Conveying equipment

Abstract

This aims to solve the problem of insufficient storage space in homes and improve residents' convenience through automated storage and retrieval of belongings. [Solution] The transport device according to the present invention is a device for moving an object within the space under the floor. The transport device according to the present invention comprises a main body including two side parts extending in the direction of travel and a connecting part connecting the side parts in the left-right direction, a driving wheel attached to the lower part of the main body, a drive unit for driving the driving wheel, and a storage unit for accommodating the object located in the enclosed area surrounded by the two side parts and the connecting part, and opening at least to the front.

Description

Technical Field

[0001] The present invention relates to a conveying device, and particularly to a device for moving an object within an underfloor space of a house or the like.

Background Art

[0002] Conventionally, when storing or retrieving an object using the underfloor space of a building, manual work has been required. Also, the underfloor space is narrow and dark, presenting problems in terms of work efficiency and safety.

[0003] Patent Document No. 1 discloses an automated warehouse in which the storage box is taken in and out via a dedicated loading and unloading floor. [[ID={18]]

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, conventional conveying devices still have room for improvement in terms of loading and unloading of objects, ensuring stability during conveyance, and ensuring safety.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide a conveying device capable of efficiently and safely conveying an object in an underfloor space.

Means for Solving the Problems

[0007] According to the present invention, a movement control means for controlling the movement of an object is provided between the main space and the underfloor space, a building is obtained

Effects of the Invention

[0008] The main body has a U-shape when viewed from above, and the storage compartment has a cylindrical shape that is open in the front-to-back direction, allowing for easy loading and unloading of objects.

[0009] Because the driving wheels are positioned so that they pass through approximately the center of gravity of the transport device, stability during transport is improved.

[0010] Because the storage area is supported by a support structure that allows it to be raised and lowered, the gap between it and the floor can be adjusted, improving safety when loading and unloading objects.

[0011] Because it is equipped with a bar and a camera unit, it is possible to block the opening of the storage compartment to prevent the object from falling out, and to check the situation in front during transport, thereby improving safety.

[0012] Because objects can be automatically transported in the underfloor space without human intervention, work efficiency is greatly improved. [Brief explanation of the drawing]

[0013] [Figure 1] This is a conceptual diagram of the present invention's transport device and a house. [Figure 2] This is a functional block diagram of a building in which the transport device of the present invention is used. [Figure 3] This is a partial cross-sectional view of a building in which the transport device of the present invention is used. [Figure 4] This is another cross-sectional view of a building in which the transport device of the present invention is used. [Figure 5] This is a top-view perspective of a building in which the transport device of the present invention is used. [Figure 6] This is a schematic diagram of a transport device that moves within the underfloor space of a building in which the transport device of the present invention is used. [Figure 7] Figure 6 is a functional block diagram of the transport device. [Figure 8] Another diagram of the transport device of the present invention. [Figure 9] Another diagram of the transport device of the present invention. [Figure 10] Another view of the transport device of the present invention. [Figure 11] Another view of the transport device of the present invention. [Figure 12] It is a control block diagram of a building in which the transport device of the present invention is used. [Figure 13] It is another partial sectional view of a building in which the transport device of the present invention is used.

Mode for Carrying Out the Invention

[0014] The contents of the embodiments of the present invention will be listed and described. The present invention has the following configuration. [Item 1] A transport device for moving an object in a space under a floor, A main body portion including two side portions extending in the front-rear direction and a connecting portion connecting the side portions in the left-right direction; Drive wheels attached to the lower part of the main body portion, A drive unit for driving the drive wheels, And a storage portion located in an enclosed area surrounded by the two side portions and the connecting portion for storing the object. Transport device. [Item 2] The transport device according to Item 1, The main body portion has a U-shaped shape in a top view formed by the side portions and the connecting portion. Transport device. [Item 3] The transport device according to Item 1, The drive wheels include driving wheels and auxiliary wheels, The driving wheels are provided at the respective bottoms of the side portions such that a straight line connecting the driving wheels passes through a substantially center-of-gravity position of the transport device. Transport device. [Item 4] The transport device according to Item 1, The storage portion has a cylindrical shape open in the front-rear direction. Transport device. [Item 5] The transport device described in item 4, Supported portions are provided on each of the left and right sides of the aforementioned housing portion. Each of the above-mentioned side portions is provided with a support portion to support the supported portion, The support portion supports the supported portion and lifts it upward, thereby separating the bottom of the housing portion from the floor. A transport device. [Item 6] The transport device described in item 1, Each of the aforementioned side portions has a bar that rotates between a first state in which it extends upward on a predetermined plane defined by the vertical direction and the left-right direction, and a second state in which it extends left-right so as to close the opening of the housing portion. The tip of the bar is located approximately at the center of the opening on the predetermined plane in the second state. A transport device. [Item 7] The transport device described in item 6, A camera unit that displays the view ahead is provided at the tip of the aforementioned bar. A transport device.

