a...upper end point, 31s...rigid block, 32...gap, 35...protective sheet, 41...floor material mat, 42...block, 42s...block, 43...formwork portion, 43a...side wall portion, 44...filler, 45...flexible displacement portion, 46...gap, 47...protective layer, 48...step, 49...filler, 49a...groove portion, 51...spacer.

Claims

1. A floor structure of a floor on which a vehicle runs that is provided on an existing floor, The floor structure includes an inclined portion connecting a lower floor surface and an upper floor surface, the inclined portion includes a lower inclined portion continuing to the lower floor surface, an upper inclined portion continuing to the upper floor surface, and an intermediate inclined portion located between the lower inclined portion and the upper inclined portion, The intermediate inclination angle of the intermediate inclination portion is larger than the lower inclination angle of the lower inclination portion and the upper inclination angle of the upper inclination portion. floor structure.

2. The structure constituting the inclined portion is formed by stacking a plurality of plate materials, The plurality of plate materials are stacked so that the tip of the lower plate material located on the lower side protrudes beyond the tip of the upper plate material located on the next upper side. The floor structure according to claim 1.

3. The structure that constitutes the inclined portion is formed by arranging rigid blocks of different heights on the lower floor surface so as to correspond to the inclined portion. The floor structure according to claim 1.

4. The structure constituting the inclined portion is composed of a floor mat in which a plurality of blocks are connected, Adjacent blocks are connected by flexible displacement portions and have gaps between opposing side walls, The upper surface of the floor mat has a shape corresponding to the inclined portion. The floor structure according to claim 1.

5. The step formed by the lower inclined portion and the lower floor surface is filled with a filler, thereby providing a filled portion that forms a continuous surface between the lower floor surface and the inclined portion. The floor structure according to claim 1.

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