[0015] <Details of the embodiment> Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0016] <Overview> The present invention relates to a transport device for moving an object within the space under the floor. The transport device of the present invention comprises a main body including two side parts extending in the direction of travel and a connecting part connecting the side parts in the left-right direction, a driving wheel attached to the lower part of the main body, a drive unit for driving the driving wheel, and a storage unit for accommodating the object, located in an enclosed area surrounded by the two side parts and the connecting part and opening at least to the front.

[0017] In this transport device, the main body has a U-shape when viewed from above, and the storage section has a cylindrical shape that is open in the front-to-back direction. The drive wheels include drive wheels and auxiliary wheels, and the drive wheels are located at the bottom of the side so as to pass approximately through the center of gravity of the transport device.

[0018] Supported parts are provided on the left and right sides of the storage compartment, and support parts are provided on the upper part of the sides to support the supported parts. The support parts raise the supported parts, thereby raising the bottom of the storage compartment away from the floor.

[0019] Furthermore, the sides are provided with bars that rotate on predetermined planes defined in the vertical and horizontal directions, and a camera is provided at the tip of each bar. By rotating the bars, the opening of the housing can be closed, or the camera can take pictures of the area in front.

[0020] The underfloor space is a space located below the living or working spaces of a building, and is usually a narrow space that is difficult for people to enter. The transport device of the present invention makes it possible to transport an object to a desired location while autonomously moving within such an underfloor space.

[0021] The main applications of the transport device of the present invention are envisioned to be the following: (1) Loading and unloading items into and from underfloor storage space The space under the floor is sometimes used as a storage space separate from the living space and workspace. In such cases, the transport device of the present invention can be used to automatically transport items to be stored in the underfloor storage space, or to retrieve items stored there and transport them to the living space or workspace. This significantly reduces the workload associated with storing and retrieving items. (2) Transport of maintenance materials and tools for underfloor equipment The space under the floor often houses various facilities such as electrical, plumbing, and air conditioning systems. When performing maintenance on these facilities, it is necessary to transport the required materials and tools to the appropriate locations within the underfloor space. By using the transport device of the present invention, these materials and tools, including heavy items, can be transported to their desired locations without requiring manual labor from the worker. This improves the efficiency of equipment maintenance work. (3) Coordination with underfloor inspection and transport equipment In recent years, the development of autonomous mobile transport devices for inspecting the underfloor space of buildings has been progressing. The transport device of the present invention is also useful in cooperation with such underfloor inspection transport devices. For example, the inspection transport device can load necessary materials and tools for inspection onto the transport device, and the transport device can follow the inspection transport device and transport them to the target location, thereby improving the efficiency of inspection work. It is also possible to transport materials necessary for repairing defects found during the inspection process.

[0022] As described above, the transport device of the present invention can be used for a variety of purposes in the underfloor space of a building.

[0023] <Underfloor space> This invention, in particular, can increase storage space in detached houses by effectively utilizing the space under the floor. Especially in urban houses where storage space is limited, applying this invention can achieve efficient storage while securing a larger living space.

[0024] In the building of the present invention, in order to effectively utilize the space under the floor, it is necessary to raise the foundation height higher than usual. The foundation height of a typical building is about 300 mm, but in the building of the present invention, it is desirable to add an additional 200 mm or more in height, thereby securing a foundation height of at least 500 mm.

[0025] Adding this foundation height ensures sufficient height in the underfloor space for storage and transport equipment. It also makes it easier to secure space for elevator shafts, piping, and wiring. However, since increasing the foundation height increases the overall height of the building, it is necessary to consider the impact on the surrounding environment and the increase in construction costs. It is important to set an appropriate foundation height based on the building's purpose, size, and location.

[0026] <Hardware Configuration> As shown in Figures 1 and 2, the building of the present invention comprises a building body having a main space, an underfloor space, and floors separating them; movement control means for controlling the movement of objects between these spaces; a transport device for controlling the storage location of objects in the underfloor space; and a control unit for comprehensively controlling the movement control means and the transport device.

[0027] The main building structure is constructed using common building materials such as reinforced concrete or steel frame, and the main living space is used for the building's primary purpose, such as living or working. The underfloor space is the space located beneath the main building's floor and is used for storing or moving objects.

[0028] The movement control means is configured as an elevator, as will be described later. The elevator is incorporated into the building structure so as to connect the floor surface of the main space and the ceiling surface of the space beneath the floor. The elevator comprises a hoistway, a car that moves up and down within the hoistway, and a drive mechanism for raising and lowering the car.

[0029] The transport device is an automated transport device equipped with means for moving objects, as will be described later. The transport device is installed in the underfloor space and moves objects received from the elevator unit to a predetermined storage location. The transport device could be, for example, a trolley-type transport device that moves autonomously in the underfloor space using image recognition, but it could also consist of a transport device that moves back and forth on rails or a transport device suspended from the ceiling.

[0030] Furthermore, the building of the present invention may be equipped with an access point provided in the wall of the underfloor space, as described later (not shown). The access point is an opening that allows direct access to the underfloor space from outside the building and can be used for bringing in or taking out objects.

[0031] <Movement control means: Elevator> The movement control means in this invention is an elevator unit that controls the vertical movement of an object between the main space and the underfloor space of a building.

[0032] This elevator is installed to connect openings provided in the floor of the main space and the ceiling of the underfloor space. The elevator shaft is formed to penetrate the main space and the underfloor space, and the elevator car is configured to move up and down within the shaft.

[0033] The elevator car has a roughly cylindrical shape with a space for accommodating objects, and a pair of opposing sides are open for loading and unloading (see also Figure 5). Specifically, in this configuration, objects can be loaded in the In direction as shown in Figure 3 and retrieved in the Out direction. The sides opposite to the In / Out directions are open. Sensors for detecting the position of the elevator car are attached to the outer wall, and the elevator's up and down movement is controlled based on the signals from these sensors.

[0034] As shown in Figures 3 and 4, the elevator's vertical movement is controlled based on commands from the control unit. Specifically, when the control unit receives a request to move an object (cargo) (a storage request), it calls the elevator car and stops it at a predetermined position in the main space or underfloor space (see Figure 3). The object is then loaded into the elevator car. Once the loading of the object is complete, the elevator car begins to descend in the Dn direction. When the elevator car arrives in the underfloor space, it is positioned directly on top of the transport device (see Figure 4). Then, for example, as shown in Figure 5, the transport device moves along the route indicated by the arrow to a predetermined storage position E and stores the car and cargo inside.

[0035] <Transportation equipment> As shown in Figure 6, the automated transport device of the present invention (hereinafter sometimes simply referred to as "transport device" or "transport device") is a device for receiving cargo transported into the underfloor space by an elevator unit, along with the cage, and moving it to a predetermined storage location within the underfloor space.

[0036] <Function Block> As shown in Figure 7, the transport device of this embodiment has the following functional blocks.

[0037] The movement control unit controls the drive unit to move the transport device within the underfloor space via the drive wheels.

[0038] The storage unit control unit controls the support unit to support and raise / lower the storage unit (cage). This allows for adjustment of the gap between the bottom surface of the storage unit and the floor surface.

[0039] The bar control unit controls the rotation of the bar. It can raise the bar vertically or tilt it horizontally.

[0040] The camera control unit controls the camera's shooting capabilities. It can acquire video footage of the situation in front of the transport device.

[0041] The object detection unit detects whether or not an object is present in the storage compartment. The operation of the transport device can be controlled according to the presence or absence of the object.

[0042] The communication unit communicates with external control devices. It can receive operation instructions for the transport device and transmit the status of the transport device.

[0043] The above describes the hardware configuration and necessary functional blocks of the transport device of this embodiment. These components work together to enable efficient and safe transport of objects in the underfloor space.

[0044] <Main body> The main body of the transport device forms the basic framework of the transport device and plays a role in supporting the other components. As shown in Figures 6, 8, and 9, the main body is composed of two side sections extending in the front-to-back direction (direction of travel: +X direction) and a connecting section (see Figure 8) that connects these side sections in the rearward direction (±Y direction).

[0045] The side sections are positioned on both the left and right sides of the transport device and extend approximately parallel to the floor. The side sections are of sufficient length and strength to enable stable movement of the transport device. Furthermore, four support points are provided on the upper part of the side sections to support the storage compartment, which will be described later.

[0046] The connecting portion connects the rear ends of the two side sections. The connecting portion may be formed integrally with the side section, or it may be fixed to the side section as a separate component.

[0047] As is particularly evident in Figure 9, when the main body is viewed from above, its shape is U-shaped (angular U-shape). That is, the main body has an open space at the front, partitioned by the sides and connecting parts, and this open space becomes the enclosed area for arranging the storage compartment. Since objects can be loaded and unloaded into the storage compartment from this open section, loading and unloading operations of objects become possible.

[0048] <Driving wheels> The driving wheels of the transport device are attached to the lower part of the main body and function as a means for moving the transport device on the floor. The driving wheels consist of drive wheels, as shown in the drawing.

[0049] The drive wheels are the wheels that directly drive the movement of the transport device and are rotationally driven by the drive unit. As shown in Figure 10, in this embodiment, one drive wheel is attached to the bottom of each side. The drive wheels are located near the center point G of the cage in the front-rear direction. In other words, it is desirable that the line segment connecting the drive wheels passes through point G. With this arrangement, the rotational force (turning force) of the drive wheels can be efficiently converted into the movement of the transport device, and the running stability of the transport device can be improved. Note that Figure 10(A) shows a configuration in which there are six drive wheels (two on each side and two at the connecting part). However, as shown in Figure 10(B), the number of parts can be reduced by using only one drive wheel at the connecting part.

[0050] The driving wheels other than the drive wheels (hereinafter referred to as "auxiliary wheels" in this paragraph) are wheels that stabilize the posture of the transport device and are set to have a smaller diameter than the drive wheels. They serve to prevent the transport device from tilting in the front-rear direction. In this embodiment, even if the drive wheels are located approximately at the center (or behind the approximate center) in the front-rear direction of the sides, the auxiliary wheels at the connecting part cause the main body to tilt backward with respect to the drive wheels, thereby preventing the auxiliary wheels at the front of the sides from lifting off the floor.

[0051] <Drive Unit> The drive unit of the transport device functions as a power source for rotating the drive wheels. Although not shown in detail in the drawing, the drive unit typically consists of a motor and its control circuit. Suitable motors for the drive unit include electric motors such as DC brushless motors and AC servo motors. These motors have high controllability and responsiveness, allowing for precise control of the transport device's speed and direction of movement. Furthermore, these motors can be designed compactly, contributing to the miniaturization and weight reduction of the transport device.

[0052] <Storage Area> The storage section of the transport device functions as a space for accommodating the object to be transported. As shown in the drawing, the storage section is located in an enclosed area surrounded by the sides and connecting parts of the main body.

[0053] The storage compartment has a cylindrical shape that is open in the front-to-back direction. That is, the storage compartment has sides and a bottom, but the front and rear are open. This open part serves as the entrance and exit for the object to be placed inside.

[0054] The sides of the storage compartment are positioned to face the inner surfaces of the side sections, and the bottom surface is positioned below the upper surfaces of the side sections and connecting sections. This ensures that the storage compartment is stably supported by the main body.

[0055] The internal space of the storage compartment is set to be larger than the maximum size of the object to be transported. This makes it possible to accommodate objects of various sizes and shapes. In addition, fasteners such as belts and clamps may be provided inside the storage compartment to secure the object.

[0056] As shown in Figures 6 and 11, the transport device supports the cage slightly above the floor by supporting side rails attached to both sides of the cage (see Figure 11(A)). This allows the transport device to move while supporting the cage.

[0057] On the other hand, as the support structure of the transport device lowers, the bottom surface of the cage comes into contact with the floor (see Figure 11(B)). In this state, when the transport device moves away from the cage, only the transport device can move while the cage remains on the floor. The support structure consists of air cylinders, electric actuators, etc.

[0058] <bar> As shown in Figures 6 and 9, the bar of the transport device is a component for opening and closing the opening of the storage compartment, and is also used for controlling the movement of the transport device and for confirming and detecting the loading and unloading of cargo via a camera attached to the bar. The bar is attached to one of the sides of the main body, as shown in the drawings. The bar is a rod-shaped component that rises vertically (Figure 9(A)) or horizontally (Figure 9(B)) from the upper end of the side, and its upper end reaches the height of the upper edge (not shown) of the storage compartment. The bar is rotatably supported relative to the side, with the front-to-back direction as the axis of rotation. A camera unit, which will be described later, is attached to the tip of the bar. The camera unit is fixed to the tip of the bar and moves with the rotation of the bar.

[0059] The bar opens and closes the opening of the storage compartment. When the bar is raised vertically, the opening of the storage compartment is open, allowing objects to be inserted and removed. On the other hand, when the bar is lowered horizontally, the tip of the bar closes the opening of the storage compartment, preventing objects inside from flying out.

[0060] <Camera Club> The camera unit of the transport device is an imaging device for taking pictures of the inside of the storage compartment and the area in front of the transport device. As shown in the drawing, the camera unit is attached to the tip of the bar. The camera unit may consist of a small CCD camera or a CMOS camera. The camera unit may be equipped with a wide-angle lens to capture a wide area inside the storage compartment and in front of the transport device. The camera unit may also be equipped with an infrared LED to enable shooting in dark places. The image signal captured by the camera unit is transmitted to the movement control unit via a signal cable. The movement control unit processes this image signal and uses it for autonomous driving or remote control of the transport device.

[0061] The camera unit takes pictures of the inside of the storage compartment (1000 times or partially). This allows for confirmation of the condition of the objects inside the storage compartment. For example, it can be confirmed whether the objects are properly stored or whether they have moved. In addition, when transferring luggage from the elevator (Figures 3 and 4), the position of the elevator car can be adjusted based on the images.

[0062] The camera unit captures images of the area in front of the transport device. This allows the system to check the conditions in the direction of travel of the transport device. For example, it can check for obstacles and the condition of the path to the destination. By analyzing the images captured by the camera unit, the system can support the autonomous driving of the transport device. For example, it can recognize the shape of the floor surface and the location of obstacles from the images and generate an optimal travel path. It can also be used as a means of checking the conditions in the space under the floor.

[0063] <Operation> <Storage from the main living space to the underfloor space> When storing luggage from the main space to the underfloor space, if a user requests luggage storage in the main space, the control unit (Figure 2) calls the elevator car and stops it at a designated position in the main space. Once the user places the luggage inside the elevator car and gives the instruction to store it, the elevator car automatically begins to descend into the underfloor space.

[0064] When the elevator car arrives in the space beneath the floor, a transport device is waiting and receives the elevator car and its contents. As shown in Figures 6 and 13, the transport device moves along the elevator to a predetermined storage location. Upon arrival at the storage location, the elevator car and its contents are placed in the storage space.

[0065] Once storage is complete, the transport device returns to its original position and prepares for the next storage request. Meanwhile, the elevator car travels back and forth between the main space and the underfloor space again if a new storage request is made by a user.

[0066] <Extraction from the underfloor space to the main living space> When an item stored in the underfloor space is to be brought into the main space, the control unit sends an instruction to the transport device when the user requests to retrieve the item in the main space. The transport device moves to the designated storage location. The transport device raises the bar vertically, opening the opening of the storage compartment. Next, the transport device moves to the vicinity of the item and places the basket inside, holding it in place by lifting the basket's side rails with the storage support. At this time, if necessary, the drive mechanism of the storage support is activated to adjust the height of the bottom surface of the storage compartment. Once the basket is secured, the bar is lowered horizontally, closing the opening of the storage compartment.

[0067] The transport device, loaded with cargo, moves to the elevator's location. Once the elevator car is placed inside, it automatically begins to ascend into the main compartment.

[0068] When the elevator car arrives in the main space, users can retrieve their luggage from the elevator car. Once retrieval is complete, the elevator car waits for the next request. If users repeatedly retrieve luggage, the elevator car will travel back and forth between the main space and the underfloor space, and the transport device will move back and forth between the storage space and the elevator unit.

[0069] <Other sensors> Various sensors are attached to the transport device. Specifically, position sensors are used to detect its own position, speed sensors to detect its own speed, object sensors to detect the presence or absence of an object on the surface it is placed on, and monitoring sensors to monitor the operation of the transport mechanism. The signals from these sensors are transmitted to the movement control unit and used to control the operation of the transport device.

[0070] The bar and camera unit perform different roles depending on the operation of the transport device. When the transport device is moving, the bar is tilted horizontally, closing the opening of the storage compartment. In this state, the camera unit faces forward, allowing it to capture images of the situation in the direction of travel of the transport device. The control unit analyzes the images captured by the camera unit to determine the presence of obstacles and the condition of the path. This allows the transport device to move safely and efficiently to its destination.

[0071] When the transport device loads an object into its storage compartment, it is necessary to raise the bar vertically and open the opening of the compartment. At this time, the camera unit is positioned to photograph the opening of the compartment from directly above. The control unit analyzes the image captured by the camera unit and determines the positional relationship between the opening of the compartment and the object. This allows the transport device to accurately load the object into the compartment. In this way, the role of the camera unit switches depending on the open or closed state of the bar. This allows the transport device to achieve both safety during movement and accuracy when loading objects into the compartment.

[0072] The images captured by the camera unit must always maintain a horizontal orientation, regardless of the posture of the transport device. This is crucial for ensuring the accuracy of image analysis. Two methods can be used to maintain horizontality: (1) Hardware solution By incorporating a rotator into the camera unit and physically rotating the camera body, the horizontal orientation of the image can be maintained. The rotator detects the orientation of the transport device using a gyro sensor or similar, and rotates the camera body in the opposite direction in response to changes in orientation. This ensures that a horizontal image can always be obtained, even if the transport device is tilted. (2) Software-based solutions The camera's field of view is set to be wider than the required area. Then, a region corresponding to the orientation of the transport device is extracted (cropped) from the captured image. The extracted region is rotated according to the change in the transport device's orientation. This makes it possible to obtain an image that appears horizontal. This method has the disadvantage of reducing image resolution, but it has the advantage of simplifying the hardware.

[0073] In the building of the present invention, a larger amount of luggage can be stored by providing and dividing multiple underfloor spaces. In this case, there may be multiple elevator units, or the elevator shaft may have a structure that branches to accommodate multiple underfloor spaces. Users can use an operation panel or smartphone to select the appropriate underfloor space according to the type and quantity of luggage they wish to store.

[0074] The embodiments described above are merely illustrative to facilitate understanding of the present invention and are not intended to limit its interpretation. The present invention can be modified and improved without departing from its spirit, and it goes without saying that the present invention includes equivalents thereof.

Claims

1. A transport device for moving objects within the underfloor space, A main body including two side portions extending in the front-to-back direction and a connecting portion connecting the side portions in the left-to-right direction; The driving wheels attached to the lower part of the main body, A drive unit for driving the aforementioned drive wheels, It comprises a housing section located in the enclosed area surrounded by the two sides and the connecting section, for housing the object, A transport device.

2. A transport device according to claim 1, The main body has a U-shape when viewed from above, formed by the side portion and the connecting portion. A transport device.

3. A transport device according to claim 1, The aforementioned driving wheels include drive wheels and auxiliary wheels. The drive wheels are provided at the bottom of each side such that a straight line connecting the drive wheels passes through approximately the center of gravity of the transport device. A transport device.

4. A transport device according to claim 1, The aforementioned housing section has a cylindrical shape that is open in the front-to-back direction. A transport device.

5. A transport device according to claim 4, Supported portions are provided on each of the left and right sides of the aforementioned housing portion. Each of the above-mentioned side portions is provided with a support portion to support the supported portion, The support portion supports the supported portion and lifts it upward, thereby separating the bottom of the housing portion from the floor. A transport device.

6. A transport device according to claim 1, Each of the aforementioned side portions has a bar that rotates between a first state in which it extends upward on a predetermined plane defined by the vertical and horizontal directions, and a second state in which it extends horizontally so as to close the opening of the housing portion. The tip of the bar is located approximately at the center of the opening on the predetermined plane in the second state. A transport device.

7. A transport device according to claim 6, A camera unit that displays the view ahead is provided at the tip of the aforementioned bar. A transport device.

Images